Biomorphic rhythmic movement controller
AssigneeIguana Robotics, Inc.
InventorsRalph Etienne-Cummings, M. Anthony Lewis
Life of this patent
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Abstract
An artificial Central Pattern Generator (CPG) based on the naturally-occuring central pattern generator locomotor controller for walking, running, swimming, and flying animals may be constructed to be self-adaptive, by providing for the artificial CPG, which may be a chip, to tune its behavior based on sensory feedback. It is believed that this is the first instance of an adaptive CPG chip. Such a sensory feedback-using system with an artificial CPG may be used in mechanical applications such as a running robotic leg, in walking, flying and swimming machines, and in miniature and larger robots, and also in biological systems, such as a surrogate neural system for patients with spinal damage.
Claims61
A central pattern generator-based system for controlling at least one mechanical limb, comprising
- at least one mechanical limb;
- a system for phase adjustment of the central pattern generator based on a sensory trigger in or derived from sensory feedback;
- and
- a non-biological central pattern generator that autonomously generates a rhythmic pattern of commands for controlling repetitive cyclical movement of the at least one mechanical limb wherein said commands and said rhythmic pattern of commands are adapted as a function of sensory feedback.
A central pattern generator-based system for controlling at least one mechanical limb, comprising
- at least one mechanical limb;
- and
- a non-biological central pattern generator that autonomously generates a rhythmic pattern of commands for controlling repetitive cyclical movement of the at least one mechanical limb wherein said commands and said rhythmic pattern of commands are adapted as a function of sensory feedback
- wherein the system is a non-linear oscillator including electronic analogues of biological neurons, synapses and time-constraints, dynamic memories and phase modulators.
A central pattern generator-based system for controlling a biological system for rhythmic movement, comprising
- an interface with a biological system that can provide sensory feedback from said biological system;
- a system for phase adjustment of the central pattern generator based on a sensory trigger in or derived from sensory feedback;
- and
- a non-biological central pattern generator that autonomously generates a rhythmic pattern of commands for controlling repetitive cyclical movements of the biological system wherein said commands and said rhythmic pattern of commands are adapted as a function of sensory feedback.
A central pattern generator-based system for controlling a biological system for rhythmic movement, comprising
- an interface with a biological system that can provide sensory feedback from said biological system;
- a non-biological central pattern generator that autonomously generates a rhythmic pattern of commands for controlling repetitive cyclical movements of the biological system wherein said commands and said rhythmic pattern of commands are adapted as a function of sensory feedback;
- a system for phase adjustment of the central pattern generator based on at least one sensory trigger in or derived from sensory feedback;
- and
- a system for controlling firing frequency of motoneurons as a function of the sensory feedback or the sensory trigger.
A central pattern generator-based system for controlling a biological system for rhythmic movement, comprising
- an interface with a biological system that can provide sensory feedback from said biological system;
- a non-biological central pattern generator that autonomously generates a rhythmic pattern of commands for controlling repetitive cyclical movements of the biological system wherein said commands and said rhythmic pattern of commands are adapted as a function of sensory feedback;
- wherein the system is a non-linear oscillator including electronic analogues of biological neurons, synapses and time-constraints, dynamic memories and phase modulators.
A method for controlling a mechanical or biological system for rhythmic movement, comprising:
- (A) measuring sensory feedback to obtain measured sensory feedback;
- (B) processing the measured sensory feedback to obtain data for a plurality of designated parameters;
- and
- (C) via a central pattern generator-based system, applying a set of rules to the obtained data to generate at least one signal for commanding the limb or biological system for rhythmic movement, wherein the central pattern generator-based system comprises a circuit that mimics a biological central pattern generator.
A method for modifying a continuous waveform provided by a non-biological central pattern generator, comprising the steps of:
- (A) provision of a continuous waveform by a non-biological central pattern generator;
- (B) provision of sensory feedback to the non-biological central pattern generator;
- (C) rule-application by the non-biological central pattern generator to the sensory feedback;
- (D) based on the rule-application, determination by the non-biological central pattern generator to modify or maintain the continuous wave form.
Dependencies are inferred from the claim text.