公开(公告)号：US09566705B2

公开(公告)日：2017-02-14

申请号：US14408094

申请日：2013-06-17

Applicant: VANDERBILT UNIVERSITY

Inventor： Michael Goldfarb ,  Spencer Murray

IPC: A61H3/00 ,  B25J9/00 ,  A61H1/02 ,  A61F2/72

CPC classification number: B25J9/0006 ,  A61F2/72 ,  A61H1/024 ,  A61H1/0244 ,  A61H3/00 ,  A61H2201/1215 ,  A61H2201/163 ,  A61H2201/1642 ,  A61H2201/1676 ,  A61H2201/5002 ,  A61H2201/5007 ,  A61H2201/5061 ,  A61H2201/5069 ,  Y10S901/28

Abstract: An exoskeleton for applying force to at least one lower limb of a user includes a control system with a sensor interface for sensor signals; a power interface for transmitting control signals to the powered joint; a processor coupled to the sensor and the power interfaces; and a computer-readable medium storing a computer program executable on the processor with code sections for: estimating a configuration of a body of the user with respect to a gravity vector based on the sensor signals; computing a control torque for the powered joint that compensates gravitational dynamics of the user based on the configuration; calculating a gravitational energy gradient for the powered joint; attenuating the control torque based on the gravitational energy gradient; computing a final control torque based on the attenuated control torque, and configuring the control signals based on the attenuated control torque.

Abstract translation: 用于向使用者的至少一个下肢施加力的外骨骼包括具有用于传感器信号的传感器接口的控制系统; 用于将控制信号发送到动力接头的电力接口; 耦合到传感器和电源接口的处理器; 以及计算机可读介质，其存储可在所述处理器上执行的代码部分的计算机程序，所述代码部分用于：基于所述传感器信号估计所述用户的身体相对于重力向量的配置; 基于该配置计算用于补偿用户的重力动力学的动力接头的控制扭矩; 计算动力接头的重力能梯度; 基于重力梯度衰减控制扭矩; 基于所述衰减的控制转矩来计算最终控制转矩，以及基于所述衰减的控制转矩构造所述控制信号。

公开(公告)号：US20150142130A1

公开(公告)日：2015-05-21

申请号：US14408094

申请日：2013-06-17

Applicant: VANDERBILT UNIVERSITY

Inventor： Michael Goldfarb ,  Spencer Murray

IPC: B25J9/00 ,  A61F2/72

CPC classification number: B25J9/0006 ,  A61F2/72 ,  A61H1/024 ,  A61H1/0244 ,  A61H3/00 ,  A61H2201/1215 ,  A61H2201/163 ,  A61H2201/1642 ,  A61H2201/1676 ,  A61H2201/5002 ,  A61H2201/5007 ,  A61H2201/5061 ,  A61H2201/5069 ,  Y10S901/28

Abstract: Methods for the control of an exoskeleton comprising at least one powered joint associated with lower limbs of a user and control systems therefrom are provided. A method includes estimating a configuration of a body of the user associated with the exoskeleton with respect to a gravity vector and computing a first control torque for the at least one powered joint that at least partially compensates gravitational dynamics of the user based on the configuration. The method further includes calculating a gravitational energy gradient for the at least one powered joint, attenuating the first control torque based at least on the gravitational energy gradient to yield a second control torque, and applying a final control torque at the at least one powered joint, the final control torque based, at least in part, on the second control torque.

Abstract translation: 提供了用于控制外骨骼的方法，所述外骨骼包括与用户的下肢相关联的至少一个动力接头及其控制系统。 一种方法包括相对于重力矢量估计与外骨骼相关联的使用者身体的构型，并且计算至少一个动力关节的第一控制扭矩，所述第一控制扭矩基于该构造至少部分地补偿用户的重力动力学。 该方法还包括计算至少一个动力接头的重力能梯度，至少基于重力能梯度来衰减第一控制扭矩以产生第二控制扭矩，以及在至少一个动力接头处施加最终控制扭矩 ，所述最终控制扭矩至少部分地基于所述第二控制扭矩。