US 12,144,772 B2
Total energy shaping control methods and devices for powered orthosis
Robert D. Gregg, Allen, TX (US); and Ge Lv, Dallas, TX (US)
Assigned to BOARD OF REGENTS, THE UNIVERSITY OF TEXAS SYSTEM, Austin, TX (US)
Appl. No. 16/615,495
Filed by BOARD OF REGENTS, THE UNIVERSITY OF TEXAS SYSTEM, Austin, TX (US)
PCT Filed May 21, 2018, PCT No. PCT/US2018/033586
§ 371(c)(1), (2) Date Nov. 21, 2019,
PCT Pub. No. WO2018/217593, PCT Pub. Date Nov. 29, 2018.
Claims priority of provisional application 62/509,339, filed on May 22, 2017.
Prior Publication US 2020/0085603 A1, Mar. 19, 2020
Int. Cl. A61H 1/02 (2006.01); A61B 5/00 (2006.01); A61B 5/11 (2006.01); A61F 5/01 (2006.01); A61H 3/00 (2006.01); B25J 9/00 (2006.01); B25J 9/12 (2006.01)
CPC A61H 1/0262 (2013.01) [A61B 5/0057 (2013.01); A61B 5/11 (2013.01); A61B 5/112 (2013.01); A61B 5/6812 (2013.01); A61B 5/6828 (2013.01); A61B 5/6829 (2013.01); A61F 5/0102 (2013.01); A61H 1/024 (2013.01); A61H 1/0244 (2013.01); A61H 1/0266 (2013.01); A61H 3/00 (2013.01); B25J 9/0006 (2013.01); B25J 9/126 (2013.01); A61F 2005/0155 (2013.01); A61H 2201/1207 (2013.01); A61H 2201/1472 (2013.01); A61H 2201/5061 (2013.01); A61H 2201/5064 (2013.01); A61H 2201/5069 (2013.01); A61H 2201/5084 (2013.01); A61H 2205/10 (2013.01); A61H 2205/12 (2013.01); A61H 2230/625 (2013.01)] 32 Claims
OG exemplary drawing
 
1. An orthosis device comprising:
a first support member;
a second support member;
a plurality of sensors configured to measure a plurality of parameters, wherein the plurality of parameters includes:
an angle between the first support member and the second support member; and
an orientation of the first support member or the second support member;
an actuator configured to apply a torque to the first or second support member; and
a controller, wherein:
the controller is configured to calculate a plurality of forces exerted on a person coupled to the orthosis device, wherein:
the plurality of forces include an inertial force and a gravitational force; and
the plurality of forces are calculated based on the angle between the first support member and the second support member and based on the orientation of the first support member or the second support member;
the controller is configured to control the torque applied by the actuator; and
the torque applied by the actuator is controlled to:
counteract the plurality of forces exerted on the person and device, wherein:
the plurality of forces exerted on the person and the device include an inertial force exerted on the person and the device; and
the plurality of forces exerted on the person and the device include a gravitational force exerted on the person and the device;
compensate for lower-limb inertia via kinetic energy shaping; and
provide body weight support via potential energy shaping.
 
21. A method for controlling an orthosis device coupled to a person, the method comprising:
measuring a plurality of parameters, wherein:
the orthosis device comprises a first support member, a second support member, an actuator and a controller; and
the plurality of parameters includes:
an angle between the first support member and the second support member; and
an orientation of the first support member or the second support member;
applying a torque to one of the plurality of support members via the actuator; and
controlling the torque applied via the actuator, wherein:
the torque applied via the actuator is controlled to counteract a plurality of forces exerted on the person and the orthosis device;
the plurality of forces exerted on the person and the device include an inertial force exerted on the person and the device; and
the plurality of forces exerted on the person and the device include a gravitational force exerted on the person and the device;
torque applied via the actuator is not controlled to direct the orthosis device in a pre-determined pattern of motion;
the torque applied via the actuator is controlled to compensate for lower-limb inertia via kinetic energy shaping; and
the torque applied via the actuator is controlled to provide body weight support via potential energy shaping.