HERR, HUGH MILLER,HAN, ZHIXIU,BARNHART, CHRISTOPHER ERIC,CASLER, RICK
申请号：
CA2876187
公开号：
CA2876187A1
申请日:
2013.06.12
申请国别(地区):
CA
年份:
2013
代理人:
摘要：
A time-dependent decay behavior is incorporated into one or more joint actuator control parameters during operation of a lower-extremity, prosthetic, orthotic or exoskeleton device. These parameters may include joint equilibrium, joint impedance (e.g., stiffness, damping) and/or joint torque components (e.g., gain, exponent). The decay behavior may be exponential, linear, piecewise, or may conform to any other suitable function. Embodiments presented herein are used in a control system that emulates biological muscle-tendon reflex response providing for a natural walking experience. Further, joint impedance may depend on an angular rate of the joint. Such a relationship between angular rate and joint impedance may assist a wearer in carrying out certain activities, such as standing up and ascending a ladder.
