Exoskeleton controller for a human-exoskeleton system
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United States of America Patent
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Aug 10, 2010
Grant Date -
Nov 2, 2006
app pub date -
Mar 30, 2006
filing date -
Jun 29, 2001
priority date (Note) -
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Abstract
Techniques are provided for controlling an exoskeleton actuator at a joint of a human-exoskeleton system by receiving system parameters for the human-exoskeleton system, receiving generalized coordinates for the human-exoskeleton system, and determining an equivalent joint torque for the exoskeleton actuator to compensate for a selected force. While providing partial or complete compensation of selected gravitational and external forces, one embodiment of the present invention mitigates the amount of interference between voluntary control and assist control, thereby allowing humans to quickly humans adapt to an exoskeleton system.
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