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TORQUE CONTROL METHODS FOR AN EXOSKELETON DEVICE
专利权人:
发明人:
Juanjuan Zhang,Steven H. Collins
申请号:
US15605520
公开号:
US20170340506A1
申请日:
2017.05.25
申请国别(地区):
US
年份:
2017
代理人:
摘要:
This document describes systems and methods for controlling an exoskeleton. The system receives a measurement of a first torque applied to a rotational joint coupling a first component to a second component, the first torque being applied by a motor via a cable. The system determines, based on the measurement of the first torque, a first portion of a second torque to apply to the rotational joint. The system determines, based on the measurement of the first torque, a second portion of the second torque to apply to the rotational joint. The system determines a value of the second torque to apply to the rotational joint based on the first portion and the second portion. The system controls the motor for applying the second torque to the rotational joint via the cable.
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