METHODS AND SYSTEMS FOR CONTROL OF HUMAN LOCOMOTION
First Claim
1. A method for the automatic control of locomotion speed in a human or other animal subject, the method comprising:
- estimating the subject'"'"'s actual locomotion speed using one or more sensors to thereby obtain a measured speed;
determining an error comprising a difference between a desired speed and the measured speed; and
outputting, to the subject, a stimulus frequency signal wherein the stimulus frequency signal is based on the error in such a manner that when the subject ambulates in a manner that matches a frequency of the stimulus frequency signal, the subject'"'"'s actual speed controllably tracks the desired speed.
5 Assignments
0 Petitions
Accused Products
Abstract
A method is provided for the automatic control of locomotion speed in a human or other animal subject. The method comprises: estimating the subject'"'"'s actual locomotion speed using one or more sensors to thereby obtain a measured speed; determining an error comprising a difference between a desired speed and the measured speed; and outputting, to the subject, a stimulus frequency signal wherein the stimulus frequency signal is based on the error in such a manner that when the subject ambulates in a manner that matches a frequency of the stimulus frequency signal, the subject'"'"'s actual speed controllably tracks the desired speed.
29 Citations
70 Claims
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1. A method for the automatic control of locomotion speed in a human or other animal subject, the method comprising:
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estimating the subject'"'"'s actual locomotion speed using one or more sensors to thereby obtain a measured speed; determining an error comprising a difference between a desired speed and the measured speed; and outputting, to the subject, a stimulus frequency signal wherein the stimulus frequency signal is based on the error in such a manner that when the subject ambulates in a manner that matches a frequency of the stimulus frequency signal, the subject'"'"'s actual speed controllably tracks the desired speed. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14, 15, 16, 66)
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17. A method for the automatic control of locomotion position of a human or other animal subject, the method comprising:
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estimating the subject'"'"'s actual locomotion position using one or more sensors to thereby obtain a measured position; determining an error comprising a difference between a desired position and the measured position; and outputting, to the subject, a stimulus frequency signal wherein the stimulus frequency signal is based on the error in such a manner that when the subject ambulates in a manner that matches a frequency of the stimulus frequency signal, the subject'"'"'s actual position controllably tracks the desired position.
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18-32. -32. (canceled)
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33. A method for the automatic control of locomotion intensity in a human or other animal subject, the method comprising:
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estimating the subject'"'"'s actual locomotion intensity using one or more sensors to thereby obtain a measured intensity; determining an intensity error comprising a difference between a desired intensity and the measured intensity; and if an absolute value of the intensity error is outside of a threshold region around the desired intensity; estimating the subject'"'"'s actual locomotion speed using one or more sensors to thereby obtain a measured speed; converting the desired intensity to a desired speed; determining a speed error comprising a difference between the desired speed and the measured speed; and outputting, to the subject, a speed-based stimulus frequency signal wherein the speed-based stimulus frequency signal is based on the speed error in such a manner that when the subject ambulates in a manner that matches a frequency of the speed-based stimulus frequency signal, the subject'"'"'s actual intensity approximately controllably tracks the desired intensity; and if the absolute value of the intensity error is within the threshold region around the desired intensity; outputting, to the subject, an intensity-based stimulus frequency signal wherein the intensity-based stimulus frequency signal is based on the intensity error in such a manner that when the subject ambulates in a manner that matches a frequency of the intensity-based stimulus frequency signal, the subject'"'"'s actual intensity controllably tracks the desired intensity. - View Dependent Claims (34, 35, 36, 37, 38, 39, 40, 41, 42, 43, 44, 45, 46, 47, 48, 49, 50, 51, 52, 53, 54, 55, 56, 57, 58, 59, 68, 69)
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60. A system for automatically controlling a locomotion speed of a human or other animal subject, the system comprising:
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one or more sensors for sensing one or more corresponding parameters of the locomotion movement of the subject and for generating therefrom a measured speed which represents an estimate of the subject'"'"'s actual locomotion speed; a controller configured to;
determine an error comprising a difference between a desired speed and the measured speed and output, to the subject, a stimulus frequency signal;wherein the stimulus frequency signal is based on the error in such a manner that when the subject ambulates in a manner that matches a frequency of the stimulus frequency signal, the subject'"'"'s actual speed controllably tracks the desired speed.
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61. (canceled)
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62. A system for automatically controlling a locomotion position of a human or other animal subject, the system comprising:
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one or more sensors for sensing one or more corresponding parameters of the locomotion movement of the subject and for generating therefrom a measured position which represents an estimate of the subject'"'"'s locomotion position; a controller configured to;
determine an error comprising a difference between a desired position and the measured position and output, to the subject, a stimulus frequency signal;wherein the stimulus frequency signal is based on the error in such a manner that when the subject ambulates in a manner that matches a frequency of the stimulus frequency signal, the subject'"'"'s actual position controllably tracks the desired position.
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63. (canceled)
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64. A system for automatically controlling a locomotion intensity of a human or other animal subject, the system comprising:
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one or more sensors for sensing one or more corresponding parameters of the locomotion movement of the subject and for generating therefrom a measured speed which represents an estimate of the subject'"'"'s actual locomotion speed; one or more sensors for sensing one or more corresponding parameters correlated with an intensity indicator of the subject and for generating therefrom a measured intensity which represents an estimate of the subject'"'"'s actual locomotion intensity; a controller configured to; determine an intensity error comprising a difference between a desired intensity and the measured intensity; and if an absolute value of the intensity error is outside of a threshold region around the desired intensity; convert the desired intensity to a desired speed; determine a speed error comprising a difference between the desired speed and the measured speed; and output, to the subject, a speed-based stimulus frequency signal wherein the speed-based stimulus frequency signal is based on the speed error in such a manner that when the subject ambulates in a manner that matches a frequency of the speed-based stimulus frequency signal, the subject'"'"'s actual intensity approximately controllably tracks the desired intensity; and if the absolute value of the intensity error is within the threshold region around the desired intensity; output, to the subject, an intensity-based stimulus frequency signal wherein the intensity-based stimulus frequency signal is based on the intensity error in such a manner that when the subject ambulates in a manner that matches a frequency of the intensity-based stimulus frequency signal, the subject'"'"'s actual intensity controllably tracks the desired intensity.
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65. (canceled)
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67. (canceled)
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70-71. -71. (canceled)
Specification