Exoskeleton system, control device, and method
AssigneeUniversitaet Stuttgart
InventorsJoerg Siegert, Urs Schneider
Life of this patent
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Abstract
An exoskeleton system includes a first exoskeleton unit configured to support a first body part, a second exoskeleton unit configured to support a second body part, and a control device. The first exoskeleton unit and the second exoskeleton unit are mechanically decoupled from each other. The control device is configured to control, based on a control model, at least one of the first exoskeleton unit and the second exoskeleton unit. The control model is based on a multibody system that models the first exoskeleton unit, the second exoskeleton unit, and at least one of the first body part and the second body part.
Claims22
An exoskeleton system comprising:
- a first exoskeleton unit configured to support a first body part;
- a second exoskeleton unit configured to support a second body part;
- and
- a control device,
- wherein the control device is configured to control, based on a control model, the first exoskeleton unit and the second exoskeleton unit,
- wherein the control model is based on a multibody system that models:
- the first exoskeleton unit;
- the second exoskeleton unit;
- and
- at least one of the first body part and the second body part,
- wherein the first exoskeleton unit and the second exoskeleton unit are mechanically decoupled from each other, and
- wherein controlling the first and second exoskeleton units based on the control model includes controlling each of the first and second exoskeleton units based on a state of the other one of the first and second exoskeleton units.
A control device for an exoskeleton system including a first exoskeleton unit configured to support a first body part and a second exoskeleton unit configured to support a second body part, the control device comprising:
- first circuitry configured to drive the first exoskeleton unit and the second exoskeleton unit;
- and
- second circuitry configured to control the first circuitry based on a control model,
- wherein the control model is based on a multibody system that models:
- the first exoskeleton unit;
- the second exoskeleton unit;
- and
- at least one of the first body part and the second body part,
- wherein the first exoskeleton unit and the second exoskeleton unit are mechanically decoupled from each other, and
- wherein controlling the first circuitry based on the control model includes controlling each of the first and second exoskeleton units based on a state of the other one of the first and second exoskeleton units.
A method for an exoskeleton system including a first exoskeleton unit configured to support a first body part and a second exoskeleton unit configured to support a second body part, the first and second exoskeleton units being mechanically decoupled from each other, the method comprising:
- determining a control model, wherein the control model is based on a multibody system that models:
- the first exoskeleton unit;
- the second exoskeleton unit;
- and
- at least one of the first body part and the second body part;
- and
- controlling the first exoskeleton unit and the second exoskeleton unit based on the control model, wherein controlling the first and second exoskeleton units based on the control model includes controlling each of the first and second exoskeleton units based on a state of the other one of the first and second exoskeleton units.
A non-transitory computer program product comprising program code configured to execute a method when the computer program product is executed on a data processing device, the method comprising:
- determining a control model, wherein the control model is based on a multibody system that models:
- a first exoskeleton unit configured to support a first body part;
- a second exoskeleton unit configured to support a second body part,
- wherein the first and second exoskeleton units are mechanically decoupled from each other;
- and
- at least one of the first body part and the second body part;
- and
- controlling the first exoskeleton unit and the second exoskeleton unit based on the control model, wherein controlling the first and second exoskeleton units based on the control model includes controlling each of the first and second exoskeleton units based on a state of the other one of the first and second exoskeleton units.
Dependencies are inferred from the claim text.