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;
determining a control torque for controlling the ankle-foot orthosis to compensate for a component of a ground reaction force acting on the foot, the control torque determined by setting a value of one of a linear velocity associated with the foot and a linear acceleration associated with the foot to zero andcontrolling the ankle-foot orthosis according to the control torque to compensate for the component of the ground reaction force acting on the foot.
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Accused Products
Abstract
Techniques are provided for controlling a human-exoskeleton system including 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 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. The provided techniques mitigate the amount of interference between voluntary control and assist control, thereby allowing humans to quickly humans adapt to an exoskeleton system.
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Citations
21 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; determining a control torque for controlling the ankle-foot orthosis to compensate for a component of a ground reaction force acting on the foot, the control torque determined by setting a value of one of a linear velocity associated with the foot and a linear acceleration associated with the foot to zero and controlling the ankle-foot orthosis according to the control torque to compensate for the component of the ground reaction force acting on the foot. - View Dependent Claims (3, 4, 5)
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2. 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; determining a control torque for controlling the ankle-foot orthosis to compensate for a component of a ground reaction force acting on the foot, the control torque determined by setting a value of one of an angular velocity associated with the foot and an angular acceleration associated with the foot to zero and controlling the ankle-foot orthosis according to the control torque to compensate for the component of the ground reaction force acting on the foot. - View Dependent Claims (14, 15, 16)
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6. 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; determining a control torque for controlling the ankle-foot orthosis to compensate for a vertical component of a force acting on the foot; and controlling the ankle-foot orthosis according to the control torque to compensate for the vertical component of the force acting on the foot. - View Dependent Claims (7, 8)
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9. 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 control torque for controlling the ankle-foot orthosis to compensate for a component of a ground reaction force acting on the foot, the control torque determined by setting a value of one of a linear velocity associated with the foot and a linear acceleration associated with the foot to zero. - View Dependent Claims (10, 11, 12, 13)
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17. 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 control torque for controlling the ankle-foot orthosis to compensate for a component of a ground reaction force acting on the foot, the control torque determined by setting a value of one of an angular velocity associated with the foot and an angular acceleration associated with the foot to zero. - View Dependent Claims (18, 19, 20, 21)
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Specification