Controller for an Assistive Exoskeleton Based on Active Impedance

A system for controlling an actuator of an exoskeleton, comprising:

• an active impedance element configured to output a torque or force command for the actuator based on a measured angular velocity of a limb segment of a user wearing the exoskeleton.

A system for controlling an actuator of an exoskeleton, comprising:

• an active impedance element capable of inputting energy, on average, to a system comprising a limb segment of a user and the exoskeleton, wherein the active impedance element transfers energy, on average, from the actuator to the limb segment by exerting an interaction torque or force on the limb segment, and wherein the active impedance element transfers energy to the limb segment only in response to movement of the limb segment, the movement producing an interaction torque or force with the exoskeleton.

A system for controlling a plurality of actuators of an exoskeleton, comprising:

• an active impedance element configured to output a set of kinematic trajectory commands, one command for each actuator, based on a measured interaction torque or force vector, wherein the measured interaction torque or force vector represents interactions between the exoskeleton and a limb segment of a user wearing the exoskeleton.