Neuromuscular model-based sensing and control paradigm for a robotic leg

A method for controlling a robotic limb that includes at least one robotic limb joint, the method comprising the steps of:

• a) transmitting a measured joint state of the robotic limb to a neuromuscular model, the neuromuscular model including a muscle model, muscle geometry and a reflex feedback loop, whereby at least one of a muscle force, muscle length and muscle contractile velocity is conveyed by the reflex feedback loop as feedback data to thereby adjust activation of the muscle model, and wherein one or more parameters that determine the relation between the feedback data and activation of the muscle model are further adjusted consequent to at least one of velocity of the robotic limb and a terrain underlying the limb, whereby the muscle length, muscle contractile velocity, and the muscle activation generate a muscle force, which, together with the muscle geometry, determines at least one of a torque command and an impedance command;
• and
• b) transmitting at least one of the torque command and the impedance command to a control system,
• whereby the control system receives at least one of the torque command and the impedance command from the neuromuscular model and controls at least one of position, torque and impedance of the robotic limb joint.

A neuromuscular model-based controller for controlling at least one robotic limb joint of a robotic limb, the controller comprising:

• a) at least one extrinsic sensor that detects at least one extrinsic signal of a subject wearing the robotic limb;
• b) a neuromuscular model in communication with the at least one extrinsic sensor, the neuromuscular model including a reflex feedback loop that acts upon intrinsic sensory data based upon parameters that are adjusted in response to the at least one extrinsic signal from the extrinsic sensor, the neuromuscular model thereby determining at least one of a torque command and an impedance command;
• and
• c) a control system in communication with the neuromuscular model, whereby the control system receives at least one of the torque command and the impedance command from the neuromuscular model and controls at least one of position, torque and impedance of the robotic limb joint.