Multimodal end-to-end learning for continuous control of exoskeletons for versatile activities
US12420401B2 · kind B2 · utility
0Cited by
6References
18Claims
0Family size
Assignee
Inventors
Key dates
| Filing date | Oct 2, 2023 |
| Grant date | Sep 23, 2025 |
| Priority date | — |
| Expiry date | Mar 22, 2044 |
Classification
- Technology area (CPC G)Physics
- CPC primaryG05B2219/40305
- WIPO fieldHandling
- WIPO sectorMechanical engineering
Abstract
Various examples are provided related to continuous control of exoskeletons. In one example, a method includes obtaining IMU sensor signals associated with an exoskeleton attached to a limb of a subject; generating an exoskeleton control signal in response to the IMU sensor signals, the exoskeleton control signal generated by a control policy neural network trained offline from the exoskeleton using musculoskeletal human modeling and exoskeletal modeling with dynamics randomization; and controlling joint torques of the exoskeleton exerted on the subject based upon the exoskeleton control signal.
Source: USPTO / EPO open patent data. Objective bibliographic and citation counts.