ADVANCED GAIT CONTROL SYSTEM AND METHODS ENABLING CONTINUOUS WALKING MOTION OF A POWERED EXOSKELETON DEVICE

A method of controlling an exoskeleton mobility device includes executing a control application with an electronic controller to perform: sensing at least one of an angular position or angular velocity of a stance/trailing leg during a single support dynamic state of a gait cycle; determining whethe...

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Bibliographische Detailangaben
Hauptverfasser:	DALLEY, Skyler, FARRIS, Ryan, MURRAY, Spencer
Format:	Patent
Sprache:	eng ; fre ; ger
Schlagworte:	ARTIFICIAL RESPIRATION BANDAGES, DRESSINGS OR ABSORBENT PADS BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSESOR SPECIFIC PARTS OF THE BODY CHAMBERS PROVIDED WITH MANIPULATION DEVICES DEVICES PROVIDING PATENCY TO, OR PREVENTING COLLAPSING OF,TUBULAR STRUCTURES OF THE BODY, E.G. STENTS FILTERS IMPLANTABLE INTO BLOOD VESSELS FIRST-AID KITS FOMENTATION HAND TOOLS HEALTHCARE INFORMATICS, i.e. INFORMATION AND COMMUNICATIONTECHNOLOGY [ICT] SPECIALLY ADAPTED FOR THE HANDLING ORPROCESSING OF MEDICAL OR HEALTHCARE DATA HUMAN NECESSITIES HYGIENE INFORMATION AND COMMUNICATION TECHNOLOGY [ICT] SPECIALLY ADAPTEDFOR SPECIFIC APPLICATION FIELDS MANIPULATORS MASSAGE MEDICAL OR VETERINARY SCIENCE ORTHOPAEDIC, NURSING OR CONTRACEPTIVE DEVICES PERFORMING OPERATIONS PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING ORSTIMULATING REFLEX POINTS IN THE BODY PHYSICS PORTABLE POWER-DRIVEN TOOLS PROSTHESES TRANSPORTING TREATMENT OR PROTECTION OF EYES OR EARS
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Beschreibung
Zusammenfassung:	A method of controlling an exoskeleton mobility device includes executing a control application with an electronic controller to perform: sensing at least one of an angular position or angular velocity of a stance/trailing leg during a single support dynamic state of a gait cycle; determining whether the angular position satisfies an advanced gait threshold; and when it is determined that the angular position satisfies the advanced gait threshold, the control system employs advanced gait control in which a duration of double support states between single support dynamic states is minimized. For advanced gait control the control system controls such that hip joint component velocities are non-zero during transitions from swing states to stance states, and knee joint component velocities are non-zero during transitions from stance states to swing states of the gait cycle. Each step of the gait cycle thus blends into a next step by way of hip joint component swing-to-stance extension, and/or knee joint component stance-to-swing flexion.