Invention Grant
- Patent Title: Open-loop control for exoskeleton motor
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Application No.: US17207317Application Date: 2021-03-19
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Publication No.: US11945107B2Publication Date: 2024-04-02
- Inventor: Zachary Forest Lerner , Greg Orekhov , Jason Luque
- Applicant: Arizona Board of Regents on Behalf of Northern Arizona University
- Applicant Address: US AZ Flagstaff
- Assignee: ARIZONA BOARD OF REGENTS ON BEHALF OF NORTHERN ARIZONA UNIVERSITY
- Current Assignee: ARIZONA BOARD OF REGENTS ON BEHALF OF NORTHERN ARIZONA UNIVERSITY
- Current Assignee Address: US AZ Flagstaff
- Agency: Quarles & Brady LLP
- Main IPC: B25J9/00
- IPC: B25J9/00 ; A61H3/00 ; B25J9/16
Abstract:
A method of controlling a drive motor for a powered ankle exoskeleton is disclosed. The method includes modeling motor drive current as a linear function of desired torque and ankle angular velocity, and then controlling motor current as a function of measured torque and determined ankle angular velocity.
Public/Granted literature
- US20210291355A1 OPEN-LOOP CONTROL FOR EXOSKELETON MOTOR Public/Granted day:2021-09-23
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