2 results about "Stance phase" patented technology

A prosthetic or orthotic device (POD) can include first and second limb members coupled at a joint, an actuator, and a controller. The actuator can be configured to actuate the first limb member relative to the second limb member. The controller can cause the actuator to exhibit a force rejection behavior during a portion of stance phase and cause the actuator to exhibit a force following behavior during a portion of swing phase. The controller can, based on a determination that a gait parameter satisfies a gait parameter threshold, cause the actuator to at least one of: apply a first torque at the joint to cause the POD to flex during a portion of stance phase, decelerate flexion of the POD during at least a first portion of the swing phase, or decelerate extension of the POD during at least a second portion of the swing phase.

This invention relates to a phased adaptive control method for an exoskeleton used in rehabilitation training, belonging to the field of human-machine collaborative motion assistance technology. This method identifies gait phases based on hip joint angle and angular velocity, dividing the gait into four phases: early swing phase, late swing phase, early stance phase, and late stance phase. It then uses a polynomial curve with control points to complete basic gait planning. Finally, it adaptively adjusts the gait trajectory control points based on the swing dynamics and stance phase. This invention enables phased adaptive adjustment of gait trajectory and auxiliary torque, improving training flexibility and patient participation, effectively avoiding sensor signal interference and insufficient accuracy, and contributing to improved rehabilitation training outcomes.