Control system and method for non-gait ankle and foot motion in human assistance device

A method of controlling a human assistance device, comprising:

• disposing a plurality of sensors on a mobile body of the human assistance device to measure a physical state of the mobile body and obtain a physical state measurement from the sensors;
• filtering electronically the physical state measurement from the sensors using a controller of the human assistance device to provide a filtered physical state measurement, wherein the filtering is implemented according to A1*(θPREV+{dot over (θ)}s*Δt)+(1−A1)*β, where A1 is a calibration coefficient, θPREV is a previous output of the filtering, Δt is a rate of time change of {dot over (θ)}s, {dot over (θ)}s is an output of a rate gyro on the mobile body, and β is an output of an ATAN2 function;
• providing a reference function based on a non-gait activity;
• and
• applying the filtered physical state measurement to the reference function to generate a reference command using the controller to control a non-gait motion of the human assistance device.

A method of controlling a human assistance device, comprising:

• sensing a physical state of a mobile body of the human assistance device by providing a physical state measurement of the physical state;
• filtering electronically the physical state measurement of the physical state of the mobile body using a controller of the human assistance device to provide a filtered physical state measurement, wherein the filtering is implemented according to A1*(θPREV+{dot over (θ)}s*Δt)+(1−A1)*β, where A1 is a calibration coefficient, θPREV is a previous output of the filtering, Δt is a rate of time change of {dot over (θ)}s, {dot over (θ)}s is an output of a rate gyro on the mobile body, and β is an output of an ATAN2 function;
• providing a reference function based on a non-gait activity;
• and
• applying the filtered physical state measurement to the reference function to generate a reference command using the controller to control a non-gait motion of the human assistance device.

A human assistance device, comprising:

• a prosthetic limb device;
• a plurality of sensors coupled to the prosthetic limb device;
• and
• a control system coupled to the prosthetic limb device, wherein the control system is configured to obtain a physical state measurement from the sensors and produce a reference command to control a non-gait activity of the prosthetic limb device and to apply an electronic filter that is implemented according to A1*(θPREV+{dot over (θ)}s*Δt)±(1−A1)*β, where A1 is a calibration coefficient, θPREV is a previous output of the filtering, Δt is a rate of time change of {dot over (θ)}s, {dot over (θ)}s is an output of a rate gyro on the mobile body, and β is an output of an ATAN2 function.