公开(公告)号：US20170049587A1

公开(公告)日：2017-02-23

申请号：US15342661

申请日：2016-11-03

Applicant: Massachusetts Institute of Technology

Inventor： Hugh M. Herr ,  Hartmut Geyer ,  Michael Frederick Eilenberg

IPC: A61F2/68 ,  A61F2/64 ,  G06F19/00 ,  A61F2/66

CPC classification number: A61F2/68 ,  A61F2/605 ,  A61F2/64 ,  A61F2/66 ,  A61F5/0123 ,  A61F5/0127 ,  A61F2002/701 ,  A61F2002/704 ,  A61F2002/705 ,  A61F2002/741 ,  A61F2002/745 ,  A61F2002/747 ,  A61F2002/7625 ,  A61F2002/7635 ,  A61F2002/764 ,  A61F2002/7645 ,  A61F2005/0155 ,  B25J9/0006 ,  B25J9/1075 ,  B25J9/1633 ,  G06F19/00 ,  G16H50/50

Abstract: A model-based neuromechanical controller for a robotic limb having at least one joint includes a finite state machine configured to receive feedback data relating to the state of the robotic limb and to determine the state of the robotic limb, a muscle model processor configured to receive state information from the finite state machine and, using muscle geometry and reflex architecture information and a neuromuscular model, to determine at least one desired joint torque or stiffness command to be sent to the robotic limb, and a joint command processor configured to command the biomimetic torques and stiffnesses determined by the muscle model processor at the robotic limb joint. The feedback data is preferably provided by at least one sensor mounted at each joint of the robotic limb. In a preferred embodiment, the robotic limb is a leg and the finite state machine is synchronized to the leg gait cycle.

Abstract translation: 用于具有至少一个关节的机器人肢体的基于模型的神经机械控制器包括有限状态机，其被配置为接收与所述机器人肢体的状态相关的反馈数据并且确定所述机器人肢体的状态，所述肌肉模型处理器被配置为接收 来自有限状态机的状态信息，以及使用肌肉几何和反射架构信息和神经肌肉模型来确定要发送到机器人肢体的至少一个期望的关节扭矩或刚度命令;以及联合命令处理器，其被配置为命令仿生模拟 在机器人肢体关节处由肌肉模型处理器确定的扭矩和刚度。 反馈数据优选地由安装在机器人肢体的每个关节处的至少一个传感器提供。 在优选实施例中，机器人肢体是腿部，并且有限状态机器与腿部步态周期同步。

公开(公告)号：US09975249B2

公开(公告)日：2018-05-22

申请号：US14978445

申请日：2015-12-22

Applicant: Massachusetts Institute of Technology

Inventor： Hugh M. Herr ,  Ken Endo ,  Pavitra Krishnaswamy ,  Jared Markowitz ,  Michael Frederick Eilenberg ,  Jing Wang

IPC: B25J9/16 ,  B62D57/032

CPC classification number: B25J9/1694 ,  B62D57/032 ,  G05B2219/40324 ,  Y10S901/01

Abstract: A neuromuscular model-based controller for a robotic limb having at least one joint includes a neuromuscular model having a muscle model, muscle geometry and reflex feedback loop to determine at least one torque or impedance command to be sent to the robotic limb. One or more parameters that determine relation between feedback data and activation of the muscle model are adjusted consequent to sensory data from at least one of an intrinsic sensor and an extrinsic sensor. A controller in communication with the neuromuscular model is configured to receive the at least one torque or impedance command and controls at least one of position, torque and impedance of the robotic limb joint.

公开(公告)号：US20160207201A1

公开(公告)日：2016-07-21

申请号：US14978445

申请日：2015-12-22

Applicant: Massachusetts Institute of Technology

Inventor： Hugh M. Herr ,  Ken Endo ,  Pavitra Krishnaswamy ,  Jared Markowitz ,  Michael Frederick Eilenberg ,  Jing Wang

IPC: B25J9/16 ,  B62D57/032

CPC classification number: B25J9/1694 ,  B62D57/032 ,  G05B2219/40324 ,  Y10S901/01

Abstract: A neuromuscular model-based controller for a robotic limb having at least one joint includes a neuromuscular model having a muscle model, muscle geometry and reflex feedback loop to determine at least one torque or impedance command to be sent to the robotic limb. One or more parameters that determine relation between feedback data and activation of the muscle model are adjusted consequent to sensory data from at least one of an intrinsic sensor and an extrinsic sensor. A controller in communication with the neuromuscular model is configured to receive the at least one torque or impedance command and controls at least one of position, torque and impedance of the robotic limb joint.

公开(公告)号：US09221177B2

公开(公告)日：2015-12-29

申请号：US13865840

申请日：2013-04-18

Applicant: Massachusetts Institute of Technology

Inventor： Hugh M. Herr ,  Ken Endo ,  Pavitra Krishnaswamy ,  Jared Markowitz ,  Michael Frederick Eilenberg ,  Jing Wang

IPC: B25J9/16 ,  B62D57/032

CPC classification number: B25J9/1694 ,  B62D57/032 ,  G05B2219/40324 ,  Y10S901/01

Abstract: A neuromuscular model-based controller for a robotic limb having at least one joint includes a neuromuscular model having a muscle model, muscle geometry and reflex feedback loop to determine at least one torque or impedance command to be sent to the robotic limb. One or more parameters that determine relation between feedback data and activation of the muscle model are adjusted consequent to sensory data from at least one of an intrinsic sensor and an extrinsic sensor. A controller in communication with the neuromuscular model is configured to receive the at least one torque or impedance command and controls at least one of position, torque and impedance of the robotic limb joint.

Abstract translation: 用于具有至少一个关节的机器人肢体的基于神经肌肉模型的控制器包括具有肌肉模型，肌肉几何形状和反射反馈回路的神经肌肉模型，以确定要发送到机器人肢体的至少一个扭矩或阻抗命令。 确定反馈数据与肌肉模型激活之间的关系的一个或多个参数是根据来自内部传感器和外部传感器中的至少一个的感觉数据进行调整的。 与神经肌肉模型通信的控制器被配置为接收至少一个扭矩或阻抗命令并且控制机器人肢体关节的位置，扭矩和阻抗中的至少一个。

公开(公告)号：US20130310979A1

公开(公告)日：2013-11-21

申请号：US13865840

申请日：2013-04-18

Applicant: Massachusetts Institute of Technology

Inventor： Hugh M. Herr ,  Ken Endo ,  Pavitra Krishnaswamy ,  Jared Markowitz ,  Michael Frederick Eilenberg ,  Jing Wang

IPC: B25J9/16

CPC classification number: B25J9/1694 ,  B62D57/032 ,  G05B2219/40324 ,  Y10S901/01

Abstract: A neuromuscular model-based controller for a robotic limb having at least one joint includes a neuromuscular model having a muscle model, muscle geometry and reflex feedback loop to determine at least one torque or impedance command to be sent to the robotic limb. One or more parameters that determine relation between feedback data and activation of the muscle model are adjusted consequent to sensory data from at least one of an intrinsic sensor and an extrinsic sensor. A controller in communication with the neuromuscular model is configured to receive the at least one torque or impedance command and controls at least one of position, torque and impedance of the robotic limb joint.

Abstract translation: 用于具有至少一个关节的机器人肢体的基于神经肌肉模型的控制器包括具有肌肉模型，肌肉几何形状和反射反馈回路的神经肌肉模型，以确定要发送到机器人肢体的至少一个扭矩或阻抗命令。 确定反馈数据与肌肉模型激活之间的关系的一个或多个参数是根据来自内部传感器和外在传感器中的至少一个的感觉数据进行调整的。 与神经肌肉模型通信的控制器被配置为接收至少一个扭矩或阻抗命令并且控制机器人肢体关节的位置，扭矩和阻抗中的至少一个。

公开(公告)号：US10307272B2

公开(公告)日：2019-06-04

申请号：US15342661

申请日：2016-11-03

Applicant: Massachusetts Institute of Technology

Inventor： Hugh M. Herr ,  Hartmut Geyer ,  Michael Frederick Eilenberg

IPC: A61F2/64 ,  A61F2/66 ,  A61F2/70 ,  A61F2/74 ,  A61F2/76 ,  G16H50/50 ,  G06F19/00 ,  B25J9/16 ,  B25J9/10 ,  B25J9/00 ,  A61F5/01 ,  A61F2/68 ,  A61F2/60

Abstract: A model-based neuromechanical controller for a robotic limb having at least one joint includes a finite state machine configured to receive feedback data relating to the state of the robotic limb and to determine the state of the robotic limb, a muscle model processor configured to receive state information from the finite state machine and, using muscle geometry and reflex architecture information and a neuromuscular model, to determine at least one desired joint torque or stiffness command to be sent to the robotic limb, and a joint command processor configured to command the biomimetic torques and stiffnesses determined by the muscle model processor at the robotic limb joint. The feedback data is preferably provided by at least one sensor mounted at each joint of the robotic limb. In a preferred embodiment, the robotic limb is a leg and the finite state machine is synchronized to the leg gait cycle.

公开(公告)号：US09539117B2

公开(公告)日：2017-01-10

申请号：US14520091

申请日：2014-10-21

Applicant: Massachusetts Institute of Technology

Inventor： Hugh M. Herr ,  Hartmut Geyer ,  Michael Frederick Eilenberg

IPC: G05B21/00 ,  A61F2/72 ,  A61F2/68 ,  A61F5/01 ,  A61F2/66 ,  B25J9/00 ,  A61F2/70 ,  A61F2/76 ,  A61F2/60 ,  A61F2/64

CPC classification number: A61F2/68 ,  A61F2/605 ,  A61F2/64 ,  A61F2/66 ,  A61F5/0123 ,  A61F5/0127 ,  A61F2002/701 ,  A61F2002/704 ,  A61F2002/705 ,  A61F2002/741 ,  A61F2002/745 ,  A61F2002/747 ,  A61F2002/7625 ,  A61F2002/7635 ,  A61F2002/764 ,  A61F2002/7645 ,  A61F2005/0155 ,  B25J9/0006 ,  B25J9/1075 ,  B25J9/1633 ,  G06F19/00 ,  G16H50/50

Abstract: A model-based neuromechanical controller for a robotic limb having at least one joint includes a finite state machine configured to receive feedback data relating to the state of the robotic limb and to determine the state of the robotic limb, a muscle model processor configured to receive state information from the finite state machine and, using muscle geometry and reflex architecture information and a neuromuscular model, to determine at least one desired joint torque or stiffness command to be sent to the robotic limb, and a joint command processor configured to command the biomimetic torques and stiffnesses determined by the muscle model processor at the robotic limb joint. The feedback data is preferably provided by at least one sensor mounted at each joint of the robotic limb. In a preferred embodiment, the robotic limb is a leg and the finite state machine is synchronized to the leg gait cycle.

Abstract translation: 用于具有至少一个关节的机器人肢体的基于模型的神经机械控制器包括有限状态机，其被配置为接收与所述机器人肢体的状态相关的反馈数据并且确定所述机器人肢体的状态，所述肌肉模型处理器被配置为接收 来自有限状态机的状态信息，以及使用肌肉几何和反射架构信息和神经肌肉模型来确定要发送到机器人肢体的至少一个期望的关节扭矩或刚度命令;以及联合命令处理器，其被配置为命令仿生模拟 在机器人肢体关节处由肌肉模型处理器确定的扭矩和刚度。 反馈数据优选地由安装在机器人肢体的每个关节处的至少一个传感器提供。 在优选实施例中，机器人肢体是腿部，并且有限状态机器与腿部步态周期同步。