Invention Grant
- Patent Title: Integral admittance shaping for an exoskeleton control design framework
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Application No.: US14823655Application Date: 2015-08-11
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Publication No.: US09757254B2Publication Date: 2017-09-12
- Inventor: Umashankar Nagarajan , Gabriel Aguirre-Ollinger , Ambarish Goswami
- Applicant: Honda Motor Co., Ltd.
- Applicant Address: JP Tokyo
- Assignee: HONDA MOTOR CO., LTD.
- Current Assignee: HONDA MOTOR CO., LTD.
- Current Assignee Address: JP Tokyo
- Agency: Arent Fox LLP
- Main IPC: B25J9/16
- IPC: B25J9/16 ; A63B23/035 ; A61F2/70 ; B25J9/00
Abstract:
An assistive exoskeleton control system has a controller generating a positive assistance by shaping a closed loop integral admittance of a coupled human exoskeleton system to a desired assistance ratio Ad by modifying a control transfer function using a cut-off frequency of a low pass filter.
Public/Granted literature
- US20160067061A1 INTEGRAL ADMITTANCE SHAPING FOR AN EXOSKELETON CONTROL DESIGN FRAMEWORK Public/Granted day:2016-03-10
Information query
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