MODEL-BASED NEUROMECHANICAL CONTROLLER FOR A ROBOTIC LEG

摘要

A model-based neuromechanical controller for a robotic limb having at least one joint includes a finite state machine configured to receive feedback data relating to the state of the robotic limb and to determine the state of the robotic limb, a muscle model processor configured to receive state information from the finite state machine and, using muscle geometry and reflex architecture information and a neuromuscular model, to determine at least one desired joint torque or stiffness command to be sent to the robotic limb, and a joint command processor configured to command the biomimetic torques and stiffnesses determined by the muscle model processor at the robotic limb joint. The feedback data is preferably provided by at least one sensor mounted at each joint of the robotic limb. In a preferred embodiment, the robotic limb is a leg and the finite state machine is synchronized to the leg gait cycle.

主权项

1. A method for controlling at least one robotic limb joint of a robotic limb, the method comprising the steps of:
providing a neuromuscular model including a muscle model and reflex control equations; receiving feedback data relating to a measured state of the robotic limb; determining, using the feedback data, the muscle model and the reflex control equations of the neuromuscular model, at least one torque command to be applied to the at least one robotic limb joint; and applying the at least one torque command at the at least one robotic limb joint.