Active control of an ankle-foot orthosis
First Claim
1. A computer based method of controlling a human-exoskeleton system comprising an ankle-foot orthosis at an ankle joint, the method comprising:
- receiving a system parameter for the human-exoskeleton system;
receiving an orientation of a foot connected to the ankle joint; and
determining a joint torque for controlling the ankle-foot orthosis to compensate for a component of a ground reaction force acting on the foot, wherein the ankle-foot orthosis is an active ankle-foot orthosis.
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Abstract
Techniques are provided for controlling a human-exoskeleton system comprising an ankle-foot orthosis by receiving system parameters for the human-exoskeleton system, receiving generalized coordinates such as an orientation of the foot, and determining a joint torque for controlling the ankle-foot orthosis to compensate for one or more components of forces acting on the foot. Forces selected for compensation can include gravitational forces as well as external forces such as ground reaction forces. Techniques are provided for determining an ankle joint torque for partial or complete compensation of forces acting on the foot about an axis of rotation. One embodiment of the present invention mitigates the amount of interference between voluntary control and assist control, thereby allowing humans to quickly humans adapt to an exoskeleton system.
81 Citations
20 Claims
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1. A computer based method of controlling a human-exoskeleton system comprising an ankle-foot orthosis at an ankle joint, the method comprising:
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receiving a system parameter for the human-exoskeleton system;
receiving an orientation of a foot connected to the ankle joint; and
determining a joint torque for controlling the ankle-foot orthosis to compensate for a component of a ground reaction force acting on the foot, wherein the ankle-foot orthosis is an active ankle-foot orthosis. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8, 9, 10, 11)
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12. A computer based method of controlling a human-exoskeleton system comprising an ankle-foot orthosis at an ankle joint, the method comprising:
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receiving a system parameter for the human-exoskeleton system;
receiving an orientation of a foot connected to the ankle joint; and
determining a joint torque for controlling the ankle-foot orthosis to compensate for a vertical component of a force acting on the foot. - View Dependent Claims (13, 14)
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15. A system for automatically controlling an ankle-foot orthosis at an ankle joint, comprising:
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first receiving means for receiving a system parameter;
second receiving means for receiving an orientation of a foot connected to the ankle joint; and
first determining means for determining a joint torque for controlling the ankle-foot orthosis to compensate for a component of a ground reaction force acting on the foot, wherein the ankle-foot orthosis is an active ankle-foot orthosis. - View Dependent Claims (16, 17, 18, 19, 20)
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Specification