CN102378669A - 用于机械腿的基于模型的神经机械控制器 - Google Patents

用于机械腿的基于模型的神经机械控制器 Download PDF

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Publication number
CN102378669A
CN102378669A CN2010800152080A CN201080015208A CN102378669A CN 102378669 A CN102378669 A CN 102378669A CN 2010800152080 A CN2010800152080 A CN 2010800152080A CN 201080015208 A CN201080015208 A CN 201080015208A CN 102378669 A CN102378669 A CN 102378669A
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China
Prior art keywords
model
joint
ankle
leg
muscle
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Pending
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CN2010800152080A
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Chinese (zh)
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H·M·赫尔
H·盖耶
M·F·艾伦贝格
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Massachusetts Institute of Technology
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Massachusetts Institute of Technology
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    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61F—FILTERS IMPLANTABLE INTO BLOOD VESSELS; PROSTHESES; DEVICES PROVIDING PATENCY TO, OR PREVENTING COLLAPSING OF, TUBULAR STRUCTURES OF THE BODY, e.g. STENTS; ORTHOPAEDIC, NURSING OR CONTRACEPTIVE DEVICES; FOMENTATION; TREATMENT OR PROTECTION OF EYES OR EARS; BANDAGES, DRESSINGS OR ABSORBENT PADS; FIRST-AID KITS
    • A61F2/00—Filters implantable into blood vessels; Prostheses, i.e. artificial substitutes or replacements for parts of the body; Appliances for connecting them with the body; Devices providing patency to, or preventing collapsing of, tubular structures of the body, e.g. stents
    • A61F2/50—Prostheses not implantable in the body
    • A61F2/68—Operating or control means
    • A61F2/70—Operating or control means electrical
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61F—FILTERS IMPLANTABLE INTO BLOOD VESSELS; PROSTHESES; DEVICES PROVIDING PATENCY TO, OR PREVENTING COLLAPSING OF, TUBULAR STRUCTURES OF THE BODY, e.g. STENTS; ORTHOPAEDIC, NURSING OR CONTRACEPTIVE DEVICES; FOMENTATION; TREATMENT OR PROTECTION OF EYES OR EARS; BANDAGES, DRESSINGS OR ABSORBENT PADS; FIRST-AID KITS
    • A61F2/00—Filters implantable into blood vessels; Prostheses, i.e. artificial substitutes or replacements for parts of the body; Appliances for connecting them with the body; Devices providing patency to, or preventing collapsing of, tubular structures of the body, e.g. stents
    • A61F2/50—Prostheses not implantable in the body
    • A61F2/60—Artificial legs or feet or parts thereof
    • A61F2/64—Knee joints
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61F—FILTERS IMPLANTABLE INTO BLOOD VESSELS; PROSTHESES; DEVICES PROVIDING PATENCY TO, OR PREVENTING COLLAPSING OF, TUBULAR STRUCTURES OF THE BODY, e.g. STENTS; ORTHOPAEDIC, NURSING OR CONTRACEPTIVE DEVICES; FOMENTATION; TREATMENT OR PROTECTION OF EYES OR EARS; BANDAGES, DRESSINGS OR ABSORBENT PADS; FIRST-AID KITS
    • A61F2/00—Filters implantable into blood vessels; Prostheses, i.e. artificial substitutes or replacements for parts of the body; Appliances for connecting them with the body; Devices providing patency to, or preventing collapsing of, tubular structures of the body, e.g. stents
    • A61F2/50—Prostheses not implantable in the body
    • A61F2/60—Artificial legs or feet or parts thereof
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61F—FILTERS IMPLANTABLE INTO BLOOD VESSELS; PROSTHESES; DEVICES PROVIDING PATENCY TO, OR PREVENTING COLLAPSING OF, TUBULAR STRUCTURES OF THE BODY, e.g. STENTS; ORTHOPAEDIC, NURSING OR CONTRACEPTIVE DEVICES; FOMENTATION; TREATMENT OR PROTECTION OF EYES OR EARS; BANDAGES, DRESSINGS OR ABSORBENT PADS; FIRST-AID KITS
    • A61F2/00—Filters implantable into blood vessels; Prostheses, i.e. artificial substitutes or replacements for parts of the body; Appliances for connecting them with the body; Devices providing patency to, or preventing collapsing of, tubular structures of the body, e.g. stents
    • A61F2/50—Prostheses not implantable in the body
    • A61F2/68—Operating or control means
    • A61F2/74—Operating or control means fluid, i.e. hydraulic or pneumatic
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61F—FILTERS IMPLANTABLE INTO BLOOD VESSELS; PROSTHESES; DEVICES PROVIDING PATENCY TO, OR PREVENTING COLLAPSING OF, TUBULAR STRUCTURES OF THE BODY, e.g. STENTS; ORTHOPAEDIC, NURSING OR CONTRACEPTIVE DEVICES; FOMENTATION; TREATMENT OR PROTECTION OF EYES OR EARS; BANDAGES, DRESSINGS OR ABSORBENT PADS; FIRST-AID KITS
    • A61F2/00—Filters implantable into blood vessels; Prostheses, i.e. artificial substitutes or replacements for parts of the body; Appliances for connecting them with the body; Devices providing patency to, or preventing collapsing of, tubular structures of the body, e.g. stents
    • A61F2/50—Prostheses not implantable in the body
    • A61F2002/5003—Prostheses not implantable in the body having damping means, e.g. shock absorbers
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61F—FILTERS IMPLANTABLE INTO BLOOD VESSELS; PROSTHESES; DEVICES PROVIDING PATENCY TO, OR PREVENTING COLLAPSING OF, TUBULAR STRUCTURES OF THE BODY, e.g. STENTS; ORTHOPAEDIC, NURSING OR CONTRACEPTIVE DEVICES; FOMENTATION; TREATMENT OR PROTECTION OF EYES OR EARS; BANDAGES, DRESSINGS OR ABSORBENT PADS; FIRST-AID KITS
    • A61F2/00—Filters implantable into blood vessels; Prostheses, i.e. artificial substitutes or replacements for parts of the body; Appliances for connecting them with the body; Devices providing patency to, or preventing collapsing of, tubular structures of the body, e.g. stents
    • A61F2/50—Prostheses not implantable in the body
    • A61F2002/5066—Muscles
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61F—FILTERS IMPLANTABLE INTO BLOOD VESSELS; PROSTHESES; DEVICES PROVIDING PATENCY TO, OR PREVENTING COLLAPSING OF, TUBULAR STRUCTURES OF THE BODY, e.g. STENTS; ORTHOPAEDIC, NURSING OR CONTRACEPTIVE DEVICES; FOMENTATION; TREATMENT OR PROTECTION OF EYES OR EARS; BANDAGES, DRESSINGS OR ABSORBENT PADS; FIRST-AID KITS
    • A61F2/00—Filters implantable into blood vessels; Prostheses, i.e. artificial substitutes or replacements for parts of the body; Appliances for connecting them with the body; Devices providing patency to, or preventing collapsing of, tubular structures of the body, e.g. stents
    • A61F2/50—Prostheses not implantable in the body
    • A61F2002/5072—Prostheses not implantable in the body having spring elements
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61F—FILTERS IMPLANTABLE INTO BLOOD VESSELS; PROSTHESES; DEVICES PROVIDING PATENCY TO, OR PREVENTING COLLAPSING OF, TUBULAR STRUCTURES OF THE BODY, e.g. STENTS; ORTHOPAEDIC, NURSING OR CONTRACEPTIVE DEVICES; FOMENTATION; TREATMENT OR PROTECTION OF EYES OR EARS; BANDAGES, DRESSINGS OR ABSORBENT PADS; FIRST-AID KITS
    • A61F2/00—Filters implantable into blood vessels; Prostheses, i.e. artificial substitutes or replacements for parts of the body; Appliances for connecting them with the body; Devices providing patency to, or preventing collapsing of, tubular structures of the body, e.g. stents
    • A61F2/50—Prostheses not implantable in the body
    • A61F2/68—Operating or control means
    • A61F2/70—Operating or control means electrical
    • A61F2002/701—Operating or control means electrical operated by electrically controlled means, e.g. solenoids or torque motors
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61F—FILTERS IMPLANTABLE INTO BLOOD VESSELS; PROSTHESES; DEVICES PROVIDING PATENCY TO, OR PREVENTING COLLAPSING OF, TUBULAR STRUCTURES OF THE BODY, e.g. STENTS; ORTHOPAEDIC, NURSING OR CONTRACEPTIVE DEVICES; FOMENTATION; TREATMENT OR PROTECTION OF EYES OR EARS; BANDAGES, DRESSINGS OR ABSORBENT PADS; FIRST-AID KITS
    • A61F2/00—Filters implantable into blood vessels; Prostheses, i.e. artificial substitutes or replacements for parts of the body; Appliances for connecting them with the body; Devices providing patency to, or preventing collapsing of, tubular structures of the body, e.g. stents
    • A61F2/50—Prostheses not implantable in the body
    • A61F2/68—Operating or control means
    • A61F2/70—Operating or control means electrical
    • A61F2002/704—Operating or control means electrical computer-controlled, e.g. robotic control
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61F—FILTERS IMPLANTABLE INTO BLOOD VESSELS; PROSTHESES; DEVICES PROVIDING PATENCY TO, OR PREVENTING COLLAPSING OF, TUBULAR STRUCTURES OF THE BODY, e.g. STENTS; ORTHOPAEDIC, NURSING OR CONTRACEPTIVE DEVICES; FOMENTATION; TREATMENT OR PROTECTION OF EYES OR EARS; BANDAGES, DRESSINGS OR ABSORBENT PADS; FIRST-AID KITS
    • A61F2/00—Filters implantable into blood vessels; Prostheses, i.e. artificial substitutes or replacements for parts of the body; Appliances for connecting them with the body; Devices providing patency to, or preventing collapsing of, tubular structures of the body, e.g. stents
    • A61F2/50—Prostheses not implantable in the body
    • A61F2/76—Means for assembling, fitting or testing prostheses, e.g. for measuring or balancing, e.g. alignment means
    • A61F2002/7615—Measuring means
    • A61F2002/7625—Measuring means for measuring angular position
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61F—FILTERS IMPLANTABLE INTO BLOOD VESSELS; PROSTHESES; DEVICES PROVIDING PATENCY TO, OR PREVENTING COLLAPSING OF, TUBULAR STRUCTURES OF THE BODY, e.g. STENTS; ORTHOPAEDIC, NURSING OR CONTRACEPTIVE DEVICES; FOMENTATION; TREATMENT OR PROTECTION OF EYES OR EARS; BANDAGES, DRESSINGS OR ABSORBENT PADS; FIRST-AID KITS
    • A61F2/00—Filters implantable into blood vessels; Prostheses, i.e. artificial substitutes or replacements for parts of the body; Appliances for connecting them with the body; Devices providing patency to, or preventing collapsing of, tubular structures of the body, e.g. stents
    • A61F2/50—Prostheses not implantable in the body
    • A61F2/76—Means for assembling, fitting or testing prostheses, e.g. for measuring or balancing, e.g. alignment means
    • A61F2002/7615—Measuring means
    • A61F2002/764—Measuring means for measuring acceleration
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61F—FILTERS IMPLANTABLE INTO BLOOD VESSELS; PROSTHESES; DEVICES PROVIDING PATENCY TO, OR PREVENTING COLLAPSING OF, TUBULAR STRUCTURES OF THE BODY, e.g. STENTS; ORTHOPAEDIC, NURSING OR CONTRACEPTIVE DEVICES; FOMENTATION; TREATMENT OR PROTECTION OF EYES OR EARS; BANDAGES, DRESSINGS OR ABSORBENT PADS; FIRST-AID KITS
    • A61F2/00—Filters implantable into blood vessels; Prostheses, i.e. artificial substitutes or replacements for parts of the body; Appliances for connecting them with the body; Devices providing patency to, or preventing collapsing of, tubular structures of the body, e.g. stents
    • A61F2/50—Prostheses not implantable in the body
    • A61F2/76—Means for assembling, fitting or testing prostheses, e.g. for measuring or balancing, e.g. alignment means
    • A61F2002/7615—Measuring means
    • A61F2002/7645—Measuring means for measuring torque, e.g. hinge or turning moment, moment of force

Landscapes

  • Health & Medical Sciences (AREA)
  • Transplantation (AREA)
  • Vascular Medicine (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • Oral & Maxillofacial Surgery (AREA)
  • Engineering & Computer Science (AREA)
  • Biomedical Technology (AREA)
  • Heart & Thoracic Surgery (AREA)
  • Veterinary Medicine (AREA)
  • Cardiology (AREA)
  • Animal Behavior & Ethology (AREA)
  • General Health & Medical Sciences (AREA)
  • Public Health (AREA)
  • Orthopedic Medicine & Surgery (AREA)
  • Prostheses (AREA)
  • Manipulator (AREA)
  • Rehabilitation Tools (AREA)
CN2010800152080A 2009-01-30 2010-02-01 用于机械腿的基于模型的神经机械控制器 Pending CN102378669A (zh)

Applications Claiming Priority (3)

Application Number Priority Date Filing Date Title
US14854509P 2009-01-30 2009-01-30
US61/148,545 2009-01-30
PCT/US2010/022783 WO2010088635A1 (en) 2009-01-30 2010-02-01 Model-based neuromechanical controller for a robotic leg

Publications (1)

Publication Number Publication Date
CN102378669A true CN102378669A (zh) 2012-03-14

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Family Applications (2)

Application Number Title Priority Date Filing Date
CN2010800152080A Pending CN102378669A (zh) 2009-01-30 2010-02-01 用于机械腿的基于模型的神经机械控制器
CN2010800152076A Pending CN102481194A (zh) 2009-01-30 2010-02-01 具有主缩肌-拮抗肌激励的动力人造膝

Family Applications After (1)

Application Number Title Priority Date Filing Date
CN2010800152076A Pending CN102481194A (zh) 2009-01-30 2010-02-01 具有主缩肌-拮抗肌激励的动力人造膝

Country Status (7)

Country Link
EP (2) EP2398425A4 (ko)
JP (2) JP2012516717A (ko)
KR (2) KR20110120927A (ko)
CN (2) CN102378669A (ko)
AU (2) AU2010208020A1 (ko)
CA (1) CA2787955A1 (ko)
WO (2) WO2010088635A1 (ko)

Cited By (13)

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CN104921851A (zh) * 2015-05-25 2015-09-23 河北工业大学 主动型膝上假肢膝关节的预测控制方法
CN108143594A (zh) * 2017-12-21 2018-06-12 大连厚德坤泰管理咨询有限公司 下肢外骨骼机器人复杂地形的共融协调控制方法
CN108393892A (zh) * 2018-03-05 2018-08-14 厦门大学 一种机器人前馈力矩补偿方法
CN108884456A (zh) * 2015-10-01 2018-11-23 麻省理工学院 生物状态机
CN109664297A (zh) * 2018-12-14 2019-04-23 深圳市汇川技术股份有限公司 机器人的振动抑制方法、系统、装置及计算机可读存储器
CN109773792A (zh) * 2019-02-14 2019-05-21 中科新松有限公司 串联弹性驱动器的位置控制装置及方法、存储介质、设备
CN110405761A (zh) * 2019-07-22 2019-11-05 北京理工大学 一种机器人关节的仿生粘弹性控制方法
WO2021077950A1 (zh) * 2020-03-27 2021-04-29 之江实验室 基于关节工况多象限耦合的双足机器人数字液压驱动方法
CN113635992A (zh) * 2021-06-15 2021-11-12 上海大学 一种双关节气动人工肌肉驱动的仿生跳跃腿
CN113673153A (zh) * 2021-08-11 2021-11-19 追觅创新科技(苏州)有限公司 机器人电磁转矩的确定方法和装置、存储介质、电子装置
CN114750152A (zh) * 2022-04-02 2022-07-15 南京航空航天大学 一种用于变刚度外骨骼的志愿柔顺辅助控制方法
CN116257942A (zh) * 2023-05-16 2023-06-13 东方空间技术(山东)有限公司 一种火箭仿真模型的确定方法及装置
CN118046421A (zh) * 2024-04-16 2024-05-17 以诺康医疗科技（苏州）有限公司 手术机器人关节实际力矩的自动采集方法及系统

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US8864846B2 (en) 2005-03-31 2014-10-21 Massachusetts Institute Of Technology Model-based neuromechanical controller for a robotic leg
US20070123997A1 (en) 2005-03-31 2007-05-31 Massachusetts Institute Of Technology Exoskeletons for running and walking
US8512415B2 (en) 2005-03-31 2013-08-20 Massachusetts Institute Of Technology Powered ankle-foot prothesis
US20070043449A1 (en) 2005-03-31 2007-02-22 Massachusetts Institute Of Technology Artificial ankle-foot system with spring, variable-damping, and series-elastic actuator components
US20070162152A1 (en) 2005-03-31 2007-07-12 Massachusetts Institute Of Technology Artificial joints using agonist-antagonist actuators
US8500823B2 (en) 2005-03-31 2013-08-06 Massachusetts Institute Of Technology Powered artificial knee with agonist-antagonist actuation
US20060249315A1 (en) 2005-03-31 2006-11-09 Massachusetts Institute Of Technology Artificial human limbs and joints employing actuators, springs, and variable-damper elements
US10307272B2 (en) 2005-03-31 2019-06-04 Massachusetts Institute Of Technology Method for using a model-based controller for a robotic leg
US11278433B2 (en) 2005-03-31 2022-03-22 Massachusetts Institute Of Technology Powered ankle-foot prosthesis
US9498401B2 (en) 2011-12-20 2016-11-22 Massachusetts Institute Of Technology Robotic system for simulating a wearable device and method of use
US9682005B2 (en) 2012-02-24 2017-06-20 Massachusetts Institute Of Technology Elastic element exoskeleton and method of using same
US9221177B2 (en) 2012-04-18 2015-12-29 Massachusetts Institute Of Technology Neuromuscular model-based sensing and control paradigm for a robotic leg
US10441439B2 (en) 2012-05-15 2019-10-15 Vanderbilt University Stair ascent and descent control for powered lower limb devices
DE102012013141A1 (de) 2012-07-03 2014-05-08 Otto Bock Healthcare Gmbh Orthetische oder prothetische Gelenkeinrichtung und Verfahren zu dessen Steuerung
US9603724B2 (en) 2013-08-27 2017-03-28 Carnegie Mellon University, A Pennsylvania Non-Profit Corporation Robust swing leg controller under large disturbances
US20160207194A1 (en) * 2013-09-03 2016-07-21 Anne J. BLOOD Stabilization system for robotic technology
WO2015095211A2 (en) 2013-12-16 2015-06-25 Massachusetts Institute Of Technology Optimal design of a lower limb exoskeleton or orthosis
CN103892943B (zh) * 2014-03-19 2015-08-19 中国人民解放军理工大学 主被动式结合增力型柔性下肢外骨骼
WO2015153633A2 (en) * 2014-03-31 2015-10-08 Parker-Hannifin Corporation Wearable robotic device
KR102378018B1 (ko) * 2014-07-29 2022-03-24 삼성전자주식회사 보행 동작 인식 장치 및 그 방법
KR102429612B1 (ko) * 2015-07-27 2022-08-05 삼성전자주식회사 보행 보조 방법 및 이를 수행하는 장치들
KR102459677B1 (ko) * 2015-11-05 2022-10-28 삼성전자주식회사 알고리즘 학습 방법 및 장치
ITUB20159411A1 (it) * 2015-12-28 2017-06-28 Stellar Project S R L Sistema di puntamento stabilizzato compatto
JP6357672B2 (ja) * 2016-09-23 2018-07-18 株式会社国際電気通信基礎技術研究所 駆動機構
US10406000B2 (en) * 2016-09-29 2019-09-10 The Chinese University Of Hong Kong Ankle-foot prosthesis device
CN106730604B (zh) * 2016-12-30 2019-03-01 西安交通大学 一种基于cpg模型的人体锻炼跑步机自适应主动控制方法
WO2018236208A1 (en) * 2017-06-22 2018-12-27 Universiti Malaya INTEGRATED PROSTHETIC MEMBER WITH SENSORY SYSTEM
CN108789395B (zh) * 2018-06-07 2021-03-30 上海交通大学 一种基于仿生肌腱的串联粘弹性驱动器
KR102175752B1 (ko) 2019-06-19 2020-11-06 성균관대학교 산학협력단 양방향 조인트 구동장치
CN114127643B (zh) * 2019-07-19 2024-03-29 三菱电机株式会社 参数同定装置、参数同定方法及存储介质
CN114286655A (zh) * 2019-08-29 2022-04-05 本田技研工业株式会社 接头装置
GB2599579B (en) * 2019-09-17 2023-12-06 Bionicm Inc Assist device and artificial limb
KR102295380B1 (ko) * 2019-11-06 2021-08-30 근로복지공단 하이브리드형 의지 장치
CN111166346A (zh) * 2020-02-20 2020-05-19 福州大学 基于角速度传感器的膝关节屈伸角度实时测量装置及方法
JP7237891B2 (ja) * 2020-07-15 2023-03-13 ソフトバンク株式会社 学習実行装置、プログラム、及び学習実行方法
CN112207819B (zh) * 2020-08-31 2022-05-10 深圳市优必选科技股份有限公司 机器人及其关节控制方法、关节控制装置
CN112894766B (zh) * 2020-12-25 2022-06-14 华南理工大学 一种应用于步行踝关节线驱外骨骼的力位置混合控制方法
IT202100024512A1 (it) * 2021-09-23 2023-03-23 Fondazione St Italiano Tecnologia Articolazione protesica attiva
NL2032980B1 (en) * 2022-09-07 2024-03-21 Univ Groningen Variable stiffness prosthetic joint

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