Human muscular strength amplification robot driven by intention of user and driving method thereof
US9649533B2 · kind B2 · utility
Assignee
Inventors
Key dates
| Filing date | Nov 25, 2015 |
| Grant date | May 16, 2017 |
| Priority date | — |
| Expiry date | Nov 25, 2035 |
Classification
- Technology area (CPC G)Physics
- CPC primaryG16H40/63
- WIPO fieldMedical technology
- WIPO sectorInstruments
Abstract
A muscular strength enhancing robot to be driven by an intention of a user and a method of driving the robot are disclosed. The robot includes an actuator attached to a portion of a body of the user and configured to be actuated by enhancing a muscular strength, an encoder connected to the actuator and configured to measure an actual velocity at which the actuator moves, a force or torque sensor configured to measure an intensity of a force to be applied, an admittance modeling module configured to calculate a target velocity using the intensity of the force, and a proportional integral derivative (PID) control module configured to control actuation of the actuator in proportion to a velocity difference between the target velocity and the actual velocity, control the actuation by a cumulative value of the velocity difference, and control the actuation by a difference between a previous and a current velocity difference.
Source: USPTO / EPO open patent data. Objective bibliographic and citation counts.