公开(公告)号：US20180129216A1

公开(公告)日：2018-05-10

申请号：US15561243

申请日：2016-03-21

申请人： INSTITUT NATIONAL DES SCIENCES APPLIQUEES DE RENNES (INSA RENNES)

发明人： François PASTEAU ,  Marie BABEL ,  Eric BAZIN ,  Sylvain GUEGAN

IPC分类号： G05D1/02 ,  A61G5/04

CPC分类号： G05D1/0214 ,  A61G5/04 ,  B60L3/0015 ,  B60L2200/24 ,  B60L2200/34 ,  B60L2240/12 ,  B60L2260/42 ,  G05D1/0223 ,  G05D1/0255 ,  G05D2201/0206

摘要： Some embodiments are directed to a method for correcting a movement trajectory in a movement assistance device of a person equipped with at least one sensor device and a control unit, the method including the steps of measuring a distance between said at least one sensor and an obstacle, a separation of a coordinate system representing pairs of values of translational speeds and rotational speeds into two half-planes, by at least one separating limit of the coordinate system, into a travel exclusion zone and a permissible travel space, a definition of a second rotational speed and a second translational speed by the projection of a command point into the delimited permissible space.