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1. (WO2018130784) METHOD FOR MOVING AN EXOSKELETON

Pub. No.:    WO/2018/130784    International Application No.:    PCT/FR2018/050057
Publication Date: Fri Jul 20 01:59:59 CEST 2018 International Filing Date: Thu Jan 11 00:59:59 CET 2018
IPC: B25J 9/00
B62D 57/032
A61H 3/00
Applicants: WANDERCRAFT
Inventors: MASSELIN, Matthieu
NGUYEN, Kien Cuong
Title: METHOD FOR MOVING AN EXOSKELETON
Abstract:
The present invention concerns a method for moving an exoskeleton (1) receiving a human operator, said exoskeleton (1) having a plurality of degrees of freedom, including at least one actuated degree of freedom and at least one non-actuated degree of freedom, the method being characterised in that it comprises the implementation of the following steps: (a) When a start request is received, generation and transmission of a command to at least one of said actuators so as to place the exoskeleton (1) in a swing state; (b) in a database stored in means for storing triplet data (12) of: - a set of virtual constraints on said actuated degrees of freedom, - a controller of said exoskeleton (1) capable of generating commands of said actuators so as to observe said virtual constraints, implementing at least one stable attractive trajectory, - a stability basin formed by all the points from which the execution of said controller allows convergence to said stable attractive trajectory; identification of a set of virtual constraints such that said swing state is within said stability basin associated with this set of virtual constraints; and (c) execution of the controller associated with the identified set of virtual constraints such that the exoskeleton (1) walks.