Leg assist device
US8690801B2 · kind B2 · utility
Assignee
Inventors
Key dates
| Filing date | Sep 12, 2012 |
| Grant date | Apr 8, 2014 |
| Priority date | — |
| Expiry date | Sep 12, 2032 |
Classification
- Technology area (CPC A)Human Necessities
- CPC primaryA61H2201/5069
- WIPO fieldMedical technology
- WIPO sectorInstruments
Abstract
A leg assist device with a control law suitable for assisting standing up motion is provided. The leg assist device is provided with an upper leg link, a lower leg link, a rotary joint, and a controller. The upper leg link and the lower leg link is attached to a leg of a user. The rotary joint rotatably connects the lower leg link to the upper leg link. The rotary joint also has an actuator which rotates the lower leg link. The controller controls the actuator so that the lower leg link angle matches a target angle. The controller has a torque limiter that limits the magnitude of the command torque that is output to the actuator. The controller sets a standing position angle corresponding to a user's standing position to the target angle, and raises an upper limit of the torque limiter as a user's hip height rises.
Source: USPTO / EPO open patent data. Objective bibliographic and citation counts.