The University of Maryland, Baltimore;The United States of America as represented by the Department of Veterans Affairs
发明人:
Anindo Roy,Larry W. Forrester,Richard F. Macko
申请号：
US14549370
公开号：
US09943459B2
申请日:
2014.11.20
申请国别(地区):
US
年份:
2018
代理人:
摘要：
A method includes determining, on a processor, a current movement phase for a compound joint function based on sensor data. The method further includes determining, on the processor, a respective robot state parameter trace for each movement phase in a normal and impaired subject. The method further includes determining, on the processor, a deficit parameter for each movement phase. The method further includes determining, on the processor, an adaptive magnitude for the robot applied torque based on the deficit parameter of the current movement phase. The method further includes applying, to the robot joint, the adaptive magnitude for the robot applied torque for the current movement phase, based on an adaptive timing for the current movement phase. An apparatus is also described for providing deficit-adjusted adaptive assistance during movement phases of the impaired joint.
