Method for moving an exoskeleton
AssigneeWandercraft
InventorsVaiyee Huynh, Antonio El Khoury
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Abstract
The invention relates to a method for moving a bipedal exoskeleton (1) accommodating a human operator, the method being characterised in that it involves the implementation, by data processing means (11) of the exoskeleton (1), of the following steps: (a) obtaining at least one postural instruction to be applied by the exoskeleton (1) in order for the operator to perform an exercise movement; (b) determining a trajectory of the exoskeleton (1) by means of hierarchised inverse kinematics based on the at least one determined postural instruction, said hierarchised inverse kinematics comprising a stack of hierarchised tasks comprising, as the task of highest priority, a task of keeping the feet of the exoskeleton (1) on the ground as the operator performs the exercise movement.
Claims20
A method for moving a bipedal exoskeleton accommodating a human operator, including the implementation, by data processing means of the exoskeleton, of steps of:
- (a) obtaining at least one postural instruction to be applied by the exoskeleton in order for the operator to perform an exercise movement;
- (b) determining a trajectory of the exoskeleton by means of hierarchized inverse kinematics based on the at least one postural instruction, said hierarchized inverse kinematics comprising a stack of hierarchized tasks comprising, as a task of highest priority, a task of keeping feet of the exoskeleton on the ground as the operator performs said exercise movement;
- wherein the stack of hierarchized tasks comprises, in decreasing order of priority, said task of keeping the feet of the exoskeleton on the ground, a task of controlling a center of mass, CoM, of the exoskeleton, a task of controlling a pelvis of the exoskeleton, and a task of controlling a posture of the exoskeleton.
A method for moving a bipedal exoskeleton accommodating a human operator, including the implementation, by data processing means of the exoskeleton, of steps of:
- (a) obtaining at least one postural instruction to be applied by the exoskeleton in order for the operator to perform an exercise movement;
- (b) determining a trajectory of the exoskeleton by means of hierarchized inverse kinematics based on the at least one postural instruction, said hierarchized inverse kinematics comprising a stack of hierarchized tasks comprising, as a task of highest priority, a task of keeping feet of the exoskeleton on the ground as the operator performs said exercise movement:
- wherein the stack of hierarchized tasks further comprises a task of controlling a center of mass, CoM, of the exoskeleton, of lower priority than said task of keeping the feet of the exoskeleton on the ground,
- wherein the task of controlling the CoM of the exoskeleton is a task of CoM position control and stabilization via a controller based on a flexible inverted pendulum model.
A method for moving a bipedal exoskeleton accommodating a human operator, including the implementation, by data processing means of the exoskeleton, of steps of:
- (a) obtaining at least one postural instruction to be applied by the exoskeleton in order for the operator to perform an exercise movement;
- (b) determining a trajectory of the exoskeleton by means of hierarchized inverse kinematics based on the at least one postural instruction, said hierarchized inverse kinematics comprising a stack of hierarchized tasks comprising, as a task of highest priority, a task of keeping feet of the exoskeleton on the ground as the operator performs said exercise movement;
- wherein step (b) comprises executing control loops defining for each task of the stack of hierarchized tasks an evolution of a position of the exoskeleton so as to implement said trajectory.
Dependencies are inferred from the claim text.