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ADVANCED GAIT CONTROL SYSTEM AND METHODS ENABLING CONTINUED WALKING MOTION OF A POWERED EXOSKELETON DEVICE
ADVANCED GAIT CONTROL SYSTEM AND METHODS ENABLING CONTINUED WALKING MOTION OF A POWERED EXOSKELETON DEVICE
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机译：先进的步态控制系统和方法使电动外骨骼设备能够连续行走
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摘要
A method of controlling an exoskeleton mobility device includes executing a control application with an electronic controller to perform: sensing at least one of an angular position or angular velocity of a stance/trailing leg during a single support dynamic state of a gait cycle; determining whether the angular position satisfies an advanced gait threshold; and when it is determined that the angular position satisfies the advanced gait threshold, the control system employs advanced gait control in which a duration of double support states between single support dynamic states is minimized. For advanced gait control the control system controls such that hip joint component velocities are non-zero during transitions from swing states to stance states, and knee joint component velocities are non-zero during transitions from stance states to swing states of the gait cycle. Each step of the gait cycle thus blends into a next step by way of hip joint component swing-to-stance extension, and/or knee joint component stance-to-swing flexion.
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