Is a
Patent attributes
Current Assignee
Patent Jurisdiction
Patent Number
Date of Patent
August 10, 2010
Patent Application Number
11395654
Date Filed
March 30, 2006
Patent Citations Received
Patent Primary Examiner
Patent abstract
Techniques are provided for controlling an exoskeleton actuator at a joint of a human-exoskeleton system by receiving system parameters for the human-exoskeleton system, receiving generalized coordinates for the human-exoskeleton system, and determining an equivalent joint torque for the exoskeleton actuator to compensate for a selected force. While providing partial or complete compensation of selected gravitational and external forces, one embodiment of the present invention mitigates the amount of interference between voluntary control and assist control, thereby allowing humans to quickly humans adapt to an exoskeleton system.
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