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 tendon lever arm and muscle tendon length equations and reflex control equations in 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 model-based neuromechanical controller for controlling at least one robotic limb joint of a robotic limb, the controller comprising:
a) a neuromuscular model including a muscle model, muscle tendon lever arm and muscle tendon length equations and reflex control equations, the neuromuscular model being configured to receive feedback data relating to a measured state of the robotic limb and, using the feedback data, and the muscle model, muscle tendon lever arm and muscle tendon length equations and reflex control equations of the neuromuscular model, to determine at least one torque command; and b) a torque control system in communication with the neuromuscular model, whereby the torque control system receives the at least one torque command from the neuromuscular model for controlling the robotic limb joint.