Archive for Сентябрь, 2010

Design of an active one-degree-of-freedom lower-limb exoskeleton with inertia compensation

Дата: Сентябрь 2nd, 2010 Автор:
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  • Тип контента: Научная статья
  • Номер документа: 3403
  • Название документа: Design of an active one-degree-of-freedom lower-limb exoskeleton with inertia compensation
  • Номер (DOI, IBSN, Патент): 10.1177/0278364910385730
  • Изобретатель/автор: Peshkin, M.A., Goswami, A., Colgate, J.E., Aguirre-Ollinger, G.
  • Правопреемник/учебное заведение: Northwestern Univ., Evanston
  • Дата публикации документа: 2010-09-02
  • Страна опубликовавшая документ: США
  • Язык документа: Английский
  • Наименование изделия: Не заполнено
  • Источник: http://ijr.sagepub.com/content/early/2010/11/16/027836491038
  • Вложения: Да
  • Аналитик: Дмитрий Соловьев

Limited research has been done on exoskeletons to enable faster movements of the lower extremities. An exoskeleton’s mechanism can actually hinder agility by adding weight, inertia and friction to the legs; compensating inertia through control is particularly difficult due to instability issues. The added inertia will reduce the natural frequency of the legs, probably leading to lower step frequency during walking. We present a control method that produces an approximate compensation of an exoskeleton’s inertia. The aim is making the natural frequency of the exoskeleton-assisted leg larger than that of the unaided leg. The method uses admittance control to compensate for the weight and friction of the exoskeleton. Inertia compensation is emulated by adding a feedback loop consisting of low-pass filtered acceleration multiplied by a negative gain. This gain simulates negative inertia in the low-frequency range. We tested the controller on a statically supported, single-degree-of-freedom exoskeleton that assists swing movements of the leg. Subjects performed movement sequences, first unassisted and then using the exoskeleton, in the context of a computer-based task resembling a race. With zero inertia compensation, the steady-state frequency of the leg swing was consistently reduced. Adding inertia compensation enabled subjects to recover their normal frequency of swing.

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Devices, systems and methods for capturing biomechanical motion

Дата: Сентябрь 2nd, 2010 Автор:
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  • Тип контента: Патент
  • Номер документа: 5020
  • Название документа: Devices, systems and methods for capturing biomechanical motion
  • Номер (DOI, IBSN, Патент): WO2010099361
  • Изобретатель/автор: Lajeunesse, D.
  • Правопреемник/учебное заведение: Sherlock-Nmd LLC, Carson City, NV, USA
  • Дата публикации документа: 2010-09-02
  • Страна опубликовавшая документ: США
  • Язык документа: Английский
  • Наименование изделия: Не заполнено
  • Источник: http://www.wipo.int/patentscope/search/en/WO2010099361
  • Вложения: Да
  • Аналитик: Дмитрий Соловьев

(EN)Systems, devices and methods for capturing motion from a body as disclosed. The systems, devices and methods allow for accurate placement of sensors relative to a body in order capture and analyze motion inlormation. Systems and methods described herein include associated computer systems configured to capture and analyze such data.
(FR)La présente invention concerne des systèmes, des dispositifs et des procédés de capture d’un mouvement d’un corps. Les systèmes, dispositifs et procédés permettent le positionnement précis de capteurs par rapport à un corps en vue de capturer et d’analyser des informations de mouvement. Les systèmes et les procédés décrits dans la présente invention comprennent des systèmes informatiques associés configurés pour capturer et analyser ces données.

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Design of an Active 1-DOF Lower-Limb Exoskeleton with Inertia Compensation

Дата: Сентябрь 2nd, 2010 Автор:
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  • Тип контента: Научная статья
  • Номер документа: 6638
  • Название документа: Design of an Active 1-DOF Lower-Limb Exoskeleton with Inertia Compensation
  • Номер (DOI, IBSN, Патент): Не заполнено
  • Изобретатель/автор: Gabriel Aguirre-Ollinger, J. Edward Colgate, Michael A. Peshkin, Ambarish Goswami
  • Правопреемник/учебное заведение: Не заполнено
  • Дата публикации документа: 2010-09-02
  • Страна опубликовавшая документ: США
  • Язык документа: Английский
  • Наименование изделия: Не заполнено
  • Источник: Не заполнено
  • Вложения: Да
  • Аналитик: Глаголева Елена

Limited research has been done on exoskeletons to enable faster movements of the lower extremities. An exoskeleton’s mechanism can actually hinder agility by adding weight, inertia and friction to the legs; compensating inertia through control is particularly difficult due to instability issues. The added inertia will reduce the natural frequency of the legs, probably leading to lower step frequency during walking. We present a control method that produces an approximate compensation of an exoskeleton’s inertia. The aim is making the natural frequency of the exoskeleton-assisted leg larger than that of the unaided leg. The method uses admittance control to compen-sate the weight and friction of the exoskeleton. Inertia compensation is emulated by adding a feedback loop consisting of low-pass filtered acceleration multiplied by a negative gain. This gain simulates nega-tive inertia in the low-frequency range. We tested the controller on a statically supported, single-DOF exoskeleton that assists swing movements of the leg. Subjects performed movement sequences, first unas-sisted and then using the exoskeleton, in the context of a computer-based task resembling a race. With zero inertia compensation, the steady-state frequency of leg swing was consistently reduced. Adding inertia compensation enabled subjects to recover their normal frequency of swing.

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Категория: Научные статьи | Нет комментариев »