公开(公告)号：US11498203B2

公开(公告)日：2022-11-15

申请号：US16317845

申请日：2017-07-15

Applicant: President and Fellows of Harvard College

Inventor： Ye Ding ,  Ignacio Galiana Bujanda ,  Jinsoo Kim ,  Myunghee Kim ,  Scott Kuindersma ,  Sangjun Lee ,  Kathleen E. O'Donnell ,  Christopher J. Siviy ,  Conor J. Walsh

IPC: B25J9/16 ,  G05B19/042 ,  B25J9/00

Abstract: A wearable system includes an exosuit or exoskeleton; an actuator(s) configured to generate force in the exosuit or exoskeleton; a sensor(s) configured to measure information for evaluating an objective function associated with providing physical assistance to the wearer, an interaction between the wearer and the exosuit or exoskeleton, and/or an operation of the exosuit or exoskeleton; and a controller(s) configured to: actuate the actuator(s) according to an actuation profile(s), evaluate the objective function based on the information measured by the at least one sensor to determine a resulting change in the objective function, adjust a parameter(s) of the actuation profile(s) based on the resulting change in the objective function, and continue to actuate, evaluate, and adjust to optimize the actuation parameter(s) for maximizing or minimizing the objective function. Wearable systems configured to assist or promote an improvement in the wearer's gait and optimized using a gradient descent or Bayesian approach.

公开(公告)号：US20200276698A1

公开(公告)日：2020-09-03

申请号：US16317845

申请日：2017-07-15

Applicant: President and Fellows of Harvard College

Inventor： Ye Ding ,  Ignacio Galiana Bujanda ,  Jinsoo Kim ,  Myunghee Kim ,  Scott Kuindersma ,  Sangjun Lee ,  Kathleen E. O'Donnell ,  Christopher J. Siviy ,  Conor J. Walsh

IPC: B25J9/00 ,  B25J9/16 ,  G05B19/042

Abstract: A wearable system comprising an exosuit or exoskeleton; an actuator(s) configured to generate force in the exosuit or exoskeleton; a sensor(s) configured to measure information for evaluating an objective function associated with providing physical assistance to the wearer, an interaction between the wearer and the exosuit or exoskeleton, and/or an operation of the exosuit or exoskeleton; and a controller(s) configured to: actuate the actuator(s) according to an actuation profile(s), evaluate the objective function based on the information measured by the at least one sensor to determine a resulting change in the objective function, adjust a parameter(s) of the actuation profile(s) based on the resulting change in the objective function, and continue to actuate, evaluate, and adjust to optimize the actuation parameter(s) for maximizing or minimizing the objective function. Wearable systems configured to assist or promote an improvement in the wearer's gait and optimized using a gradient descent or Bayesian approach.