×

Method for using a model-based controller for a robotic leg

  • US 10,307,272 B2
  • Filed: 11/03/2016
  • Issued: 06/04/2019
  • Est. Priority Date: 03/31/2005
  • Status: Active Grant
First Claim
Patent Images

1. A method for controlling at least one robotic limb joint of a robotic limb, the method comprising the steps of:

  • providing a neuromuscular model including a muscle model, a muscle geometry, and reflex control equations;

    receiving feedback data relating to a measured state of the robotic limb, the robotic limb being a powered prosthesis, orthosis, or exoskeleton;

    using the feedback data, the muscle model, the muscle geometry, and the reflex control equations of the neuromuscular model, to determine at least one torque command to be applied to the at least one robotic limb joint; and

    applying the at least one torque command to the at least one robotic limb joint.

View all claims
  • 1 Assignment
Timeline View
Assignment View
    ×
    ×