The present invention concerns 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 actuated degree of freedom and at least one non-actuated degree of freedom, the method being characterised in that it comprises the implementation of the following steps: (a) When a start request is received, generation and transmission of a command to at least one of said actuators so as to place the exoskeleton (1) in a swing state; (b) in a database stored in means for storing triplet data (12) of: - a set of virtual constraints on said actuated degrees of freedom, - a controller of said exoskeleton (1) capable of generating commands of said actuators so as to observe said virtual constraints, implementing at least one stable attractive trajectory, - a stability basin formed by all the points from which the execution of said controller allows convergence to said stable attractive trajectory; identification of a set of virtual constraints such that said swing state is within said stability basin associated with this set of virtual constraints; and (c) execution of the controller associated with the identified set of virtual constraints such that the exoskeleton (1) walks.
Method for moving an exoskeleton
2023-05-18
Patent
Electronic Resource
English
IPC: | B25J Manipulatoren , MANIPULATORS / A61H PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY , Geräte für die physikalische Therapie, z.B. Vorrichtungen zum Lokalisieren oder Anregen spezieller Reflexpunkte am Körper / B62D MOTOR VEHICLES , Motorfahrzeuge |
Ambulatory exoskeleton and method of relocating exoskeleton
European Patent Office | 2019
|Ambulatory Exoskeleton and Method of Relocating Exoskeleton
European Patent Office | 2017
|