Zhixiu HAN,Christopher Williams,Jeff Anthony Weber,Christopher Eric Barnhart,Hugh M. Herr,Richard James Casler, JR.
申请号：
US16697763
公开号：
US20200107951A1
申请日:
2019.11.27
申请国别(地区):
US
年份:
2020
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.
