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Active control of an ankle-foot orthosis

  • US 20060270950A1
  • Filed: 04/11/2006
  • Published: 11/30/2006
  • Est. Priority Date: 06/29/2001
  • Status: Active Grant
First Claim
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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:

  • 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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