Global Patent Index - EP 3705105 A1

EP 3705105 A1 20200909 - CONTROL SYSTEM FOR A HAPTIC LOWER LIMB EXOSKELETON FOR REHABILITATION OR WALKING, WITH IMPROVED EQUILIBRIUM CONTROL, MAN-MACHINE INTERFACE

Title (en)

CONTROL SYSTEM FOR A HAPTIC LOWER LIMB EXOSKELETON FOR REHABILITATION OR WALKING, WITH IMPROVED EQUILIBRIUM CONTROL, MAN-MACHINE INTERFACE

Title (de)

STEUERUNGSSYSTEM FÜR EIN HAPTISCHES EXOSKELETT DER UNTEREN EXTREMITÄTEN ZUR REHABILITATION ODER ZUM GEHEN MIT VERBESSERTER GLEICHGEWICHTSKONTROLLE, MENSCH-MASCHINE-SCHNITTSTELLE

Title (fr)

SYSTÈME DE COMMANDE D'EXOSQUELETTE À MEMBRE INFÉRIEUR HAPTIQUE POUR LA RÉÉDUCATION OU LA MARCHE, AVEC CONTRÔLE AMÉLIORÉ DE L'ÉQUILIBRE, INTERFACE HOMME-MACHINE

Publication

EP 3705105 A1 20200909 (EN)

Application

EP 19425014 A 20190308

Priority

EP 19425014 A 20190308

Abstract (en)

A haptic exoskeleton (1) coupled to the body of a patient (2) has actuator means (10) for actuating a number of joints (7, 8, 9); bioelectric sensors (14) acquiring bioelectric signals (S<sub>EMG</sub>); and a control system (75). The system envisages: an outer postural control loop (48), to output an automatic posture control vector (ẋ<sub>sum</sub>), defining a postural task of the exoskeleton; a patient-control module (91), to output a vector of bioelectric angular velocities (θ̇<sub>p</sub>) based on the bioelectric signals (S<sub>EMG</sub>) to allow the patient to interact with said joints (7, 8, 9); an inner joint-velocity control loop (49) to output a control signal (u<sub>s</sub>) to be applied to the actuator means (10) to control a rotational movement of the joints (7, 8, 9), based on an input reference signal (θ̇<sub>ref</sub>), being a combination of contributions of the automatic posture control vector (ẋ<sub>sum</sub>) and of the vector of bioelectric angular velocities (θ̇<sub>p</sub>). A control modulation module (78, 82, 84) modulates the contributions of the postural control loop, through the automatic posture control vector (ẋ<sub>sum</sub>), and of the patient-control module, through the vector of bioelectric angular velocities (θ̇<sub>p</sub>), for generation of the reference signal (θ<sub>ref</sub>).

IPC 8 full level

A61H 3/00 (2006.01); B25J 9/00 (2006.01); A61H 1/02 (2006.01)

CPC (source: EP)

A61H 3/00 (2013.01); A61H 1/0237 (2013.01); A61H 2201/165 (2013.01); A61H 2201/5061 (2013.01); A61H 2201/5069 (2013.01); A61H 2201/5071 (2013.01); A61H 2201/5084 (2013.01); A61H 2230/605 (2013.01)

Citation (applicant)

  • EP 2238894 A1 20101013 - SYCO DI HEDVIG HABERL & C S A [IT]
  • EP 2497610 A1 20120912 - SYCO DI HEDVIG HABERL & C S A S [IT]
  • G. MENGA ET AL.: "Lower limb exoskeleton for rehabilitation with improved postural equilibrium", ROBOTICS, 2018
  • YOUNGJIN CHOI; DOIK KIM; YONGHWAN OH; BUM-JAE YOU: "Posture/Walking Control for Humanoid Robot Based on Kinematic Resolution of CoM Jacobian With Embedded Motion", IEEE TRANSACTIONS ON ROBOTICS, vol. 23, no. 6, December 2007 (2007-12-01), pages 1285, XP011332702, DOI: doi:10.1109/TRO.2007.904907
  • L. SENTIS; O. KHATIB: "Synthesis of whole-body behaviors through hierarchical control of behavioral primitives", INT. J. HUMAN. ROB., vol. 2, no. 4, December 2005 (2005-12-01), pages 505 - 518
  • Z. LI; M. HAYASHIBE; Q. ZHANG; D. GUIRAUD: "FES-Induced Muscular Torque Prediction with Evoked EMG Synthesized by NARX-Type Recurrent Neural Network", 2012 IEEE/RSJ INTERNATIONAL CONFERENCE ON INTELLIGENT ROBOTS AND SYSTEMS, 7 October 2012 (2012-10-07)

Citation (search report)

  • [AD] EP 2238894 A1 20101013 - SYCO DI HEDVIG HABERL & C S A [IT]
  • [AD] EP 2497610 A1 20120912 - SYCO DI HEDVIG HABERL & C S A S [IT]
  • [A] CN 106214427 A 20161214 - UNIV SHANGHAI JIAOTONG
  • [A] CN 107397649 A 20171128 - UNIV YANSHAN
  • [A] CN 105213153 A 20160106 - UNIV XI AN JIAOTONG
  • [AD] YOUNGJIN CHOI ET AL: "Posture/Walking Control for Humanoid Robot Based on Kinematic Resolution of CoM Jacobian With Embedded Motion", IEEE TRANSACTIONS ON ROBOTICS, IEEE SERVICE CENTER, PISCATAWAY, NJ, US, vol. 23, no. 6, 1 December 2007 (2007-12-01), pages 1285 - 1293, XP011332702, ISSN: 1552-3098, DOI: 10.1109/TRO.2007.904907
  • [AD] Z. LI; M. HAYASHIBE; Q. ZHANG; D. GUIRAUD: "FES-Induced Muscular Torque Prediction with Evoked EMG Synthesized by NARX-Type Recurrent Neural Network", 2012 IEEE/RSJ INTERNATIONAL CONFERENCE ON INTELLIGENT ROBOTS AND SYSTEMS, 7 October 2012 (2012-10-07), XP032287448

Designated contracting state (EPC)

AL AT BE BG CH CY CZ DE DK EE ES FI FR GB GR HR HU IE IS IT LI LT LU LV MC MK MT NL NO PL PT RO RS SE SI SK SM TR

Designated extension state (EPC)

BA ME

DOCDB simple family (publication)

EP 3705105 A1 20200909

DOCDB simple family (application)

EP 19425014 A 20190308