ATE488424T1 - Verfahren zum ausgleichen der schwerkräfte einer gehhilfevorrichtung und gehhilfevorrichtung mit einer steuerung zum ausgleichen der schwerkräfte - Google Patents

Verfahren zum ausgleichen der schwerkräfte einer gehhilfevorrichtung und gehhilfevorrichtung mit einer steuerung zum ausgleichen der schwerkräfte

Info

Publication number
ATE488424T1
ATE488424T1 AT03021211T AT03021211T ATE488424T1 AT E488424 T1 ATE488424 T1 AT E488424T1 AT 03021211 T AT03021211 T AT 03021211T AT 03021211 T AT03021211 T AT 03021211T AT E488424 T1 ATE488424 T1 AT E488424T1
Authority
AT
Austria
Prior art keywords
joint
human
assist
assist torque
compensating
Prior art date
Application number
AT03021211T
Other languages
English (en)
Inventor
Masakazu Kawai
Yasushi Ikeuchi
Behzad Dariush
Original Assignee
Honda Motor Co Ltd
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Honda Motor Co Ltd filed Critical Honda Motor Co Ltd
Application granted granted Critical
Publication of ATE488424T1 publication Critical patent/ATE488424T1/de

Links

Classifications

    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
    • A61H1/00—Apparatus for passive exercising; Vibrating apparatus; Chiropractic devices, e.g. body impacting devices, external devices for briefly extending or aligning unbroken bones
    • A—HUMAN NECESSITIES
    • A63—SPORTS; GAMES; AMUSEMENTS
    • A63B—APPARATUS FOR PHYSICAL TRAINING, GYMNASTICS, SWIMMING, CLIMBING, OR FENCING; BALL GAMES; TRAINING EQUIPMENT
    • A63B21/00—Exercising apparatus for developing or strengthening the muscles or joints of the body by working against a counterforce, with or without measuring devices
    • A63B21/00181—Exercising apparatus for developing or strengthening the muscles or joints of the body by working against a counterforce, with or without measuring devices comprising additional means assisting the user to overcome part of the resisting force, i.e. assisted-active exercising
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Program-controlled manipulators
    • B25J9/0006—Exoskeletons, i.e. resembling a human figure
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
    • B62D—MOTOR VEHICLES; TRAILERS
    • B62D57/00—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track
    • B62D57/02—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track with ground-engaging propulsion means, e.g. walking members
    • B62D57/032—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track with ground-engaging propulsion means, e.g. walking members with alternately or sequentially lifted supporting base and legs; with alternately or sequentially lifted feet or skid
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
    • A61H1/00—Apparatus for passive exercising; Vibrating apparatus; Chiropractic devices, e.g. body impacting devices, external devices for briefly extending or aligning unbroken bones
    • A61H1/02—Stretching or bending or torsioning apparatus for exercising
    • A61H2001/0211—Walking coordination of arms and legs

Landscapes

  • Engineering & Computer Science (AREA)
  • Health & Medical Sciences (AREA)
  • Mechanical Engineering (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • General Health & Medical Sciences (AREA)
  • Physical Education & Sports Medicine (AREA)
  • Rehabilitation Therapy (AREA)
  • Public Health (AREA)
  • Combustion & Propulsion (AREA)
  • Transportation (AREA)
  • Chemical & Material Sciences (AREA)
  • Epidemiology (AREA)
  • Pain & Pain Management (AREA)
  • Orthopedic Medicine & Surgery (AREA)
  • Animal Behavior & Ethology (AREA)
  • Biophysics (AREA)
  • Veterinary Medicine (AREA)
  • Robotics (AREA)
  • Manipulator (AREA)
  • Prostheses (AREA)
  • Rehabilitation Tools (AREA)
  • Walking Sticks, Umbrellas, And Fans (AREA)
  • Catching Or Destruction (AREA)
AT03021211T 2002-09-23 2003-09-18 Verfahren zum ausgleichen der schwerkräfte einer gehhilfevorrichtung und gehhilfevorrichtung mit einer steuerung zum ausgleichen der schwerkräfte ATE488424T1 (de)

Applications Claiming Priority (3)

Application Number Priority Date Filing Date Title
US41302402P 2002-09-23 2002-09-23
US42196402P 2002-10-28 2002-10-28
US48470803P 2003-07-03 2003-07-03

Publications (1)

Publication Number Publication Date
ATE488424T1 true ATE488424T1 (de) 2010-12-15

Family

ID=32234189

Family Applications (1)

Application Number Title Priority Date Filing Date
AT03021211T ATE488424T1 (de) 2002-09-23 2003-09-18 Verfahren zum ausgleichen der schwerkräfte einer gehhilfevorrichtung und gehhilfevorrichtung mit einer steuerung zum ausgleichen der schwerkräfte

Country Status (5)

Country Link
US (1) US7217247B2 (de)
EP (1) EP1422128B1 (de)
JP (1) JP4493961B2 (de)
AT (1) ATE488424T1 (de)
DE (1) DE60334966D1 (de)

Families Citing this family (57)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US7217247B2 (en) 2002-09-23 2007-05-15 Honda Giken Kogyo Kabushiki Kaisha Gravity compensation method in a human assist system and a human assist system with gravity compensation control
US7684896B2 (en) * 2001-06-29 2010-03-23 Honda Motor Co., Ltd. System and method of estimating joint loads using an approach of closed form dynamics
US7623944B2 (en) * 2001-06-29 2009-11-24 Honda Motor Co., Ltd. System and method of estimating joint loads in a three-dimensional system
US7774177B2 (en) * 2001-06-29 2010-08-10 Honda Motor Co., Ltd. Exoskeleton controller for a human-exoskeleton system
US7135003B2 (en) * 2001-06-29 2006-11-14 Honda Giken Kogyo Kabushiki Kaisha Feedback estimation of joint forces and joint moments
US7251593B2 (en) * 2001-10-29 2007-07-31 Honda Giken Kogyo Kabushiki Kaisha Simulation system, method and computer-readable medium for human augmentation devices
US7469166B2 (en) * 2001-06-29 2008-12-23 Honda Motor Co., Ltd. System and method of predicting novel motion in a serial chain system
US7650204B2 (en) * 2001-06-29 2010-01-19 Honda Motor Co., Ltd. Active control of an ankle-foot orthosis
US7390309B2 (en) * 2002-09-23 2008-06-24 Honda Motor Co., Ltd. Human assist system using gravity compensation control system and method using multiple feasibility parameters
US7402142B2 (en) * 2002-09-23 2008-07-22 Honda Giken Kogyo Kabushiki Kaisha Method and processor for obtaining moments and torques in a biped walking system
US6966882B2 (en) * 2002-11-25 2005-11-22 Tibion Corporation Active muscle assistance device and method
JP4178186B2 (ja) * 2003-08-21 2008-11-12 国立大学法人 筑波大学 装着式動作補助装置、装着式動作補助装置の制御方法および制御用プログラム
US7628766B1 (en) * 2003-10-29 2009-12-08 The Regents Of The University Of California Lower extremity enhancer
JP4971977B2 (ja) * 2004-03-31 2012-07-11 本田技研工業株式会社 角運動量の変化率に基づいて脚式ロボットを制御する方法
WO2006092872A1 (ja) * 2005-02-28 2006-09-08 National University Corporation NARA Institute of Science and Technology 駆動力算出装置、駆動力算出方法、筋力補助装置、プログラム、及びコンピュータ読み取り可能な記録媒体
US7835822B2 (en) * 2005-03-30 2010-11-16 Honda Motor Co., Ltd. Systems and methods for controlling a legged robot using a two-phase disturbance response strategy
JP4806447B2 (ja) * 2005-04-12 2011-11-02 本田技研工業株式会社 短下肢装具の能動的制御
US8057410B2 (en) * 2005-04-13 2011-11-15 The Regents Of The University Of California Semi-powered lower extremity exoskeleton
US8082062B2 (en) * 2005-06-10 2011-12-20 Honda Motor Co., Ltd. Regenerative actuation in motion control
US7573477B2 (en) * 2005-06-17 2009-08-11 Honda Motor Co., Ltd. System and method for activation-driven muscle deformations for existing character motion
JP4712620B2 (ja) * 2006-06-12 2011-06-29 本田技研工業株式会社 歩行補助装具の制御装置
JP4666644B2 (ja) * 2006-07-12 2011-04-06 本田技研工業株式会社 歩行補助装具の制御装置
US8353854B2 (en) 2007-02-14 2013-01-15 Tibion Corporation Method and devices for moving a body joint
JP5232177B2 (ja) * 2007-02-28 2013-07-10 レイセオン カンパニー 作動装置を能動的および受動的に作動させる対立する流体制御システム
WO2008106618A1 (en) * 2007-02-28 2008-09-04 Raytheon Sarcos, Llc Fluid control system having selective recruitable actuators
US8945028B2 (en) 2008-05-20 2015-02-03 Ekso Bionics, Inc. Device and method for decreasing energy consumption of a person by use of a lower extremity exoskeleton
US20090306548A1 (en) 2008-06-05 2009-12-10 Bhugra Kern S Therapeutic method and device for rehabilitation
US9351855B2 (en) 2008-06-16 2016-05-31 Ekso Bionics, Inc. Powered lower extremity orthotic and method of operation
EP2346447B1 (de) * 2008-07-23 2019-09-04 Ekso Bionics, Inc. Exoskelett und verfahren zur steuerung eines schwungbeins des exoskeletts
WO2010088262A2 (en) 2009-01-27 2010-08-05 University Of Washington Prosthetic limb monitoring system
US20100312083A1 (en) * 2009-04-20 2010-12-09 Phil Southerland System for Monitoring Glucose and Measuring Wattage
KR20120060578A (ko) * 2010-12-02 2012-06-12 삼성전자주식회사 보행 로봇 및 그 자세 제어 방법
KR20120071599A (ko) * 2010-12-23 2012-07-03 삼성전자주식회사 보행 로봇 및 그 제어 방법
ITFI20110232A1 (it) * 2011-10-21 2013-04-22 Zionamento Sant Anna Metodo per il calcolo del centro di massa per una piattaforma umanoide
WO2014151584A1 (en) 2013-03-15 2014-09-25 Alterg, Inc. Orthotic device drive system and method
US9675514B2 (en) 2013-03-15 2017-06-13 Bionik Laboratories, Inc. Transmission assembly for use in an exoskeleton apparatus
US9855181B2 (en) 2013-03-15 2018-01-02 Bionik Laboratories, Inc. Transmission assembly for use in an exoskeleton apparatus
US9421143B2 (en) 2013-03-15 2016-08-23 Bionik Laboratories, Inc. Strap assembly for use in an exoskeleton apparatus
US9808390B2 (en) 2013-03-15 2017-11-07 Bionik Laboratories Inc. Foot plate assembly for use in an exoskeleton apparatus
US20150025423A1 (en) 2013-07-19 2015-01-22 Bionik Laboratories, Inc. Control system for exoskeleton apparatus
KR102115950B1 (ko) * 2013-11-07 2020-06-05 삼성전자주식회사 보행 보조 로봇 및 보행 보조 로봇의 제어 방법
KR102131277B1 (ko) * 2013-12-30 2020-07-07 삼성전자주식회사 보행 보조 장치 및 보행 보조 장치의 제어 방법
US9757254B2 (en) * 2014-08-15 2017-09-12 Honda Motor Co., Ltd. Integral admittance shaping for an exoskeleton control design framework
WO2017105996A1 (en) * 2015-12-14 2017-06-22 Board Of Regents, The University Of Texas System Torque control methods and devices for powered orthosis
EP3450115B1 (de) * 2016-06-08 2021-03-31 Nintendo Co., Ltd. Vorrichtung zum passiven gehen und modul zum passiven gehen
US10195098B2 (en) 2016-09-22 2019-02-05 Gordon Roeder Decompression chair for lower back
US10004614B1 (en) 2016-11-02 2018-06-26 Joe Johnson Disarticulated compression socket
US11844667B2 (en) 2016-11-02 2023-12-19 Joe Johnson Disarticulated compression socket
US10710237B2 (en) * 2017-03-22 2020-07-14 Jtekt Corporation Assist device
CN109634100B (zh) * 2018-12-30 2021-11-02 深圳市优必选科技有限公司 仿人机器人行走加速度补偿方法、装置及仿人机器人
US11123608B2 (en) * 2019-03-05 2021-09-21 Hiwin Technologies Corp. Upper limb training system and control method thereof
KR102234788B1 (ko) 2020-07-01 2021-04-01 삼성전자주식회사 보행 보조 장치 및 보행 보조 장치의 제어 방법
CN111538234B (zh) * 2020-07-08 2020-10-09 深圳市优必选科技股份有限公司 任务分层控制方法、装置、机器人和可读存储介质
CN113043279B (zh) * 2021-04-15 2022-08-02 诺创智能医疗科技(杭州)有限公司 手术机器人的控制方法、控制器、系统、电子设备与介质
CN113696177B (zh) * 2021-07-29 2022-12-27 杭州程天科技发展有限公司 应用于外骨骼机器人的控制与评估方法及系统
KR102778874B1 (ko) * 2022-11-21 2025-03-11 한국전자통신연구원 엑소스켈레톤 제어로직 평가 방법 및 시스템
CN118752464B (zh) * 2024-06-20 2025-12-05 哈尔滨思哲睿智能医疗设备股份有限公司 一种机器人主手控制方法、装置、控制器、存储介质及程序产品

Family Cites Families (54)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US4244120A (en) * 1979-06-11 1981-01-13 The United States Of America As Represented By The Secretary Of The Navy Acceleration cueing simulation device
US5136227A (en) * 1985-09-10 1992-08-04 Agency Of Industrial Science & Technology, Ministry Of International Trade & Industry Active gravity compensation device for force control system
US4786847A (en) * 1986-11-20 1988-11-22 Unimation Inc. Digital control for multiaxis robots
JPS63150176A (ja) * 1986-12-15 1988-06-22 工業技術院長 動的歩行ロボツトの歩行制御方法
US5044360A (en) * 1989-12-26 1991-09-03 United States Manufacturing Company Orthosis with variable motion controls
JP3104249B2 (ja) * 1990-10-17 2000-10-30 オムロン株式会社 フィードバック制御装置
US5625577A (en) * 1990-12-25 1997-04-29 Shukyohojin, Kongo Zen Sohonzan Shorinji Computer-implemented motion analysis method using dynamics
US5432417A (en) * 1992-04-30 1995-07-11 Honda Giken Kogyo Kabushiki Kaisha Locomotion control system for legged mobile robot
JP3269852B2 (ja) * 1992-05-29 2002-04-02 本田技研工業株式会社 脚式移動ロボットの姿勢安定化制御装置
US5362288A (en) * 1993-03-26 1994-11-08 Eli Razon Device for assisting running, walking or jumping
US5323549A (en) * 1993-08-16 1994-06-28 Sports Licensing, Inc. Shoe equipped with internal orthotic cradle device
US5570286A (en) * 1993-12-23 1996-10-29 Lord Corporation Regenerative system including an energy transformer which requires no external power source to drive same
JP2761574B2 (ja) * 1994-07-06 1998-06-04 工業技術院長 力補助装置の制御方法及びその装置
US5835693A (en) * 1994-07-22 1998-11-10 Lynch; James D. Interactive system for simulation and display of multi-body systems in three dimensions
US5659480A (en) * 1995-06-27 1997-08-19 Industrial Service And Machine, Incorporated Method for coordinating motion control of a multiple axis machine
US5994864A (en) * 1995-09-11 1999-11-30 Kabushiki Kaisha Yaskawa Denki Robot controller
US5808433A (en) * 1995-09-29 1998-09-15 Honda Giken Kogyo Kabushiki Kaisha Method of generating gait of legged walking robot and system for controlling its locomotion
US5706589A (en) * 1996-06-13 1998-01-13 Marc; Michel Energy managing shoe sole construction
US5982389A (en) * 1996-06-17 1999-11-09 Microsoft Corporation Generating optimized motion transitions for computer animated objects
RU2107328C1 (ru) 1996-08-14 1998-03-20 Нурахмед Нурисламович Латыпов Способ отслеживания и отображения положения и ориентации пользователя в пространстве и система для осуществления способа
US6364888B1 (en) * 1996-09-09 2002-04-02 Intuitive Surgical, Inc. Alignment of master and slave in a minimally invasive surgical apparatus
EP0965416B1 (de) * 1996-12-19 2005-12-07 Honda Giken Kogyo Kabushiki Kaisha Haltungskontrolleur einen sich auf beinen bewegenden robotern
JP3375843B2 (ja) * 1997-01-29 2003-02-10 本田技研工業株式会社 ロボットの自律走行方法および自律走行ロボットの制御装置
US5942869A (en) * 1997-02-13 1999-08-24 Honda Giken Kogyo Kabushiki Kaisha Mobile robot control device
DE29719250U1 (de) * 1997-10-30 1998-05-07 Hauptverband der gewerblichen Berufsgenossenschaften eV, 53757 Sankt Augustin Körperbelastungsmeß- und Analysesystem
US6161080A (en) * 1997-11-17 2000-12-12 The Trustees Of Columbia University In The City Of New York Three dimensional multibody modeling of anatomical joints
US6045524A (en) * 1997-12-19 2000-04-04 Kabushiki Kaisha Tatematsu Seisakusho Joint of orthotic apparatus
US6289265B1 (en) * 1998-04-20 2001-09-11 Honda Giken Kogyo Kabushiki Kaisha Controller for legged mobile robot
JP2002532126A (ja) 1998-09-14 2002-10-02 スタンフォード ユニバーシティ 関節状態の評価及び損傷防止装置
JP3497402B2 (ja) 1999-02-25 2004-02-16 日本電信電話株式会社 運動状態生成装置及び運動状態生成プログラムを記録した記録媒体
SE514921C2 (sv) * 1999-06-22 2001-05-21 Atlas Copco Tools Ab Metod för bestämning av optimala värden för skruvåtdragningsparametrar genom driftssimulering
JP3555107B2 (ja) * 1999-11-24 2004-08-18 ソニー株式会社 脚式移動ロボット及び脚式移動ロボットの動作制御方法
JP3615702B2 (ja) * 1999-11-25 2005-02-02 ソニー株式会社 脚式移動ロボットの動作制御装置及び動作制御方法、並びに、脚式移動ロボット
US6750866B1 (en) * 2000-04-21 2004-06-15 Realistic Dynamics, Inc. Method and system for dynamically filtering the motion of articulated bodies
US6633783B1 (en) * 2000-06-06 2003-10-14 Honda Giken Kogyo Kabushiki Kaisha Fuzzy logic based control
US6445983B1 (en) * 2000-07-07 2002-09-03 Case Corporation Sensor-fusion navigator for automated guidance of off-road vehicles
JP4625910B2 (ja) * 2000-09-19 2011-02-02 学校法人東海大学 移動ロボットの関節制御装置
JP4252721B2 (ja) * 2000-11-17 2009-04-08 本田技研工業株式会社 二足歩行ロボット
JP3760186B2 (ja) * 2001-06-07 2006-03-29 独立行政法人科学技術振興機構 二脚歩行式移動装置及びその歩行制御装置並びに歩行制御方法
DE10130485C2 (de) * 2001-06-25 2003-06-26 Robert Riener Programmierbarer Gelenksimulator
JP4611580B2 (ja) * 2001-06-27 2011-01-12 本田技研工業株式会社 トルク付与システム
US7390309B2 (en) * 2002-09-23 2008-06-24 Honda Motor Co., Ltd. Human assist system using gravity compensation control system and method using multiple feasibility parameters
US7135003B2 (en) * 2001-06-29 2006-11-14 Honda Giken Kogyo Kabushiki Kaisha Feedback estimation of joint forces and joint moments
US7217247B2 (en) 2002-09-23 2007-05-15 Honda Giken Kogyo Kabushiki Kaisha Gravity compensation method in a human assist system and a human assist system with gravity compensation control
US7623944B2 (en) * 2001-06-29 2009-11-24 Honda Motor Co., Ltd. System and method of estimating joint loads in a three-dimensional system
JP3944566B2 (ja) * 2001-07-30 2007-07-11 国立大学法人 東京大学 リンク機構において動力学的に関節加速度を求める方法
JP3637387B2 (ja) * 2001-09-07 2005-04-13 国立大学法人岐阜大学 脚を有する機械の姿勢制御装置及び制御方法
JP3833567B2 (ja) * 2002-05-01 2006-10-11 本田技研工業株式会社 移動ロボットの姿勢制御装置
US7490012B2 (en) * 2002-05-29 2009-02-10 Japan Science And Technology Agency Body dynamics calculation method, body dynamics model and model data thereof, and body-model generation method
US6971267B2 (en) * 2002-09-23 2005-12-06 Honda Giken Kogyo Kabushiki Kaisha Method and processor for obtaining moments and torques in a biped walking system
JP2004174704A (ja) * 2002-11-14 2004-06-24 Sony Corp アクチュエータ装置及び多軸型ロボット
US6966882B2 (en) * 2002-11-25 2005-11-22 Tibion Corporation Active muscle assistance device and method
US8579771B2 (en) * 2004-08-11 2013-11-12 Omnitek Partners Llc Walk-assist devices and methods
US20060139355A1 (en) * 2004-12-27 2006-06-29 Seyoon Tak Physically based motion retargeting filter

Also Published As

Publication number Publication date
US20050102111A1 (en) 2005-05-12
EP1422128A2 (de) 2004-05-26
JP4493961B2 (ja) 2010-06-30
DE60334966D1 (de) 2010-12-30
JP2004114292A (ja) 2004-04-15
EP1422128B1 (de) 2010-11-17
US7217247B2 (en) 2007-05-15
EP1422128A3 (de) 2008-12-17

Similar Documents

Publication Publication Date Title
ATE488424T1 (de) Verfahren zum ausgleichen der schwerkräfte einer gehhilfevorrichtung und gehhilfevorrichtung mit einer steuerung zum ausgleichen der schwerkräfte
US8147436B2 (en) Powered orthosis
EP1306792A3 (de) Simulationssystem, Verfahren und Rechnerprogramm für Menschverstärkungsgeräte
US7857774B2 (en) Wearing-type motion assistance device and program for control
Reinkensmeyer et al. Slacking by the human motor system: computational models and implications for robotic orthoses
US11938050B2 (en) Torque control methods and devices for powered orthosis
Ekkelenkamp et al. LOPES: Selective control of gait functions during the gait rehabilitation of CVA patients
WO2005099398A3 (en) Gravity compensation control system and method using multiple feasibility parameters
US20210338458A1 (en) Variable transmission for assistive prosthesis device
WO2009050838A1 (ja) 運動補助装置
DE102013103979B4 (de) Verfahren zum Steuern eines Gangs eines Roboters
DE102016122340A1 (de) Fußknöchellose Gehunterstützungsvorrichtung und Verfahren zum Steuern derselben
Zhang et al. Actuator optimization and deep learning-based control of pediatric knee exoskeleton for community-based mobility assistance
Toxiri et al. Using parallel elasticity in back-support exoskeletons: a study on energy consumption during industrial lifting tasks
Lv et al. Experimental implementation of underactuated potential energy shaping on a powered ankle-foot orthosis
Lv et al. Orthotic body-weight support through underactuated potential energy shaping with contact constraints
Peterka Comparison of human and humanoid robot control of upright stance
Zeng et al. Trajectory tracking compliant control for lower limb exoskeleton based on interaction torque estimation
Mendoza-Crespo et al. Transparent mode for lower limb exoskeleton
CN104793621A (zh) 一种模仿肌肉粘弹特性的仿人机器人行走稳定控制方法
Anwar et al. Adaptive trajectory control to achieve smooth interaction force in robotic rehabilitation device
CN113855472A (zh) 用于控制外骨骼机器人的方法、装置和外骨骼机器人
Dariush Analysis and simulation of an exoskeleton controller that accommodates static and reactive loads
EP4438013A2 (de) Hilfsvorrichtung mit hybriden steuerungssystemen
Yusof et al. Design and development: Actuator of powered knee orthosis a prototype

Legal Events

Date Code Title Description
RER Ceased as to paragraph 5 lit. 3 law introducing patent treaties