WO2017035468A8 - Actuator control systems and related methods - Google Patents
Actuator control systems and related methods Download PDFInfo
- Publication number
- WO2017035468A8 WO2017035468A8 PCT/US2016/048972 US2016048972W WO2017035468A8 WO 2017035468 A8 WO2017035468 A8 WO 2017035468A8 US 2016048972 W US2016048972 W US 2016048972W WO 2017035468 A8 WO2017035468 A8 WO 2017035468A8
- Authority
- WO
- WIPO (PCT)
- Prior art keywords
- actuator
- contractile element
- input
- coupled
- actuator control
- Prior art date
Links
Classifications
-
- 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
- A61F2/66—Feet; Ankle 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
- A61F2/68—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
- A61F2/68—Operating or control means
- A61F2/74—Operating or control means fluid, i.e. hydraulic or pneumatic
- A61F2/741—Operating or control means fluid, i.e. hydraulic or pneumatic using powered actuators, e.g. stepper motors or solenoids
-
- 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
- A61F2002/5006—Dampers, e.g. hydraulic damper
-
- 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
- A61F2002/6863—Operating or control means magnetic
-
- 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
- A61F2/76—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
Abstract
An actuator control system includes a motorized joint having first and second members rotatable relative to one another. An actuator is coupled with the motorized joint and is configured to rotate the first member relative to the second member in response to an input including a voltage, a current, or any combination thereof. A controller is coupled with the actuator and is configured to control the input using a control algorithm. The control algorithm controls the input based upon a mathematical model of biological muscle actuation that models titin as a filament which winds around actin during muscle actuation. In implementations the mathematical model includes mathematical representations of a contractile element, a viscous damping element in parallel with the contractile element, and a spring in series with the contractile element through a pulley and simultaneously in parallel with the contractile element.
Priority Applications (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
EP16840207.1A EP3340942A4 (en) | 2015-08-26 | 2016-08-26 | Actuator control systems and related methods |
Applications Claiming Priority (4)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
US201562210439P | 2015-08-26 | 2015-08-26 | |
US62/210,439 | 2015-08-26 | ||
US14/880,118 | 2015-10-09 | ||
US14/880,118 US10154915B2 (en) | 2009-03-09 | 2015-10-09 | Actuator control system and related methods |
Publications (2)
Publication Number | Publication Date |
---|---|
WO2017035468A1 WO2017035468A1 (en) | 2017-03-02 |
WO2017035468A8 true WO2017035468A8 (en) | 2018-08-16 |
Family
ID=58101136
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
PCT/US2016/048972 WO2017035468A1 (en) | 2015-08-26 | 2016-08-26 | Actuator control systems and related methods |
Country Status (2)
Country | Link |
---|---|
EP (1) | EP3340942A4 (en) |
WO (1) | WO2017035468A1 (en) |
Family Cites Families (6)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
US8864846B2 (en) * | 2005-03-31 | 2014-10-21 | Massachusetts Institute Of Technology | Model-based neuromechanical controller for a robotic leg |
US20060249315A1 (en) * | 2005-03-31 | 2006-11-09 | Massachusetts Institute Of Technology | Artificial human limbs and joints employing actuators, springs, and variable-damper elements |
EP3002859B1 (en) * | 2009-03-09 | 2018-02-28 | Arizona Board Of Regents Acting For And On Behalf Of Northern Arizona University | Electromagnetic actuator |
WO2011126985A2 (en) * | 2010-04-05 | 2011-10-13 | Iwalk, Inc. | Controlling torque in a prosthesis or orthosis |
WO2012096956A1 (en) * | 2011-01-10 | 2012-07-19 | Iwalk, Inc. | Powered joint orthosis |
US10531965B2 (en) * | 2012-06-12 | 2020-01-14 | Bionx Medical Technologies, Inc. | Prosthetic, orthotic or exoskeleton device |
-
2016
- 2016-08-26 EP EP16840207.1A patent/EP3340942A4/en not_active Withdrawn
- 2016-08-26 WO PCT/US2016/048972 patent/WO2017035468A1/en active Application Filing
Also Published As
Publication number | Publication date |
---|---|
WO2017035468A1 (en) | 2017-03-02 |
EP3340942A1 (en) | 2018-07-04 |
EP3340942A4 (en) | 2020-05-13 |
Similar Documents
Publication | Publication Date | Title |
---|---|---|
EP3639361A4 (en) | Multi-level hysteresis voltage controllers for voltage modulators and methods for control thereof | |
EP3639358A4 (en) | Multi-level multi-quadrant hysteresis current controllers and methods for control thereof | |
EP3617962A4 (en) | Workflow control method and system based on one-to-one correspondence between roles and users | |
EP3686051A4 (en) | Battery system with adjustable heating rate and control method thereof | |
EP3850465A4 (en) | Methods and systems for distributed power control | |
EP3427131A4 (en) | Intelligent lighting control apparatuses, systems, and methods | |
EP3566821A4 (en) | Robot movement control method, and robot | |
EP3424146A4 (en) | High-voltage analog circuit pulser with feedback control | |
EP3459334A4 (en) | Self-moving device and control method thereof | |
EP3490761A4 (en) | Control of social robot based on prior character portrayal in fiction or performance | |
EP3748248A4 (en) | Cloud server and air conditioner based on parameter learning using artificial intelligence, and method for driving and controlling air conditioner | |
EP3468102A4 (en) | Negative feedback control method and system based on output arbitration | |
EP3611715A4 (en) | Home environment regulation system and control method based on furniture having display device | |
EP3719600A4 (en) | Control system, factory system, learning system, estimation model generation method, and actuator state estimation method | |
EP3551946A4 (en) | Air conditioner, control device thereof, and method of controlling the same | |
EP3632130A4 (en) | Remote controller and control method thereof | |
EP3379676A4 (en) | Voltage/reactive power control device and method, and voltage/reactive power control system | |
EP3605142A4 (en) | Self-moving device and control method therefor | |
EP3719987A4 (en) | Pulse voltage generation device, method, and controller | |
EP3862830A4 (en) | Learning device, control device, learning method, and learning program | |
EP3765793A4 (en) | Power control systems and methods | |
EP3805875A4 (en) | Control system, control method, learning device, control device, learning method, and learning program | |
EP3671922A4 (en) | Power supply system and control method thereof | |
EP3622606A4 (en) | Power systems with inverter input voltage control | |
EP3350436A4 (en) | Power generation systems, and related methods, components and control systems |
Legal Events
Date | Code | Title | Description |
---|---|---|---|
121 | Ep: the epo has been informed by wipo that ep was designated in this application |
Ref document number: 16840207 Country of ref document: EP Kind code of ref document: A1 |
|
NENP | Non-entry into the national phase |
Ref country code: DE |
|
WWE | Wipo information: entry into national phase |
Ref document number: 2016840207 Country of ref document: EP |