(19)
(11) EP 2 391 486 A1

(12)

(43) Date of publication:
07.12.2011 Bulletin 2011/49

(21) Application number: 10736550.4

(22) Date of filing: 01.02.2010
(51) International Patent Classification (IPC): 
B25J 9/18(2006.01)
(86) International application number:
PCT/US2010/022783
(87) International publication number:
WO 2010/088635 (05.08.2010 Gazette 2010/31)
(84) Designated Contracting States:
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 SE SI SK SM TR

(30) Priority: 30.01.2009 US 148545 P

(71) Applicant: Massachusetts Institute of Technology
Cambridge, MA 02139 (US)

(72) Inventors:
  • HERR, Hugh, M.
    Somerville, MA 02143 (US)
  • GEYER, Hartmut
    Pittsburgh, PA 15206 (US)
  • EILENBERG, Michael, Frederick
    Port Washington, NY 11050 (US)

(74) Representative: Somervell, Thomas Richard 
Marks & Clerk LLP Alpha Tower Suffolk Street
Queensway Birmingham B1 1TT
Queensway Birmingham B1 1TT (GB)

   


(54) MODEL-BASED NEUROMECHANICAL CONTROLLER FOR A ROBOTIC LEG