The patent badge is an abbreviated version of the USPTO patent document. The patent badge does contain a link to the full patent document.
The patent badge is an abbreviated version of the USPTO patent document. The patent badge covers the following: Patent number, Date patent was issued, Date patent was filed, Title of the patent, Applicant, Inventor, Assignee, Attorney firm, Primary examiner, Assistant examiner, CPCs, and Abstract. The patent badge does contain a link to the full patent document (in Adobe Acrobat format, aka pdf). To download or print any patent click here.
Patent No.:
Date of Patent:
Apr. 14, 2026
Filed:
Aug. 26, 2025
Sanctuary Cognitive Systems Corporation, Vancouver, CA;
Javad Khodaei Mehr, Burnaby, CA;
Rodrigo Barbosa, Vancouver, CA;
Sanctuary Cognitive Systems Corporation, Vancouver, CA;
Abstract
A dynamic system controller includes a first error detection unit that determines a first error between a joint state and a joint state target. The joint state describes an actual state of a set of joints in a dynamic body. The set of joints has one or more degrees of freedom that are controlled by a set of actuators. An impedance controller generates an impedance torque or force based on the first error. A first neural network accepts the joint state target and outputs an estimated actuation force. A second error detection unit determines a second error between an actual actuation force applied to the set of joints by the set of actuators at the joint state and a combination of the impedance torque or force and the estimated actuation force. A force controller generates a set of actuation commands based on the second error.