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    • 10. 发明授权
    • System and method for operating an exoskeleton adapted to encircle an object of interest
    • 用于操作适于包围感兴趣对象的外骨骼的系统和方法
    • US08723471B2
    • 2014-05-13
    • US13318399
    • 2010-04-28
    • Jacobus Maria Antonius Van Den EerenbeemdFloris Maria Hermansz Crompvoets
    • Jacobus Maria Antonius Van Den EerenbeemdFloris Maria Hermansz Crompvoets
    • G05B11/01
    • A61H31/00A61H2011/005A61H2201/5007A61H2201/5061A63B21/00178A63B21/00181A63B23/185
    • This invention relates to a servo system for operating an exoskeleton adapted to encircle an object of interest and for supplying a force thereon. A servomotor is coupled to a power source and operates the position of the exoskeleton and thus the force exerted by the exoskeleton on the object of interest. A measuring unit measures a raw driving current signal Iraw supplied by the power source to drive the servomotor. A low pass filter applies a low pass frequency filtering on the measured a filtered current signal Ifiltered. A processing unit determines an actuated current signal Iactuated based on the servomotor setting parameters, where Iactuated indicates the contribution to Iraw from the servomotor when operating the position of the exoskeleton. The processing unit also determines a driving force current signal Iforce indicating the force exerted by the exoskeleton on the object of interest, where Iforce is proportional to the difference between Ifiltered and Iactuated.
    • 本发明涉及一种用于操作外围骨骼的伺服系统,该外骨骼适于围绕感兴趣的物体并在其上提供力。 伺服电动机耦合到电源并且操作外骨骼的位置,并且因此操作由外骨骼施加在感兴趣对象上的力。 测量单元测量由电源提供的原始驱动电流信号Iraw以驱动伺服电动机。 低通滤波器对所测量的滤波电流信号进行低通滤波,如果滤波。 处理单元基于伺服电动机设定参数来确定致动的电流信号,其中,当操作外骨骼的位置时,致动指示从伺服电动机对牵引的贡献。 处理单元还确定指示由外骨骼施加在感兴趣物体上的力的驱动力电流信号Iforce,其中Iforce与未过滤和不动作之间的差成比例。