The invention relates to a method for moving a two-legged exoskeleton (1) receiving a human operator, comprising the following steps implemented by a data processing device (11c) of the exoskeleton (1): (a) obtaining a theoretical basic trajectory of the exoskeleton (1) corresponding to a step; (b) setting parameters of the theoretical basic trajectory on the basis of a single parameter in order to define the theoretical basic trajectory of the exoskeleton (1) as a virtual guidance with a single degree of freedom; (c) in response to a forced movement of the exoskeleton (1) performed by a human operator, executing a controller to define an advancement from an actual position of the exoskeleton (1) based on the single parameter by simulating a spring damper link between the exoskeleton (1) and the virtual guide in order to achieve an actual base trajectory near the theoretical base trajectory.
本发明涉及一种用于使接收人类操作者的双腿外骨骼(1)移动的方法,该方法包括由外骨骼(1)的数据处理装置(11c)实现以下步骤:(a)获得对应于一脚步的外骨骼(1)的理论基本轨迹;(b)基于单个参数设置理论基本轨迹的参数,以便将外骨骼(1)的理论基本轨迹定义为具有单个自由度的虚拟引导;(c)响应于由人类操作者执行的外骨骼(1)的强制运动,执行控制器,以通过模拟外骨骼(1)和虚拟引导之间的弹簧阻尼器链接基于所述单个参数来定义来自外骨骼(1)的实际位置的前进,以便在理论基本轨迹附近实现实际基本轨迹。
Method for moving exoskeleton
用于移动外骨骼的方法
05.05.2023
Patent
Elektronische Ressource
Chinesisch
IPC: | B62D MOTOR VEHICLES , Motorfahrzeuge |
Ambulatory exoskeleton and method of relocating exoskeleton
Europäisches Patentamt | 2019
|Ambulatory Exoskeleton and Method of Relocating Exoskeleton
Europäisches Patentamt | 2017
|