Vanderbilt University

Ekso Bionics Holdings, Inc.

Parker-hannifin Corporation

Skyler Ashton Dalley

Michael Goldfarb

Huseyin Atakan Varol

Tuomas Wiste

Ryan J Farris

Spencer Murray

Daniel Paul Bennett

Scott Morrison

Nasser Alshammary

Steven Etheridge

Steven Jefferson-Shawn Etheridge

Scott Andrew Morrison

A method of controlling an exoskeleton mobility device includes executing a control application with an electronic controller to perform: sensing at least one of an angular position or angular velocity of a stance/trailing leg during a single support dynamic state of a gait cycle; determining whether the angular position satisfies an advanced gait threshold; and when it is determined that the angular position satisfies the advanced gait threshold, the control system employs advanced gait control in which a duration of double support states between single support dynamic states is minimized. For advanced gait control the control system controls such that hip joint component velocities are non-zero during transitions from swing states to stance states, and knee joint component velocities are non-zero during transitions from stance states to swing states of the gait cycle. Each step of the gait cycle thus blends into a next step by way of hip joint component swing-to-stance extension, and/or knee joint component stance-to-swing flexion.

Advanced gait control system and methods enabling continuous walking motion of a powered exoskeleton device

A method of controlling a mobility device and related device including at least one actuator component that drives at least one joint component is described. The control method may include executing a control application with an electronic controller to perform: receiving a command in the control system of the mobility device for initiating an automated assessment and adjustment protocol; controlling one or more mobility device components to perform the automated assessment; electronically gathering user performance data associated with the automated assessment and determining user performance metrics; and electronically controlling one or more of the mobility device components in accordance with the performance metrics. The automated assessment includes controlling mobility device components to perform a predetermined assessment activity related to performance of the mobility device and/or user. Automatic adjustments to the device components, including adjusting tension and resistance levels of the joint components, may then be made based the performance metrics.

Mobility assistance devices with automated assessment and adjustment control

A method of controlling a mobility device and related device including at least one drive component that drives at least one joint component is described. The control method may include executing a control application with an electronic controller to perform: receiving sensor information from sensors corresponding to a state and/or mode of the mobility device; analyzing the sensor information and determining a control mode of operation based on the sensor information; generating a control signal to output an alert via electronic indicators corresponding to the determined control mode; and controlling at least one drive component of the mobility device to selectively configure and modulate at least one joint component in accordance with the determined control mode of operation. Different alerts may be outputted by the electronic indicators depending on the nature or severity of the alert condition, accompanied by respective device control operations in accordance with the alert condition.

Safety monitoring and control system and methods for a legged mobility exoskeleton device

A control method for an arm prosthesis having at least one powered joint and at least one inertial measurement sensor (IMS) includes determining a motion and an orientation of the arm prosthesis relative to the inertial reference frame based at least on an output of the IMS and generating control signals for the at least one powered joint based on the motion and the orientation of the prosthetic arm.

Coordinated control for an arm prosthesis

A jointed mechanical device is provided. The device includes at least one element having a fixed end and a deflectable end. The device also includes at least one actuating structure having a first end coupled to at least the deflectable end of the element, where the actuating structure includes at least one elastic element in series with at least one non-elastic element. The device further includes at least one force actuator configured to apply an actuator force to a second end of the actuating structure. Additionally, the device includes a control system for adjusting an operation of the force actuator based at least one actuation input, an amount of the actuator force, and an amount of displacement generated by the force actuator.

Jointed mechanical devices

A method for operating a grasping device and grasping devices therefrom are provided. The grasping device is configured to use a plurality of parallel, bi-directional state flow maps each defining a sequence of poses for a plurality of joints in the grasping device. The method include receiving at least one control signal, determining a current pose of the grasping device within the one of the plurality of state flow maps currently selected for the grasping device, and selectively actuating the plurality of joints to traverse the sequence of poses, where a direction for traversing the sequence of poses is based on the at least one control signal.

Control system for a grasping device

A jointed mechanical device is provided. The device includes at least one element () having a fixed end and a deflectable end. The device also includes at least one actuating structure () having a first end coupled to at least the deflectable end of the element, where the actuating structure includes at least one elastic element () in series with at least one non-elastic element. The device further includes at least one force actuator () configured to apply an actuator force to a second end of the actuating structure. Additionally, the device includes a control system () for adjusting an operation of the force actuator based at least one actuation input, an amount of the actuator force, and an amount of displacement generated by the force actuator.

Systems and methods for controlling jointed mechanical devices are is provided, where the device is controlled based on a topographic state () map having one or more motion axes (D, D) and defining a plurality of poses and a plurality of transitions in parallel with one of the motion axes, In the map, each motion axis is associated with complementary types of motion in the device and each of the transitions associated with at least two of the poses. A method includes the steps of receiving a control signal and determining a mechanical state of the device within the topographic state map. The method further includes identifying potential transitions associated with the mechanical state based on the topographic state map. The method also includes adjusting the mechanical state based on the control signal if the control signal is associated with a type of motion associated with one of the identified transitions.

Growing community of inventors

Shaker Heights, OH, United States of America

Skyler Ashton Dalley