Device and method for following the movement of a living being
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Abstract
A system including a sensor measuring a position of movement, an artificial controller converting the signals from the sensor into state variables of full movement, correlated with a reference model, by performing continual adjustments for estimating these variables directly drawn from the signals of the sensor by results drawn from the reference model. The control which is then provided for completing the movement has good synchronization with the portion accomplished without assistance from the system. Such a system may find application for reproducing or completing the walking of a person with a disabled leg.
60 Citations
32 Claims
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1-16. -16. (canceled)
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17. A device for following movement of a living being, comprising:
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a sensor attached to the living being and collecting signals representative of the movement thereof; and an artificial controller configured to process signals from the sensor, wherein the artificial controller comprises a computation module, and the computation module comprises a digital observer configured to deliver an output signal according to a reference model of the movement recorded in the artificial controller, the output signal being a function of the signals from the sensor and of the reference model, the reference model and the output signal being expressed as state variables of the movement relative to a phase of the movement. - View Dependent Claims (18, 19, 20, 21, 22, 23)
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24. A method for following movement of a living being, comprising:
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continuously measuring an effective portion of the movement by a sensor attached on the living being; using signals from the sensor to estimate values of state variables of the movement to produce control instructions and to drive a device accomplishing a complementary portion of the movement; and using a reference model, obtained in a calibration and defined by a series of values taken by the state variables of the movement in phases of the movement, to estimate the values of the state variables of the movement. - View Dependent Claims (25, 26, 27, 28, 29, 30, 31, 32)
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Specification