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Patent Agency Ranking
公开(公告)号：US09757254B2
公开(公告)日：2017-09-12
申请号：US14823655
申请日：2015-08-11
Applicant: Honda Motor Co., Ltd.
Inventor： Umashankar Nagarajan , Gabriel Aguirre-Ollinger , Ambarish Goswami
IPC: B25J9/16 , A63B23/035 , A61F2/70 , B25J9/00
CPC classification number: A61F2/70 , B25J9/0006
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.
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公开(公告)号：US09907722B2
公开(公告)日：2018-03-06
申请号：US14750657
申请日：2015-06-25
Applicant: Honda Motor Co., Ltd.
Inventor： Gabriel Aguirre-Ollinger , Umashankar Nagarajan , Ambarish Goswami
CPC classification number: A61H3/00 , A61H1/0244 , A61H2003/007 , A61H2201/1207 , A61H2201/1628 , A61H2201/164 , A61H2201/165 , A61H2201/1652 , A61H2201/5007 , A61H2201/5079 , A61H2201/5084
Abstract: The control method for lower-limb assistive exoskeletons assists human movement by producing a desired dynamic response on the human leg. Wearing the exoskeleton replaces the leg's natural admittance with the equivalent admittance of the coupled system formed by the leg and the exoskeleton. The control goal is to make the leg obey an admittance model defined by target values of natural frequency, resonant peak magnitude and zero-frequency response. The control achieves these objectives objective via positive feedback of the leg's angular position and angular acceleration. The method achieves simultaneous performance and robust stability through a constrained optimization that maximizes the system's gain margins while ensuring the desired location of its dominant poles.
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公开(公告)号：US10016332B2
公开(公告)日：2018-07-10
申请号：US15832575
申请日：2017-12-05
Applicant: HONDA MOTOR CO., LTD.
Inventor： Gabriel Aguirre-Ollinger , Umashankar Nagarajan , Ambarish Goswami
CPC classification number: A61H3/00 , A61H1/0244 , A61H2003/007 , A61H2201/1207 , A61H2201/1628 , A61H2201/164 , A61H2201/165 , A61H2201/1652 , A61H2201/5007 , A61H2201/5079 , A61H2201/5084
Abstract: The control method for lower-limb assistive exoskeletons assists human movement by producing a desired dynamic response on the human leg. Wearing the exoskeleton replaces the leg's natural admittance with the equivalent admittance of the coupled system formed by the leg and the exoskeleton. The control goal is to make the leg obey an admittance model defined by target values of natural frequency, resonant peak magnitude and zero-frequency response. The control achieves these objectives objective via positive feedback of the leg's angular position and angular acceleration. The method achieves simultaneous performance and robust stability through a constrained optimization that maximizes the system's gain margins while ensuring the desired location of its dominant poles.
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公开(公告)号：US09782322B2
公开(公告)日：2017-10-10
申请号：US14801455
申请日：2015-07-16
Applicant: Honda Motor Co., Ltd.
Inventor： Umashankar Nagarajan , Ambarish Goswami
IPC: B25J9/16 , A63B23/035 , A61H3/00 , A63B21/068 , A63B21/00 , A63B23/04 , A63B24/00 , A63B71/00
CPC classification number: A61H3/00 , A63B21/00178 , A63B21/00181 , A63B21/00189 , A63B21/023 , A63B21/065 , A63B21/068 , A63B21/15 , A63B21/4007 , A63B21/4009 , A63B21/4011 , A63B21/4015 , A63B21/4033 , A63B21/4047 , A63B23/03541 , A63B23/0405 , A63B24/0087 , A63B2024/0093 , A63B2071/0063 , A63B2220/70 , A63B2220/78 , B25J9/1633 , G05B2219/39339 , G05B2219/39343
Abstract: A resistive exoskeleton control system has a controller generating a positive resistance by shaping a closed loop integral admittance of a coupled human exoskeleton system wherein a frequency response magnitude of the integral admittance is lower than that of a natural human joint for desired frequencies of interest and generating an assistance ratio of approximately zero for the desired frequencies of interest.
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公开(公告)号：US20180098907A1
公开(公告)日：2018-04-12
申请号：US15832575
申请日：2017-12-05
Applicant: HONDA MOTOR CO., LTD.
Inventor： Gabriel AGUIRRE-OLLINGER , Umashankar Nagarajan , Ambarish Goswami
CPC classification number: A61H3/00 , A61H1/0244 , A61H2003/007 , A61H2201/1207 , A61H2201/1628 , A61H2201/164 , A61H2201/165 , A61H2201/1652 , A61H2201/5007 , A61H2201/5079 , A61H2201/5084
Abstract: The control method for lower-limb assistive exoskeletons assists human movement by producing a desired dynamic response on the human leg. Wearing the exoskeleton replaces the leg's natural admittance with the equivalent admittance of the coupled system formed by the leg and the exoskeleton. The control goal is to make the leg obey an admittance model defined by target values of natural frequency, resonant peak magnitude and zero-frequency response. The control achieves these objectives objective via positive feedback of the leg's angular position and angular acceleration. The method achieves simultaneous performance and robust stability through a constrained optimization that maximizes the system's gain margins while ensuring the desired location of its dominant poles.
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