Title (en)

System for controlling a robotic device during walking, in particular for rehabilitation purposes, and corresponding robotic device

Title (de)
System zur Steuerung einer Robotervorrichtung während des Gehens, insbesondere zu Rehabilitationszwecken, sowie zugehörige
Robotervorrichtung

Title (fr)
Système pour contrôler un dispositif robotique pendant la marche, en particulier à des fins de rééducation et dispositif robotique correspondant

Publication
EP 2497610 A1 20120912 (EN)

Application
EP 11425057 A 20110309

Priority
EP 11425057 A 20110309

Abstract (en)
A control system (12), for a walking robotic device (1) having a frame structure (3) and actuator means (10) coupled to the frame structure (3) and
operable to cause angular movements of a number of joints (7, 8, 9) in order to generate corresponding movements of the robotic device (1) in
the Cartesian space (xyz) for performing a gait, envisages: an inner control loop (20) configured to feedback control a number of independent joint
variables (¸ ind ) associated to the joints of the frame structure (3), the number being equal to a number of degrees of freedom of the robotic device
(1), based on tracking of reference joint values (¸ ind_ref ) for the independent joint variables (¸ ind ) ; an outer control loop (30), cooperating with
the inner control loop (20), and configured to generate the reference joint values (¸ ind_ref ) starting from imposed trajectories of Cartesian-space
variables associated to the robotic device (1), through inverse kinematics expressed with Jacobians of the Cartesian-space variables with respect to
the independent joint variables; the number of the Cartesian-space variables is at least equal to the number of the independent joint variables, so as
to control posture and maintain equilibrium during the gait with a unitary control approach.

IPC 8 full level (invention and additional information)

B25J 9/00  (2006.01); B62D 57/032  (2006.01)

CPC (invention and additional information)

B25J 9/0006 (2013.01); A61H 1/0262 (2013.01); A61H 3/00 (2013.01); B62D 57/032 (2013.01); A61H 1/024 (2013.01); A61H 1/0244 (2013.01);
A61H 1/0266 (2013.01); A61H 2201/165 (2013.01); A61H 2201/5007 (2013.01); A61H 2201/5061 (2013.01); A61H 2201/5069 (2013.01);
A61H 2201/5079 (2013.01); A61H 2230/605 (2013.01)

Citation (applicant)
• I. M. HOROWITZ: "Synthesis of Feedback Systems", 1963, ACADEMIC PRESS
• B. SICILIANO, O. KHATIB: "Springer Handbook of Robotics", 2008
• "Springer Handbook of Robotics", 2008
• T. KATAYAMA, T. OHKI, T. INOUE, T. KATO: "Design of an Optimal Controller for a Discrete Time System Subject to Previewable
Demand", INTERNATIONAL JOURNAL OF CONTROL, vol. 41, no. 3, 1985, pages 677 - 699
• T. R. KANE, D. E. LEVINSON: "Dynamics Theory and Applications", 1985, MCGRAW-HILL
• YOUNGJIN CHOI, DOIK KIM, YONGHWAN OH, BUM-JAE YOU: "Posture/Walking Control for Humanoid Robot Based on
Kinematic Resolution of CoM Jacobian With Embedded Motion", IEEE TRANSACTIONS ON ROBOTICS, vol. 23, no. 6, December
2007 (2007-12-01), pages 1285, XP011332702, DOI: doi:10.1109/TRO.2007.904907
• KANE, LEVISON, DYNAMICS ONLINE: THEORY AND IMPLEMENTATION WITH AUTOLEV, 2000, Retrieved from the Internet
<URL:http://www.autolev.com/index2.html>
• T. KATAYAMA, T. OHKI, T. INOUE, T. KATO: "Design of an Optimal Controller for a Discrete Time System Subject to Previewable
Demand", INTERNATIONAL JOURNAL OF CONTROL, vol. 41, no. 3, 1985, pages 677 - 699
• DAVID A. WINTER: "Biomechanics and motor control of human movement", 2009, JOHN WILEY & SONS, pages: 60 - 64
• J. PATTON, GAIT MECHANICS, Retrieved from the Internet <URL:http://www.smpp.northwestern.edu/-jim/kinesiology/partB-
GaitMechanics.ppt.pdf>

Citation (search report)

• [YA] EP 2238894 A1 20101013 - SYCO DI HEDVIG HABERL & C S A [IT]
• [Y] US 7190141 B1 20070313 - ASHRAFIUON HASHEM [US], et al

Cited by
CN103586867A; CN103908392A; CN106491310A; JP2015044240A; CN106074073A; US9488971B2; WO2018209763A1; WO2016056998A1;
WO2015088863A3

Designated contracting state (EPC)

AL AT BE BG CH CY CZ DE DK EE ES FI FR GB GR HR HU IE IS IT LI LT LU LV MC MK MT NL NO PL PT RO RS SE SI SK SM TR

Designated extension state (EPC)

BA ME

DOCDB simple family

EP 2497610 A1 20120912; EP 2497610 B1 20141022