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:
Aug. 22, 2017
Filed:
Nov. 02, 2012
Bionx Medical Technologies, Inc., Bedford, MA (US);
Hugh Miller Herr, Somerville, MA (US);
Christopher Williams, Pittsburgh, PA (US);
Christopher Eric Barnhart, Carlisle, MA (US);
Zhixiu Han, Acton, MA (US);
Charles E. Rohrs, Newton, MA (US);
Richard J. Casler, Jr., Lowell, MA (US);
BIONX MEDICAL TECHNOLOGIES, INC., Bedford, MA (US);
Abstract
In an artificial limb system having an actuator coupled to a joint for applying a torque characteristic thereto, a control bandwidth of a motor controller for a motor included in the actuator can be increased by augmenting a current feedback loop in the motor controller with a feed forward of estimated back electromotive force (emf) voltage associated with, the motor. Alternatively, the current loop is eliminated and replaced with a voltage loop related to joint torque. The voltage loop may also be augmented with the feed forward of estimated back emf, to improve the robustness of the motor controller.