US 12,420,090 B2
Method of controlling movement of hybrid robot and animal locomotion stimulation system thereof
Hirotaka Sato, Singapore (SG); Huu Duoc Nguyen, Singapore (SG); Feng Cao, Singapore (SG); Doan Tat Thang Vo, Singapore (SG); Hee Chuan Seah, Singapore (SG); Bing Hui Terence Goh, Singapore (SG); and Sook Fuen Wong, Singapore (SG)
Assigned to Nanyang Technological University, Singapore (SG); and KLASS Engineering & Solutions Pte Ltd, Singapore (SG)
Appl. No. 17/780,952
Filed by NANYANG TECHNOLOGICAL UNIVERSITY, Singapore (SG); and KLASS ENGINEERING & SOLUTIONS PTE LTD, Singapore (SG)
PCT Filed Nov. 27, 2020, PCT No. PCT/SG2020/050702
§ 371(c)(1), (2) Date May 27, 2022,
PCT Pub. No. WO2021/107883, PCT Pub. Date Jun. 3, 2021.
Claims priority of application No. 10201911368Y (SG), filed on Nov. 29, 2019.
Prior Publication US 2023/0001198 A1, Jan. 5, 2023
Int. Cl. A61N 1/36 (2006.01); A01K 29/00 (2006.01); A61F 2/70 (2006.01)
CPC A61N 1/36003 (2013.01) [A01K 29/00 (2013.01); A61F 2002/704 (2013.01); A61H 2201/5079 (2013.01)] 20 Claims
OG exemplary drawing
 
1. A method of controlling a movement of a hybrid robot comprising a locomotion stimulation device carried by an animal, the method comprising:
monitoring, via a positioning component of an electronic backpack of the locomotion stimulation device of the hybrid robot, a position and an orientation of the electronic backpack of the locomotion stimulation device as a measure of a position and an orientation of the hybrid robot;
providing, via a stimulator of the electronic backpack of the locomotion stimulation device, a stimulus to the animal based on an angular difference between the orientation of the electronic backpack of the locomotion stimulation device with respect to a direct path from the position of the electronic backpack to a predetermined destination for stimulating the animal to move in a desired manner so as to control the movement of the hybrid robot;
monitoring, via the positioning component of the electronic backpack of the locomotion stimulation device of the hybrid robot, any one or a combination of a displacement, a velocity or an acceleration of the electronic backpack of the locomotion stimulation device as a measure of a corresponding one or a combination of a displacement, a velocity or an acceleration of a motion of the hybrid robot in response to the stimulus provided to the animal; and
ceasing provision of the stimulus to the animal from the stimulator of the electronic backpack of the locomotion stimulation device in response to the corresponding one or the combination of the displacement, the velocity or the acceleration of the motion of the hybrid robot being below a pre-defined minimum displacement, a pre-defined minimum velocity or a pre-defined minimum acceleration respectively in a manner-se as to allow the animal to roam freely.