University of Texas System

Rehabilitation Institute of Chicago

The Boeing Company

Robert D Gregg

John Charles Vassberg

Hanqi Zhu

Ge Lv

Jon Sensinger

David Quintero

Darío J Villarreal Suárez

Anne E Martin

David M Pitera

Total energy shaping control methods and devices for powered orthosis for controlling the device to counteract forces exerted on the person including inertial forces.

Total energy shaping control methods and devices for powered orthosis

Orthosis device and related methods for controlling the device to counteract a gravitational force exerted on the person without directing the orthosis device in a pre-determined pattern of motion.

Torque control methods and devices for powered orthosis

The present disclosure is relates to an orthosis device. The orthosis device, in one embodiment, includes an actuator housing, and an electric motor coupled to the actuator housing, the electric motor including a motor stator and a motor rotor, and the electric motor further having high output torque. The orthosis device, in this embodiment, further includes a low-ratio transmission coupled to the actuator housing, the transmission including a gear system coupled to the actuator housing, and a drive system coupling the electric motor and the gear system, wherein a combination of the electric motor and transmission provide a user backdrivable orthosis device.

Lower limb powered orthosis with low ratio actuation

Systems and methods for prosthetic device control with a unified virtual constraint that controls an entire gait cycle of the prosthetic device.

Systems and methods for prosthetic device control

Systems and methods for improved control of a lower limb device are disclosed. The lower limb may have one or more joints and one or more corresponding motors. In some embodiments, a center of pressure is calculated in order to enforce virtual constraints at the one or more joints of the lower limb device. The system utilizes one or more effective shapes, and each effective shape's corresponding error, in order to cause each joint motor to produce a torque that causes the joint to move according to a virtual constraint. The systems and methods result in improved control of lower limb devices.

Growing community of inventors

Allen, TX, United States of America

Robert D Gregg