Method and apparatus for controlling a force assist apparatus

Details Method and apparatus for controlling a force assist apparatus Method and apparatus for controlling a force assist apparatus

1995-07-05

1996-09-03

Chilcot, Richard

Measuring and testing

Dynamometers

Responsive to force

73862041, G01L 100

Patent

active

055513085

ABSTRACT:
A method of controlling a force assist apparatus worn on a human body comprises separating a force signal relating to a load force imposed on the force assist apparatus detected by a force sensor into a static force component and a dynamic force component, attenuating the static force by a smaller factor than the factor by which the dynamic force is attenuated, attenuating the dynamic force by a factor within a range according to actuator output margin in which saturation does not occur, summing the attenuated signals, subtracting an operating force signal detected by a force sensor from the sum, and using the total signal as an output command to drive actuators.

REFERENCES:
patent: 4575297 (1986-03-01), Richter
patent: 5143505 (1992-09-01), Burdea et al.
patent: 5184319 (1993-02-01), Kramer
patent: 5348519 (1994-09-01), Prince et al.
patent: 5354162 (1994-10-01), Burdea et al.

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