Bio-inspired adaptive impedance based controller for human-robot interaction and method
The method for controlling a single- or multi- powered robotic system, such as an exoskeleton, a prosthesis or a collaborative robot, that is physically interacting with a user, said system comprising at least one actuated joint; wherein the robot joint(s) is/are controlled in force by a low level controller using an impedance control; wherein the joint(s) output force(s) is/are determined by a high level controller using a finite state control; and wherein the high level controller finite state control is governed by a voluntary motion from the user reaching a predetermined trigger.
63578916
Alternative title(s) : (fr) Dispositif de commande basé sur une impédance adaptative bio-inspiré pour une interaction homme-robot et procédé
TTO:6.1619.2
Patent number | Country code | Kind code | Date issued |
US2021251838 | US | A1 | 2021-08-19 |
EP3840714 | EP | A1 | 2021-06-30 |
WO2020039409 | WO | A1 | 2020-02-27 |