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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
First Claim
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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.

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