Pneumatic limb control system
First Claim
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1. A controller for a pneumatically powered flexible limb characterized in that it provides for rapid movement of said limb from a first position to a second position with minimal overshooting of said second position, and comprising:
- computer means for providing signal data corresponding to a plurality of successive events of air introduction and non-air introduction, respectively, into said flexible limb for a predetermined limb movement from a first position to a second position, wherein duration of non-air introduction relative to air introduction permits the effects of inertia to dissipate, and further wherein said signal data provides for varying the air introduction time in relative to the non-air introduction time for said successive events and the time periods each consisting of an air introduction event and a non-air introduction event are variable during at least a portion of the flexible limb movement from said first position to said second position;
means for converting said time-varying signal data from said computer means into corresponding time-varying electrical signals; and
valve means pneumatically connected to said flexible limb and electrically connected to said converting means for successively opening to introduce pressurized air into said flexible limb and closing to prevent air introduction into said limb for said plurality of successive events according to said ime-varying electrical signals from said converting means.
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Abstract
An electronic pneumatic limb control system for a pneumatically actuated flexible limb is disclosed. The system includes a computer for providing signal data corresponding to a plurality of successive events of air introduction and non-air introduction, respectively, into the flexible limb during a predetermined limb movement. The computer signal data provides for time-varying the air introduction to the non-air introduction for the successive events thereof during the limb movement so as to minimize oscillation and overshoot. The system also provides for successive events of air exhaustion and non-air exhaustion to return the limb to a position of rest after the predetermined limb movement.
90 Citations
12 Claims
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1. A controller for a pneumatically powered flexible limb characterized in that it provides for rapid movement of said limb from a first position to a second position with minimal overshooting of said second position, and comprising:
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computer means for providing signal data corresponding to a plurality of successive events of air introduction and non-air introduction, respectively, into said flexible limb for a predetermined limb movement from a first position to a second position, wherein duration of non-air introduction relative to air introduction permits the effects of inertia to dissipate, and further wherein said signal data provides for varying the air introduction time in relative to the non-air introduction time for said successive events and the time periods each consisting of an air introduction event and a non-air introduction event are variable during at least a portion of the flexible limb movement from said first position to said second position; means for converting said time-varying signal data from said computer means into corresponding time-varying electrical signals; and valve means pneumatically connected to said flexible limb and electrically connected to said converting means for successively opening to introduce pressurized air into said flexible limb and closing to prevent air introduction into said limb for said plurality of successive events according to said ime-varying electrical signals from said converting means. - View Dependent Claims (2, 3, 4, 5, 6, 7)
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8. A method for controlling a pneumatically-powered flexible limb so as to provide for rapid movement of said limb from a first position to a second position with minimal overshooting of said second position, comprising the steps of:
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providing computer signal data corresponding to a plurality of successive events of air introduction and non-air introduction, respectively, into said flexible limb for a predetermined limb movement from a first position to a second position, wherein duration of non-air introduction relative to air introduction permits the effects of inertia to dissipate, and further wherein said signal data provide for varying the air introduction time in relation to the non-air introduction time for said successive events and the time periods each consisting of an air introduction event and a non-air introduction event are variable during at least a portion of the flexible limb movement from said first position to said second position; converting said time-varying computer signal data into corresponding time-varying electrical signals; and utilizing said time-varying electrical signals to control pneumatic valve means in order to successively open to introduce pressurized air into said flexible limb and to close to prevent air introduction into said flexible limb for said plurality of successive events according to said time-varying electrical signals. - View Dependent Claims (9, 10, 11, 12)
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Specification
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Current AssigneeDuke University
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Original AssigneeDuke University
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InventorsChen, Zhenhai, Wilson, James F., George, Rhett T. Jr.
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Primary Examiner(s)Look, Edward K.
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Application NumberUS07/164,061Time in Patent Office607 DaysField of Search91/417 R, 91/459, 91/429, 91/35, 60/368, 623/24, 623/25, 623/26US Class Current91/35CPC Class CodesB25J 9/161 Hardware, e.g. neural netwo...G05B 19/40 Open loop systems, e.g. usi...G05B 2219/39178 Compensation inertia armsG05B 2219/41304 PneumaticG05B 2219/42237 Pwm pulse width modulation,...
