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US 9,782,322 B2Granted
Resistive exoskeleton control design framework
AssigneeHonda Motor Co., Ltd.
InventorsUmashankar Nagarajan, Ambarish Goswami
Life of this patent
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Abstract
A resistive exoskeleton control system has a controller generating a positive resistance by shaping a closed loop integral admittance of a coupled human exoskeleton system wherein a frequency response magnitude of the integral admittance is lower than that of a natural human joint for desired frequencies of interest and generating an assistance ratio of approximately zero for the desired frequencies of interest.
Claims17
A resistive exoskeleton control system comprising:
- a controller configured to:
- generate a positive resistance by shaping a closed loop integral admittance of an exoskeleton system coupled to a human, wherein a frequency response magnitude of the closed loop integral admittance is lower than that of a natural human joint over desired frequencies of interest;
- generate an assistance ratio of approximately zero over the desired frequencies of interest, wherein the assistance ratio is defined by
- 𝒜
- =
- 1
- ω
- f
-
- ∫
- 0
- ω
- f
-
- 𝒜ℱ
-
- (
- ω
- )
-
- d
-
-
- ω
- ,
- wherein
- 𝒜ℱ
-
- (
- ω
- )
- =
- {
-
- X
- heu
-
- (
- j
-
-
- ω
- )
-
- -
-
- X
- h
-
- (
- j
-
-
- ω
- )
-
-
- X
- h
-
- (
- j
-
-
- ω
- )
-
- if
-
-
-
- X
- heu
-
- (
- j
-
-
- ω
- )
-
- ≥
-
- X
- h
-
- (
- j
-
-
- ω
- )
-
- 0
- if
-
-
-
- X
- heu
-
- (
- j
-
-
- ω
- )
-
- <
-
- X
- h
-
- (
- j
-
-
- ω
- )
-
- ,
- where Xh(jω) is the integral admittance of a human joint and Xheu(jω) is the integral admittance of the exoskeleton system coupled to the human;
- and
- control the exoskeleton system based on the positive resistance and the assistance ratio.
121 more elements
A resistive exoskeleton control system comprising:
- a controller configured to:
- shape a closed loop integral admittance of an exoskeleton system coupled to a human, wherein a frequency response magnitude of the closed loop integral admittance is lower than that of a natural human joint;
- generate an assistance ratio of approximately zero for desired frequencies of interest, wherein the controller is stable and passive;
- generate a positive resistance ratio over the desired frequencies of interest, wherein the positive resistance ratio is defined by
- ℛ
- =
- 1
- ω
- f
-
- ∫
- 0
- ω
- f
-
- ℛℱ
-
- (
- ω
- )
-
-
- d
-
-
- ω
- ,
- wherein
-
- ℛ
- =
- 1
- ω
- f
-
- ∫
- 0
- w
- f
-
- ℛℱ
-
- (
- ω
- )
-
-
- d
-
-
- ω
- ,
-
- wherein
- ℛℱ
-
- (
- ω
- )
- =
- {
- 0
- if
-
-
-
- X
- heu
-
- (
- j
-
-
- ω
- )
-
- ≥
-
- X
- h
-
- (
- j
-
-
- ω
- )
-
-
- X
- h
-
- (
- j
-
-
- ω
- )
-
- -
-
- X
- heu
-
- (
- j
-
-
- ω
- )
-
-
- X
- h
-
- (
- j
-
-
- ω
- )
-
- if
-
-
-
- X
- heu
-
- (
- j
-
-
- ω
- )
-
- <
-
- X
- h
-
- (
- j
-
-
- ω
- )
-
- ,
- where Xh(jω) is the integral admittance of a human joint and Xheu(jω) is the integral admittance of the exoskeleton system coupled to the human;
- and
- control the exoskeleton system based on the positive resistance and the assistance ratio.
149 more elements
An exoskeleton control system comprising:
- a controller configured to:
- generate a positive resistance and an assistance ratio of approximately zero by shaping a closed loop integral admittance of an exoskeleton system coupled to a human over a desired frequency range, wherein the controller is stable and passive;
- generate a control transfer function defined by
- U
- e
-
- (
- s
- )
- =
- K
- α
-
- s
- 2
- +
- K
- ω
-
- s
- +
- K
- θ
- s
- ,
- wherein Kα=Ie−Ied, Kω=be−bed, and Kθ=ke−ked are the feedback gains on angular acceleration {umlaut over (θ)}e, angular velocity {dot over (θ)}e and angle θe of an exoskeleton device;
- and
- control the exoskeleton system based on the positive resistance, the assistance ratio, and the control transfer function.
25 more elements
Dependencies are inferred from the claim text.