Control system and method for non-gait ankle and foot motion in human assistance device
A human assistance device has a rate gyro, first accelerometer, and second accelerometer disposed on a mobile body for sensing a physical state of the mobile body to provide a physical state measurement. The human assistance device can be a prosthetic, orthotic, and robotic device. An ATAN2 function...
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| creator | Wheeler, Chase Holgate, Matthew A |
| description | A human assistance device has a rate gyro, first accelerometer, and second accelerometer disposed on a mobile body for sensing a physical state of the mobile body to provide a physical state measurement. The human assistance device can be a prosthetic, orthotic, and robotic device. An ATAN2 function is performed on an output of the first accelerometer and an output of the second accelerometer. An output of the rate gyro and an output of the ATAN2 function is filtered to provide a filtered physical state measurement. The filtered physical state measurement is applied to a reference function to generate a reference command to control a non-gait motion of an actuator in the human assistance device. The reference command controls the human assistance device, for example to provide a shifting foot position while seated, with a natural, biological motion, without an artificial or mechanical appearance. |
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The human assistance device can be a prosthetic, orthotic, and robotic device. An ATAN2 function is performed on an output of the first accelerometer and an output of the second accelerometer. An output of the rate gyro and an output of the ATAN2 function is filtered to provide a filtered physical state measurement. The filtered physical state measurement is applied to a reference function to generate a reference command to control a non-gait motion of an actuator in the human assistance device. The reference command controls the human assistance device, for example to provide a shifting foot position while seated, with a natural, biological motion, without an artificial or mechanical appearance.</description><language>eng</language><subject>BANDAGES, DRESSINGS OR ABSORBENT PADS ; DEVICES PROVIDING PATENCY TO, OR PREVENTING COLLAPSING OF,TUBULAR STRUCTURES OF THE BODY, E.G. 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STENTS</subject><subject>FILTERS IMPLANTABLE INTO BLOOD VESSELS</subject><subject>FIRST-AID KITS</subject><subject>FOMENTATION</subject><subject>HUMAN NECESSITIES</subject><subject>HYGIENE</subject><subject>MEDICAL OR VETERINARY SCIENCE</subject><subject>ORTHOPAEDIC, NURSING OR CONTRACEPTIVE DEVICES</subject><subject>PROSTHESES</subject><subject>TREATMENT OR PROTECTION OF EYES OR EARS</subject><fulltext>true</fulltext><rsrctype>patent</rsrctype><creationdate>2019</creationdate><recordtype>patent</recordtype><sourceid>EVB</sourceid><recordid>eNqNijsKwkAQQNNYiHqH8QCBfIr0BsVexTIMu7NmcXcmZEbB2yviAawevPeWxbUXtlkS6EuNMiB7yGSjeAgyAwuXN4z28fdE3xpEDLJYFIbIMD4yMqBqVEN2BJ6e0dG6WARMSpsfV8X2sD_3x5ImGUgndMRkw-VUV23VNV29a9p_njc1SDm0</recordid><startdate>20190604</startdate><enddate>20190604</enddate><creator>Wheeler, Chase</creator><creator>Holgate, Matthew A</creator><scope>EVB</scope></search><sort><creationdate>20190604</creationdate><title>Control system and method for non-gait ankle and foot motion in human assistance device</title><author>Wheeler, Chase ; Holgate, Matthew A</author></sort><facets><frbrtype>5</frbrtype><frbrgroupid>cdi_FETCH-epo_espacenet_US10307271B23</frbrgroupid><rsrctype>patents</rsrctype><prefilter>patents</prefilter><language>eng</language><creationdate>2019</creationdate><topic>BANDAGES, DRESSINGS OR ABSORBENT PADS</topic><topic>DEVICES PROVIDING PATENCY TO, OR PREVENTING COLLAPSING OF,TUBULAR STRUCTURES OF THE BODY, E.G. STENTS</topic><topic>FILTERS IMPLANTABLE INTO BLOOD VESSELS</topic><topic>FIRST-AID KITS</topic><topic>FOMENTATION</topic><topic>HUMAN NECESSITIES</topic><topic>HYGIENE</topic><topic>MEDICAL OR VETERINARY SCIENCE</topic><topic>ORTHOPAEDIC, NURSING OR CONTRACEPTIVE DEVICES</topic><topic>PROSTHESES</topic><topic>TREATMENT OR PROTECTION OF EYES OR EARS</topic><toplevel>online_resources</toplevel><creatorcontrib>Wheeler, Chase</creatorcontrib><creatorcontrib>Holgate, Matthew A</creatorcontrib><collection>esp@cenet</collection></facets><delivery><delcategory>Remote Search Resource</delcategory><fulltext>fulltext_linktorsrc</fulltext></delivery><addata><au>Wheeler, Chase</au><au>Holgate, Matthew A</au><format>patent</format><genre>patent</genre><ristype>GEN</ristype><title>Control system and method for non-gait ankle and foot motion in human assistance device</title><date>2019-06-04</date><risdate>2019</risdate><abstract>A human assistance device has a rate gyro, first accelerometer, and second accelerometer disposed on a mobile body for sensing a physical state of the mobile body to provide a physical state measurement. The human assistance device can be a prosthetic, orthotic, and robotic device. An ATAN2 function is performed on an output of the first accelerometer and an output of the second accelerometer. An output of the rate gyro and an output of the ATAN2 function is filtered to provide a filtered physical state measurement. The filtered physical state measurement is applied to a reference function to generate a reference command to control a non-gait motion of an actuator in the human assistance device. The reference command controls the human assistance device, for example to provide a shifting foot position while seated, with a natural, biological motion, without an artificial or mechanical appearance.</abstract><oa>free_for_read</oa></addata></record> |
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| subjects | BANDAGES, DRESSINGS OR ABSORBENT PADS 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 HUMAN NECESSITIES HYGIENE MEDICAL OR VETERINARY SCIENCE ORTHOPAEDIC, NURSING OR CONTRACEPTIVE DEVICES PROSTHESES TREATMENT OR PROTECTION OF EYES OR EARS |
| title | Control system and method for non-gait ankle and foot motion in human assistance device |
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