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US 4,569,352 AGranted
Feedback control system for walking
AssigneeWright State University
InventorsJerrold S. Petrofsky, Chandler A. Phillips, Harry H. Heaton, III
Life of this patent
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Abstract
A computer algorithm and hardware are disclosed for feedback control of movement in man for standing and walking. The system measures motion of the hips, knees and ankles and generates control signals for ten different muscle groups. Hip and knee supports are provided for restricting hip and knee movement to a common plane.
Claims9
A feedback control system for walking comprising:
- means for restricting the hips and knees to common plane movement,
- first stimulation means for stimulating the iliacus and hamstring muscle groups to produce hip movement in said common plane,
- first sensing means for sensing hip movement and generating a first feedback signal in correspondence therewith,
- second stimulating means for stimulating the quadriceps muscle groups to produce knee movement in said common plane in coordination with said hip movement,
- second sensing means for sensing said knee movement and generating a second feedback signal in correspondence therewith,
- means for supporting the ankles,
- third stimulation means for stimulating the gastrocnemius and tibialis muscle groups to produce ankle movement which is coordinated with said hip and knee movement,
- third sensing means for sensing said ankle movement and generating a third feedback signal in correspondence therewith, and
- programmed microprocessor means for receiving said first, second and third feedback signals and generating control signals for said first, second and third stimulating means.
6 more elements
Apparatus for stimulation of human walking comprising:
- stimulation means for electrically stimulating muscles in both legs of said human to produce coordinated movement of said legs,
- means for restricting the hips and knees of said human to common plane movement,
- support means for the ankles of said human
- leg sensing means for sensing the positions of said legs and generating leg position signals corresponding thereto,
- sensing means for sensing a voluntary movement of said human and generating sequence initiation signals corresponding thereto, and
- computing means responsive to said leg position signals and said sequence initiation signals for controlling said stimulation means.
3 more elements
A feedback control system for walking comprising:
- means for restricting the hips and knees to common plane movement,
- means for supporting the ankles during said hip and knee movement
- first stimulation means for stimulating hip movement in said common plane,
- first sensing means for sensing hip movement and generating a first feedback signal in correspondence therewith,
- second stimulating means for stimulating knee movement in said common plane in coordination with said hip movement,
- second sensing means for sensing said knee movement and generating a second feedback signal in correspondence therewith,
- third stimulation means for stimulating ankle movement which is coordinated with said hip and knee movement,
- third sensing means for sensing said ankle movement and generating a third feedback signal in correspondence therewith, and
- programmed microprocessor means for receiving said first, second and third feedback signals and generating control signals for said first, second and third stimulating means.
6 more elements
Apparatus for stimulated walking comprising:
- stimulation means for electrically stimulating the muscles of both legs of a human being to produce coordinated walking movement,
- sensing means for sensing the positions of said legs and generating feedback signals corresponding thereto,
- computing means responsive to said feedback signals for controlling said stimulation means, and
- overhead support means comprising:
- a harness for attaching to the body of said human being,
- a counterweight attached to said harness for counterbalancing the weight of said human being, and
- an overhead support member for supporting said counterweight and a portion of the weight of said human being.
4 more elements
Dependencies are inferred from the claim text.