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US 10,118,291 B2Granted
Robotic systems for supporting a user
AssigneeMassachusetts Institute of Technology
InventorsHaruhiko Harry Asada, Daniel A. Kurek
Life of this patent
Estimating the term…
Abstract
Robotic systems for supporting a human in stationary and/or mobile applications and related methods of operation are described.
Claims30
A robotic system for supporting a user, the robotic system comprising:
- two or more actuated robotic limbs configured to be attached to a user's torso and to bear at least a portion of the user's weight when the user is in a first position;
- one or more sensors configured to detect movement of the user;
- and
- a controller operatively coupled to the two or more robotic limbs and the one or more sensors, wherein in response to the one or more sensors detecting movement of the user away from the first position, the controller controls the two or more robotic limbs to apply a restoring force to the user, wherein the restoring force is directed towards the first position.
1 more element
A method of operating a robotic system for supporting a user, the method comprising:
- setting a first position for a user supported by a robotic system, the robotic system comprising two or more actuated robotic limbs configured to be attached to the user's torso and to bear at least a portion of the user's weight when the user is in the first position;
- detecting movement of the user away from the first position;
- and
- applying a restoring force to the user with the two or more robotic limbs in response to the detected movement of the user away from the first position, wherein the restoring force is directed towards the first position.
1 more element
A robotic system for supporting a user, the robotic system comprising:
- two or more robotic limbs configured to be attached to a user's torso and to support bear at least a portion of the user's weight;
- a user sensor configured to detect a spatial state of the user relative to the two or more robotic limbs;
- and
- a controller operatively coupled to the two or more robotic limbs and the user sensor, wherein the controller predicts a user movement based on the spatial state of the user and controls at least one robotic limb of the two or more robotic limbs to move from a first position to a second position based on the predicted user movement.
1 more element
A method of operating a robotic system for supporting a user, the method comprising:
- sensing a spatial state of a user relative to a robotic system, the robotic system comprising two or more robotic limbs configured to be attached to the user's torso and to bear at least a portion of the user's weight;
- predicting a user movement based on the spatial state of the user;
- and
- controlling at least one robotic limb of the two or more robotic limbs to move from a first position to a second position based on the predicted user movement.
1 more element
A robotic system comprising:
- a harness wearable by a user on at least a portion of the user's torso;
- a first robotic limb attached to the harness, the first robotic limb extending from a first side of the harness;
- a second robotic limb attached to the harness, the second robotic limb extending from a second side of the harness opposite the first side of the harness, wherein the first and second robotic limbs are configured to bear at least a portion the user's weight and to support at least a portion of the user's body at a position above a surface;
- a first actuator operatively coupled to the harness and the first robotic limb, the first actuator configured to move the first robotic limb relative to the harness;
- and
- a second actuator operatively coupled to the harness and the second robotic limb, the second actuator configured to move the second robotic limb relative to the harness.
3 more elements
Dependencies are inferred from the claim text.