Neuromuscular model-based sensing and control paradigm for a robotic leg

US9221177B2 · kind B2 · utility

Assignee

• Massachusetts Institute of Technology · US

Inventors

• Hugh M. Herr · Somerville, US
• Ken Endo · Shizuoka, JP
• Pavitra Krishnaswamy · Cambridge, US
• Jared Markowitz · Cambridge, US
• Michael Eilenberg · Cambridge, US
• Jing Wang · Dongying, CN

Key dates

• Filing date: Apr 18, 2013
• Grant date: Dec 29, 2015
• Expiry date: Aug 13, 2033

Classification

• Technology area (CPC Y): Emerging Cross-Sectional Technologies
• CPC primary: Y10S901/01
• WIPO field: Handling
• WIPO sector: Mechanical engineering

Abstract

A neuromuscular model-based controller for a robotic limb having at least one joint includes a neuromuscular model having a muscle model, muscle geometry and reflex feedback loop to determine at least one torque or impedance command to be sent to the robotic limb. One or more parameters that determine relation between feedback data and activation of the muscle model are adjusted consequent to sensory data from at least one of an intrinsic sensor and an extrinsic sensor. A controller in communication with the neuromuscular model is configured to receive the at least one torque or impedance command and controls at least one of position, torque and impedance of the robotic limb joint.