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Exoskeleton system, control device and method

A control device and exoskeleton technology, applied in program control, general control system, program control manipulator, etc., can solve problems such as imprecise control

Pending Publication Date: 2020-09-11
UNIV STUTTGART
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0008] The disadvantage of existing exoskeleton systems is the relatively imprecise control

Method used

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  • Exoskeleton system, control device and method
  • Exoskeleton system, control device and method
  • Exoskeleton system, control device and method

Examples

Experimental program
Comparison scheme
Effect test

Embodiment Construction

[0060] figure 1 An embodiment of an exoskeleton system with a control device according to the present disclosure is shown. The exoskeleton system is identified here with reference numeral 1 in its overall unit.

[0061] The exoskeleton system 1 has a first exoskeleton unit 11 for supporting a first body part 21 and a second exoskeleton unit 12 for supporting a second body part 22 . In this embodiment, the first exoskeleton unit 11 and the second exoskeleton unit 12 are full-body exoskeletons respectively, which support the whole moving limbs of the first user 2 or the second user 3 from the legs through the spine to the arms.

[0062] The exoskeleton system 1 also has a control unit 30 . The control device 30 is designed to control the first exoskeleton unit 11 and / or the second exoskeleton unit 12 of the exoskeleton system 1 based on an adjustment model, wherein the adjustment model is based on a multibody system. The multibody system includes or models a first exoskeleton...

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PUM

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Abstract

The invention relates to an exoskeleton system (1) comprising: a first exoskeleton unit (11) for supporting a first body part (21); a second exoskeleton unit (12) for supporting a second body part (22); and a control device (30); wherein the control device is designed to actuate the first exoskeleton unit (11) and / or the second exoskeleton unit (12) based on a control model (31), wherein the control model is based on a multi-body system (32) which models the first exoskeleton unit (11), the second exoskeleton unit (12) and the first and / or second body part (21, 22), and wherein the first exoskeleton unit (11) and the second exoskeleton unit (12) are mechanically decoupled from one another. The invention also relates to a control device (30) and a corresponding method (100) for actuating afirst and / or second exoskeleton unit (11, 12).

Description

technical field [0001] The invention relates to the field of wearable assistance systems and in particular endoskeletal / exoskeletal systems, control devices and methods. Background technique [0002] Exoskeletons are known from the prior art. [0003] Such an exoskeleton is usually an external support structure, and also armor, which can support or increase the movement of the wearer, for example by means of joints driven by servomotors. Artificial exoskeletons, for example, have long been used in medicine as orthoses. The present disclosure relates to an artificial endoskeleton and / or exoskeleton. [0004] Favorable application areas for exoskeletons include medical applications, industrial applications, and military applications. In the medical field, exoskeletons are used especially in the field of rehabilitation robots and are used to support physical defects. In the industrial and military fields, exoskeletons are supposed to increase the user's capabilities, especi...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): B25J9/00B25J9/16
CPCB25J9/0006B25J9/1694B25J9/1674B25J9/1669B25J9/0084B25J19/02G05B19/4155G05B2219/40305G05B2219/39155G05B2219/39147
Inventor J.西格特U.施奈德
Owner UNIV STUTTGART