Neuromuscular model-based sensing and control paradigm for a robotic leg
First Claim
1. A neuromuscular model-based controller for controlling at least one robotic limb joint of a robotic limb, the controller comprising:
- a) at least one extrinsic sensor that detects at least one extrinsic signal of a subject wearing the robotic limb;
b) a neuromuscular model in communication with the at least one extrinsic sensor, the neuromuscular model comprising parameters that are adjusted by activation dynamics in response to the at least one extrinsic signal from the extrinsic sensor, the neuromuscular model thereby determining at least one of a position command, a torque command and an impedance command; and
c) a control system in communication with the neuromuscular model, whereby the control system receives at least one of the position command, the torque command and the impedance command from the neuromuscular model and controls at least one of position, torque and impedance of the robotic limb joint.
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Abstract
A neuromuscular model-based controller for a robotic limb having at least one joint includes a neuromuscular model having a muscle model, muscle geometry and reflex feedback loop to determine at least one torque or impedance command to be sent to the robotic limb. One or more parameters that determine relation between feedback data and activation of the muscle model are adjusted consequent to sensory data from at least one of an intrinsic sensor and an extrinsic sensor. A controller in communication with the neuromuscular model is configured to receive the at least one torque or impedance command and controls at least one of position, torque and impedance of the robotic limb joint.
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Citations
9 Claims
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1. A neuromuscular model-based controller for controlling at least one robotic limb joint of a robotic limb, the controller comprising:
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a) at least one extrinsic sensor that detects at least one extrinsic signal of a subject wearing the robotic limb; b) a neuromuscular model in communication with the at least one extrinsic sensor, the neuromuscular model comprising parameters that are adjusted by activation dynamics in response to the at least one extrinsic signal from the extrinsic sensor, the neuromuscular model thereby determining at least one of a position command, a torque command and an impedance command; and c) a control system in communication with the neuromuscular model, whereby the control system receives at least one of the position command, the torque command and the impedance command from the neuromuscular model and controls at least one of position, torque and impedance of the robotic limb joint. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8, 9)
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Specification