Advanced gait control system and methods enabling continuous walking motion of a powered exoskeleton device
US11679056B2 · kind B2 · utility
Assignee
Inventors
Key dates
| Filing date | Apr 23, 2018 |
| Grant date | Jun 20, 2023 |
| Priority date | — |
| Expiry date | Jul 17, 2039 |
Classification
- Technology area (CPC G)Physics
- CPC primaryG05B2219/25268
- WIPO fieldMedical technology
- WIPO sectorInstruments
Abstract
A method of controlling an exoskeleton mobility device includes executing a control application with an electronic controller to perform: sensing at least one of an angular position or angular velocity of a stance/trailing leg during a single support dynamic state of a gait cycle; determining whether the angular position satisfies an advanced gait threshold; and when it is determined that the angular position satisfies the advanced gait threshold, the control system employs advanced gait control in which a duration of double support states between single support dynamic states is minimized. For advanced gait control the control system controls such that hip joint component velocities are non-zero during transitions from swing states to stance states, and knee joint component velocities are non-zero during transitions from stance states to swing states of the gait cycle. Each step of the gait cycle thus blends into a next step by way of hip joint component swing-to-stance extension, and/or knee joint component stance-to-swing flexion.
Source: USPTO / EPO open patent data. Objective bibliographic and citation counts.