Massachusetts Institute of Technology

Jared Markowitz

Hugh Miller Herr

Ken Endo

Michael Frederick Eilenberg

Pavitra Krishnaswamy

Victor Michael Bove, Jr

Daniel Novy

Santiago Alfaro

Jing Wang

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.

Neuromuscular model-based sensing and control paradigm for a robotic leg

In exemplary implementations of this invention, a basketball net or flat net measures the translational kinetic energy of a ball that passes through an aperture in the net or impacts the net. The net includes one or more electrically conductive cords, which have a resistance that varies depending on the degree to which the cord is stretched. From sensor measurements, a processor determines: (a) instantaneous rate of change of resistance, and (b) duration of a time period that begins when resistance exceeds a baseline (with hysteresis). In the case of a basketball net, a processor may calculate the translational kinetic energy of the ball as equal to a sum of two terms. The first term is inversely proportional to the square of the duration; the second is proportional to the square of the integral of the instantaneous rate of change of resistance over the time period.

Force-sensing net

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Cambridge, MA, United States of America

Jared Markowitz