US 11,697,201 B2
Exoskeleton system, control device, and method
Joerg Siegert, Stuttgart (DE); and Urs Schneider, Stuttgart (DE)
Assigned to Universitaet Stuttgart, Stuttgart (DE)
Filed by Universitaet Stuttgart, Stuttgart (DE)
Filed on May 9, 2020, as Appl. No. 16/870,962.
Application 16/870,962 is a continuation of application No. PCT/EP2018/080578, filed on Nov. 8, 2018.
Claims priority of application No. 10 2017 126 259.8 (DE), filed on Nov. 9, 2017.
Prior Publication US 2020/0346342 A1, Nov. 5, 2020
Int. Cl. B25J 9/00 (2006.01); B25J 9/16 (2006.01); G05B 19/4155 (2006.01); B25J 19/02 (2006.01)
CPC B25J 9/0084 (2013.01) [B25J 9/0006 (2013.01); B25J 9/1669 (2013.01); B25J 9/1674 (2013.01); B25J 9/1694 (2013.01); B25J 19/02 (2013.01); G05B 19/4155 (2013.01); G05B 2219/40305 (2013.01)] 22 Claims
OG exemplary drawing
 
1. An exoskeleton system comprising:
a first exoskeleton unit configured to support a first body part;
a second exoskeleton unit configured to support a second body part; and
a control device,
wherein the control device is configured to control, based on a control model, the first exoskeleton unit and the second exoskeleton unit,
wherein the control model is based on a multibody system that models:
the first exoskeleton unit;
the second exoskeleton unit; and
at least one of the first body part and the second body part,
wherein the first exoskeleton unit and the second exoskeleton unit are mechanically decoupled from each other, and
wherein controlling the first and second exoskeleton units based on the control model includes controlling each of the first and second exoskeleton units based on a state of the other one of the first and second exoskeleton units.