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1. 发明授权

US11426322B2 Method for moving an exoskeleton 有权
公开(公告)号：US11426322B2
公开(公告)日：2022-08-30
申请号：US16476813
申请日：2018-01-10
申请人： WANDERCRAFT
发明人： Matthieu Masselin , Kien Cuong Nguyen
IPC分类号： G05B19/04 , A61H3/00 , B25J9/00 , B62D57/032 , B25J9/16
摘要： The present invention relates to a method for moving an exoskeleton (1) receiving a human operator, said exoskeleton (1) having a plurality of degrees of freedom including at least one degree of freedom actuated and at least one non-actuated degree of freedom, the method being characterised in that it comprises the implementation of steps of: (a) when a start request is received, generating and emitting a command to at least one of said actuators so as to put the exoskeleton (1) in a tipping state; (b) in a database stored in data storage means (12) of triplets of: a set of virtual requirements on said actuated degrees of freedom, a controller for said exoskeleton (1) capable of generating commands of said actuators so as to fulfil said virtual requirements by implementing at least one attracting stable trajectory, a stability pool formed by all the points from which the execution of said controller allows a convergence to said attracting stable trajectory; identifying a set of virtual requirements such that said tipping state is included in said stability pool associated with this set of virtual requirements; (c) executing the controller associated with the set of virtual requirements identified such that the exoskeleton (1) walks.

2. 发明授权

US11780087B2 Method for moving an exoskeleton 有权
公开(公告)号：US11780087B2
公开(公告)日：2023-10-10
申请号：US16620723
申请日：2018-06-28
申请人： WANDERCRAFT
发明人： Matthieu Masselin , Marine Petriaux
IPC分类号： B25J9/16 , A61G5/14 , B25J9/00
CPC分类号： B25J9/1664 , A61G5/14 , B25J9/0006 , B25J9/1615
摘要： A method for moving an exoskeleton from a seated position to a standing position (and vice versa) in which none of the degrees of freedom of the exoskeleton is non-actuated. The method includes the implementation by a data processor of steps of: (a) generating a trajectory of the exoskeleton from the seated position to the standing position (and vice versa), the trajectory being parameterised as a function of time; (b) applying to the trajectory a set of virtual constraints on the actuated degrees of freedom, the virtual constraints being parameterised by a phase variable; and (c) running a controller of the exoskeleton associated with the set of virtual constraints such that the exoskeleton moves from the seated position to the standing position (and vice versa), the controller being capable of generating commands for the actuators so as to comply with the virtual constraints during the trajectory.

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