Christopher E. Barnhart;Christopher Williams;Zhixiu Han;Richard J. Casler, Jr.;Jeff A. Weber;Hugh M. Herr
发明人:
Zhixiu Han,Christopher Williams,Jeff A. Weber,Christopher E. Barnhart,Hugh M. Herr,Richard J. Casler, Jr.
申请号：
US13356230
公开号：
US09687377B2
申请日:
2012.01.23
申请国别(地区):
US
年份:
2017
代理人:
摘要：
A powered device augments a joint function of a human during a gait cycle using a powered actuator that supplies an augmentation torque, an impedance, or both to a joint. A controller estimates terrain slope and modulates the augmentation torque and the impedance according to a phase of the gait cycle and the estimated terrain slope to provide at least a biomimetic response. The controller may also modulate a joint equilibrium. Accordingly, the device is capable of normalizing or augmenting human biomechanical function, responsive to a wearer's activity, regardless of speed and terrain, and can be used, for example, as a knee orthosis, prosthesis, or exoskeleton.
