Method for movement of an exoskeleton (1) receiving a human operator (2), for executing a step during which a first leg (30) of the exoskeleton (1) passes from a first control point to a second control point, and during which a second leg (31) of the exoskeleton (1) remains on the ground, the method comprising, at each iteration of a plurality of iterations implemented during the step, the following method steps: - estimation of a speed of the first leg (30); - determination of a trajectory of the centre of mass of the exoskeleton (1) guaranteeing the equilibrium of the exoskeleton (1), and of a speed-of-movement setpoint closest to the estimated speed; - based on the setpoint, determination of a first command to be applied to the first leg (30); and - based on the trajectory, determination of a second command to be applied to the second leg (31).


    Access

    Download


    Export, share and cite



    Title :

    PROCEDE DE MISE EN MOUVEMENT STABILISEE D'UN EXOSQUELETTE BIPEDE


    Additional title:

    METHOD FOR STABILIZED MOVEMENT OF A BIPEDAL EXOSKELETON
    VERFAHREN ZUR STABILISIERUNG DER BEWEGUNG EINES ZWEIBEINIGEN EXOSKELETTS


    Contributors:

    Publication date :

    2025-07-16


    Type of media :

    Patent


    Type of material :

    Electronic Resource


    Language :

    French


    Classification :

    IPC:    B25J Manipulatoren , MANIPULATORS / B62D MOTOR VEHICLES , Motorfahrzeuge



    PROCEDE DE MISE EN MOUVEMENT STABILISEE D'UN EXOSQUELETTE BIPEDE

    BRUNET MAXIME / PETRIAUX MARINE | European Patent Office | 2024

    Free access

    PROCEDE DE MISE EN MOUVEMENT D'UN EXOSQUELETTE

    MASSELIN MATTHIEU / NGUYEN KIEN CUONG | European Patent Office | 2018

    Free access

    PROCÉDÉ DE MISE EN MOUVEMENT D'UN EXOSQUELETTE

    MASSELIN MATTHIEU / NGUYEN KIEN CUONG | European Patent Office | 2023

    Free access

    PROCEDE DE MISE EN MOUVEMENT D'UN EXOSQUELETTE

    MASSELIN MATTHIEU / NGUYEN KIEN CUONG | European Patent Office | 2018

    Free access

    Procédés de génération d’une trajectoire d’un exosquelette et de mise en mouvement de l’exosquelette

    BROSSETTE STANISLAS / BOERIS GUILHEM | European Patent Office | 2023

    Free access