Model-based neuromechanical controller for a robotic leg
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A controller and mechanical technology, applied in the direction of manipulators, program-controlled manipulators, artificial legs, etc., can solve the problems such as the adaptation of controllers that do not allow environmental interference
Inactive Publication Date: 2012-03-14
MASSACHUSETTS INST OF TECH
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Although effective at desired pace and terrain conditions, these controllers do not allow adaptation to environmental disturbances such as speed transients and terrain changes
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[0048] A control architecture proposes to manipulate the biomimetic moments of the ankle, knee, and hip joints of a powered leg prosthesis, orthosis, or exoskeleton during walking. In this implementation, the powered device includes moment-controllable artificial ankle and knee joints. Appropriate torques are provided to the user as determined by feedback information provided by sensors positioned at each joint of the robotic leg assembly. These sensors include, but are not limited to, angular joint displacement and velocity Hall effect sensors using digital encoders or similar, torque sensors at the knee and ankle joints, and at least one inertial measurement device located between the knee and ankle joints (IMU).
[0049] Sensory information from the joint state (position and velocity) of the robotic legs (hip, knee, and ankle) is used as input to a neuromuscular model of human locomotion. The model uses joint state sensor information from the robotic leg to determine the ...
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Abstract
A model-based neuromechanical controller for a robotic limb having at least one joint includes a finite state machine configured to receive feedback data relating to the state of the robotic limb and to determine the state of the robotic limb, a muscle model processor configured to receive state information from the finite state machine and, using muscle geometry and reflex architecture information and a neuromuscular model, to determine at least one desired joint torque or stiffness command to be sent to the robotic limb, and a joint command processor configured to command the biomimetric torques and stiffnesses determined by the muscle model processor at the robotic limb joint. The feedback data is preferably provided by at least one sensor mounted at each joint of the robotic limb. In a preferred embodiment, the robotic limb is a leg and the finite state machine is synchronized to the leg gait cycle.
Description
[0001] related application [0002] This application claims priority to US Provisional Application No. 61 / 148,545, filed January 30, 2009, the entire disclosure of which is incorporated herein by reference. [0003] This application is a continuation-in-part of U.S. Patent Application No. 12 / 157,727, filed June 12, 2008, which claims the now-terminated U.S. Provisional Patent Application No. 60, filed June 12, 2007 / 934,233, and this application is a continuation-in-part of U.S. Patent Application Nos. 11 / 395,448, 11 / 495,140, 11 / 642,993 listed below, the entire disclosures of which are incorporated herein by reference in their entirety. [0004] This application is also a continuation-in-part of U.S. Patent Application No. 12 / 608,627, filed October 29, 2009, which was filed on December 19, 2006, and has now been abandoned and claims the December 19, 2005 A continuation of U.S. Patent Application No. 11 / 642,993, which was the priority of now-terminated U.S. Provisional Patent ...
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