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Movement assistance device

A power and exoskeleton technology, applied in passive exercise equipment, equipment to help people walk, medical science, etc., can solve the problem of generally stable force hindering the development of balance

Inactive Publication Date: 2015-04-29
VANDERBILT UNIV
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  • Summary
  • Abstract
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  • Claims
  • Application Information

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Problems solved by technology

In addition to kinematic constraints, the presence of generally stable forces significantly hinders the development of balance during this type of training

Method used

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  • Movement assistance device
  • Movement assistance device
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Examples

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Embodiment

[0107] The examples shown here are not intended to limit the various implementations. Instead, they are presented separately for illustrative purposes.

[0108] In order to provide preliminary verification of the above-mentioned control method, the control method was implemented on the above-mentioned exoskeleton and evaluated on patients in the subacute stage of stroke rehabilitation. For this preliminary study, help the injured leg during the leg swing phase of walking to achieve a symmetrical stride length. The subject was a 32-year-old female with hemiparesis on the right side (upper and lower limbs) three months after ischemic stroke, able to walk with the help of a four-point crutches. The individual using the exoskeleton described above uses the above control method to operate the instructions as follows Figure 7 Shown. At the time of the test, the subject has the characteristics of a FIM gait score of 5 (ie, monitoring and backup auxiliary equipment are required). Not...

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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.

Description

[0001] Cross references to related applications [0002] This application claims the priority and rights of U.S. Provisional Patent Application No. 61 / 660,286 filed on June 15, 2012, entitled "Exoskeleton Control Method", the entire contents of which are incorporated herein by reference. Technical field [0003] The present invention relates to the field of powered auxiliary equipment, and more specifically, to powered auxiliary equipment and methods. Background technique [0004] Approximately 800,000 people suffer from stroke each year in the United States, of which approximately 660,000 (83%) survive. Among the surviving population, studies have shown that approximately 60% (nearly 400,000) have low limb movement disorders during the acute phase of rehabilitation. Among these populations, studies indicate that approximately half (ie, 200,000) cannot walk without assistance six months after the stroke. The inability to walk independently has a significant impact on individual in...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): A61H1/02A61H3/00
CPCA61H1/024A61H1/0244A61H3/00A61H2201/1215A61H2201/163A61H2201/1642A61H2201/1676A61H2201/5002A61H2201/5007A61H2201/5061A61H2201/5069A61F2/72Y10S901/28A61H2201/1628B25J9/0006
Inventor 迈克尔·戈德法布斯宾塞·默里
Owner VANDERBILT UNIV
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