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US 7,676,440 B2Granted
Neuromorphic motion controller for controlling a joint using winner take all
OwnerVladmir A. Gorelik, Pavel V. Gorelikinventors
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Abstract
An intrinsically stable neuromorphic motion controller comprising of two an agonistic actuators coupled with paired torque and position sensors. Each mechanical linkage having at least one degree of freedom is actuated by two motors via two flexible tendons with built-in stretch (torque) sensors.
Claims23
A neuromorphic motion controller comprising:
- (a) a movable joint having at least one degree of rotational or transitional freedom and an inducer operatively interconnected with the joint;
- (b) a flexor channel comprising of a first actuator operatively connected via a flexor tendon to the joint;
- (c) a flexor stretch sensor operatively connected with the flexor tendon;
- (d) an extensor channel comprising of a second actuator operatively connected via extensor tendon to the joint;
- (e) an extensor stretch sensor operatively connected to the extensor tendon;
- (f) a flexor channel positional transducer coupled to the inducer, wherein the flexor channel positional transducer is adapted to produce a flexor positional response characteristic;
- (g) an extensor channel positional transducer coupled to the inducer, wherein the extensor channel positional transducer is adapted to produce an extensor positional response characteristic;
- (h) module adapted to calculate a difference of products of outputs of the first and second stretch and positional sensors of the extensor channel and the flexor channel by:
- E=ωf*θf*Tf−ωe*θe*Te;
- wherein E comprises a energy characteristics of the joint;
- wherein Wf comprises a flexor weight multiplier coefficient and We comprises an extensor weight multiplier coefficient;
- wherein Of comprises an output of a flexor positional sensor and 0e comprises an output of a extensor positional sensor;
- and
- wherein Tf comprises an output of the first stretch sensor and Te comprises an output of the second stretch sensor, wherein the first and second actuators operate antagonistically to each other;
- wherein the flexor response characteristic and the extensor response characteristic are combined to produce a neuromorphic motion controller response characteristic that produces a winner take all operation on flexor-extensor response;
- and
- wherein the neuromorphic motion controller is at a zero attractor point at a point of intersection of the extensor positional response characteristic and the flexor positional response characteristic on the combined response characteristic.
14 more elements
A neuromorphic motion controller comprising:
- a joint operatively connected to a flexor channel and an extensor channel;
- an inducer operatively interconnected with the joint, the inducer coupled to means for producing a flexor response characteristic and means for producing an extensor response characteristic;
- means for combining the flexor response characteristic and the extensor response characteristic to form a combined response characteristic;
- and
- wherein the point of equilibrium exists for the joint at a point of intersection of the extensor response characteristic and the flexor response characteristic on the combined response characteristic.
2 more elements
A method for neuromorphically controlling motion of a joint comprising the steps of:
- sensing a flexor response characteristic of a flexor interconnected with the joint;
- sensing a response characteristic of a tendon interconnected with the joint;
- combing the flexor response characteristic and the flexor response and thereby driving a combined response characteristic;
- and
- establishing an equilibrium point at a point of intersection of the flexor response characteristic and the flexor response characteristic on the desired response characteristic.
2 more elements
A system for controlling a joint comprising:
- a combiner that receives and combines a flexor response characteristic associated with the joint and a exterior response characteristic associated with the joint and a an extensor response characteristic associated with the joint into a combined response characteristic;
- and
- wherein the joint is in equilibrium at a point in which the flexor response characteristic and the exterior response characteristic intersect the combined characteristic.
Dependencies are inferred from the claim text.