Exoskeleton controller for a human-exoskeleton system

• US 7,774,177 B2
• Filed: 03/30/2006
• Issued: 08/10/2010
• Est. Priority Date: 06/29/2001
• Status: Active Grant

• Current Assignee: Honda Motor Co., Ltd. (Honda Motor Company)
• Original Assignee: Honda Motor Co., Ltd. (Honda Motor Company)
• Inventors: Dariush, Behzad
• Primary Examiner(s): Shah; Kamini S
• Assistant Examiner(s): GEBRESILASSIE, KIBROM K
• Application Number:
  US11/395,654
• Publication Number:
  US 20060247904A1
• Time in Patent Office: 1,594 Days
• Field of Search: 703/2, 703/7, 703/11, 600/587, 600/595, 623/24, 623/27, 623/48, 623 57- 65, 623/30, 623/50, 700/245, 700/254, 700/260, 700/261, 700/247, 700/251, 700/262, 73/10.9, 738/620.8
• US Class Current: 703/2
• CPC Class Codes: B25J 9/0006 Exoskeletons, i.e. resembling a human figure
• CPC Class Codes: B62D 57/032 with alternately or sequentially lifted supporting base and legs; with alternately or sequentially lifted feet or skid B62D57/024 takes precedence

Abstract

Techniques are provided for controlling an exoskeleton actuator at a joint of a human-exoskeleton system by receiving system parameters for the human-exoskeleton system, receiving generalized coordinates for the human-exoskeleton system, and determining an equivalent joint torque for the exoskeleton actuator to compensate for a selected force. While providing partial or complete compensation of selected gravitational and external forces, 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.

Claims

1. A computer based method of controlling an exoskeleton actuator at a joint of a segment in a human-exoskeleton system, comprising:

receiving a system parameter for the human-exoskeleton system;

receiving a coordinate for the human-exoskeleton system in a coordinate system;

determining an equivalent joint torque of the joint for the exoskeleton actuator at the joint to compensate for a selected force;

determining a feasibility of the equivalent joint torque based on whether an instantaneous metabolic cost when the equivalent joint torque is applied to the exoskeleton actuator is less than the instantaneous metabolic cost without applying the equivalent joint torque to the exoskeleton actuator; and

controlling the exoskeleton actuator based on the equivalent joint torque and the feasibility of the equivalent joint torque.

2. The method of claim 1, wherein determining the equivalent joint torque of the joint for the exoskeleton actuator at the joint to compensate for the selected force comprises:

selecting a force acting on the human-exoskeleton system for compensation; and

determining the equivalent joint torque of the joint for the exoskeleton actuator at the joint to compensate for the selected force.

3. The method of claim 1, wherein the selected force acts at one of:

a segment connected to the joint; and

a segment that is not connected to the joint.

4. The method of claim 1, wherein the selected force comprises one of:

a gravitational force; and

an external force.

5. The method of claim 4, wherein the external force comprises one of a reaction force, an applied force, an interaction force, a contact force, and a static load.

6. The method of claim 1, wherein determining the equivalent joint torque of the joint for the exoskeleton actuator at the joint to compensate for the selected force comprises determining the equivalent joint torque of the joint for the exoskeleton actuator at the joint to maintain static equilibrium.

7. The method of claim 1, wherein determining the equivalent joint torque of the joint for the exoskeleton actuator at the joint to compensate for the selected force comprises determining the equivalent joint torque of the joint for partial compensation of the selected force for one or more degrees of freedom.

8. The method of claim 1, further comprising:

obtaining a selection matrix comprising an element representing an assist ratio for partial compensation of a degree of freedom; and

determining an assist torque for partial compensation of the degree of freedom.

9. The method of claim 1, wherein determining the equivalent joint torque of the joint for the exoskeleton actuator at the joint to compensate for the selected force comprises:

determining an equivalent joint torque of a last joint in a branch of the human-exoskeleton system; and

recursively determining an equivalent joint torque of a successive joint adjacent to the joint of which the equivalent joint torque was just determined based on said just determined equivalent joint torque.

10. The method of claim 1, wherein determining the equivalent joint torque of the joint for the exoskeleton actuator at the joint to compensate for the selected force comprises:

determining a joint moment at an end joint of a branch of the human-exoskeleton system;

recursively determining a joint moment at a successive joint adjacent to the joint of which the joint moment was just determined based on said just determined joint moment until the joint moment of the joint of the segment is determined.

11. The method of claim 1, wherein the equivalent joint torque is determined from a dynamics equation of motion.

12. The method of claim 1, wherein the selected force is a gravitational force acting on the human-exoskeleton system, and wherein determining the equivalent joint torque to compensate for the gravitational force comprises determining a rate of change of potential energy of the human-exoskeleton system.

13. The method of claim 1, wherein the equivalent joint torque is determined using the principle of virtual work.

14. The method of claim 1, wherein determining the equivalent joint torque of the joint for the exoskeleton actuator at the joint to compensate for the selected force comprises constructing a Jacobian matrix to transform the selected force to the equivalent joint torque.

15. The method of claim 1, wherein determining the feasibility of the equivalent joint torque comprises determining whether the equivalent joint torque, when applied to the exoskeleton actuator, enhances or degrades stability of the human-exoskeleton system.

16. The method of claim 1, further comprising determining whether the equivalent joint torque is mechanically efficient.

17. The method of claim 1, wherein the selected force is selected for compensation based on an efficiency associated with the exoskeleton actuator.

18. The method of claim 1, wherein the joint is an ankle joint and wherein the human-exoskeleton system comprises an ankle-foot orthosis.

19. A computer based method of controlling an exoskeleton actuator at a joint of a segment in a human-exoskeleton system, comprising:

receiving a system parameter for the human-exoskeleton system;

receiving a coordinate for the human-exoskeleton system in a coordinate system;

determining an assist torque of the joint for the exoskeleton actuator at the joint to compensate for a selected force;

determining a feasibility of the assist torque, comprising;

determining, for a positive net joint torque, whether the assist torque has a value greater than zero and less than twice the net joint torque, and

determining, for a negative net joint torque, whether the assist torque has a value less than zero and greater than twice the net joint torque; and

controlling the exoskeleton actuator based on the assist torque and the feasibility of the assist torque.

20. A system for automatically controlling an exoskeleton actuator at a joint of a segment in a human-exoskeleton system, comprising:

a computer processor; and

a non-transitory computer-readable storage medium storing executable computer program code for;

receiving a system parameter for the human-exoskeleton system,

receiving a coordinate for the human-exoskeleton system in a coordinate system,

determining an equivalent joint torque of the joint for the exoskeleton actuator at the joint to compensate for a selected force,

determining a feasibility of the equivalent joint torque based on whether an instantaneous metabolic cost when the equivalent joint torque is applied to the exoskeleton actuator is less than the instantaneous metabolic cost without applying the equivalent joint torque to the exoskeleton actuator, and

controlling the exoskeleton actuator based on the equivalent joint torque and the feasibility of the equivalent joint torque.

21. The system of claim 20, wherein determining the equivalent joint torque of the joint for the exoskeleton actuator at the joint to compensate for the selected force comprises includes determining the equivalent joint torque of the joint for the exoskeleton actuator at the joint to maintain static equilibrium.

22. The system of claim 20, wherein determining the equivalent joint torque of the joint for the exoskeleton actuator at the joint to compensate for the selected force comprises determining the equivalent joint torque of the joint for partial compensation of the selected force for one or more degrees of freedom.

23. The system of claim 20, wherein the non-transitory computer-readable storage medium further stores executable computer program code for:

obtaining a selection matrix comprising an element representing an assist ratio for partial compensation of a degree of freedom; and

determining an assist torque for partial compensation of the degree of freedom.

24. The system of claim 20, wherein the joint is an ankle joint and wherein the human-exoskeleton system comprises an ankle-foot orthosis.