Title:
INTRINSICALLY STABLE NEUROMORPHIC MOTION CONTROLLER
Document Type and Number:
WIPO Patent Application WO2005105390
Kind Code:
A3
Abstract:
An intrinsically stable neuromorphic motion controller (100) comprising two an agonistic actuators (110, 111) coupled with paired torque (112, 113) and position (103, 105) sensors. Each mechanical linkage having at least one degree of freedom is actuated by two motors via two flexible tendons (114, 115) with built-in-stretch (torque) sensors.
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Inventors:
GORELIK VLADIMIR A (US)
GORELIK PAVEL V (US)
GORELIK PAVEL V (US)
Application Number:
PCT/US2005/014157
Publication Date:
June 15, 2006
Filing Date:
April 26, 2005
Export Citation:
Assignee:
GORELIK VLADIMIR A (US)
GORELIK PAVEL V (US)
GORELIK PAVEL V (US)
International Classes:
B25J9/16; B25J17/02; B62D57/032; H04N13/239
Other References:
YAMAGUCHI J ET AL: "Development of a biped walking robot having antagonistic driven joints using nonlinear spring mechanism", ROBOTICS AND AUTOMATION, 1997. PROCEEDINGS., 1997 IEEE INTERNATIONAL CONFERENCE ON ALBUQUERQUE, NM, USA 20-25 APRIL 1997, NEW YORK, NY, USA,IEEE, US, vol. 1, 20 April 1997 (1997-04-20), pages 185 - 192, XP010235696, ISBN: 0-7803-3612-7
PARADISO R ET AL INSTITUTE OF ELECTRICAL AND ELECTRONICS ENGINEERS: "A biologically inspired joint model to enhance understanding of spasticity", PROCEEDINGS OF THE IEEE 29TH. ANNUAL NORTHEAST BIOENGINEERING CONFERENCE. NEWARK, NJ, MARCH 22 - 23, 2003, PROCEEDINGS OF THE IEEE ANNUAL NORTHEAST BIOENGINEERING CONFERENCE, NEW YORK, NY : IEEE, US, vol. CONF. 29, 22 March 2003 (2003-03-22), pages 283 - 284, XP010647926, ISBN: 0-7803-7767-2
SRINIVASAN S ET AL: "A hierarchical neural network controller for legged robots", 1995 IEEE/IAS INTERNATIONAL CONFERENCE ON INDUSTRIAL AUTOMATION AND CONTROL (I A & C'95) (CAT. NO.95TH8005) IEEE NEW YORK, NY, USA, 1995, pages 291 - 295, XP002376479, ISBN: 0-7803-2081-6
CHOU C-P ET AL: "STUDY OF HUMAN FOREARM POSTURE MAINTENANCE WITH A PHYSIOLOGICALLY BASED ROBOTIC ARM AND SPINAL LEVEL NEURAL CONTROLLER", BIOLOGICAL CYBERNETICS, SPRINGER VERLAG, HEIDELBERG, DE, vol. 76, no. 4, April 1997 (1997-04-01), pages 285 - 298, XP000655982, ISSN: 0340-1200
MARBOT P-H ET AL: "The mechanical spindle: a replica of the Mammalian muscle spindle", ENGINEERING IN MEDICINE AND BIOLOGY SOCIETY, 1993. PROCEEDINGS OF THE 15TH ANNUAL INTERNATIONAL CONFERENCE OF THE IEEE OCT 28-31, 1993, PISCATAWAY, NJ, USA,IEEE, 28 October 1993 (1993-10-28), pages 576 - 577, XP010574463, ISBN: 0-7803-1377-1
RAMOS C F ET AL: "BEHAVIOUR SPACE OF A STRETCH REFLEX MODEL AND ITS IMPLICATIONS FOR THE NEURAL CONTROL OF VOLUNTARY MOVEMENT", MEDICAL AND BIOLOGICAL ENGINEERING AND COMPUTING, PETER PEREGRINUS LTD. / IFMBE, HERTS, GB, vol. 28, no. 1, January 1990 (1990-01-01), pages 15 - 23, XP000297215, ISSN: 0140-0118
PARADISO R ET AL INSTITUTE OF ELECTRICAL AND ELECTRONICS ENGINEERS: "A biologically inspired joint model to enhance understanding of spasticity", PROCEEDINGS OF THE IEEE 29TH. ANNUAL NORTHEAST BIOENGINEERING CONFERENCE. NEWARK, NJ, MARCH 22 - 23, 2003, PROCEEDINGS OF THE IEEE ANNUAL NORTHEAST BIOENGINEERING CONFERENCE, NEW YORK, NY : IEEE, US, vol. CONF. 29, 22 March 2003 (2003-03-22), pages 283 - 284, XP010647926, ISBN: 0-7803-7767-2
SRINIVASAN S ET AL: "A hierarchical neural network controller for legged robots", 1995 IEEE/IAS INTERNATIONAL CONFERENCE ON INDUSTRIAL AUTOMATION AND CONTROL (I A & C'95) (CAT. NO.95TH8005) IEEE NEW YORK, NY, USA, 1995, pages 291 - 295, XP002376479, ISBN: 0-7803-2081-6
CHOU C-P ET AL: "STUDY OF HUMAN FOREARM POSTURE MAINTENANCE WITH A PHYSIOLOGICALLY BASED ROBOTIC ARM AND SPINAL LEVEL NEURAL CONTROLLER", BIOLOGICAL CYBERNETICS, SPRINGER VERLAG, HEIDELBERG, DE, vol. 76, no. 4, April 1997 (1997-04-01), pages 285 - 298, XP000655982, ISSN: 0340-1200
MARBOT P-H ET AL: "The mechanical spindle: a replica of the Mammalian muscle spindle", ENGINEERING IN MEDICINE AND BIOLOGY SOCIETY, 1993. PROCEEDINGS OF THE 15TH ANNUAL INTERNATIONAL CONFERENCE OF THE IEEE OCT 28-31, 1993, PISCATAWAY, NJ, USA,IEEE, 28 October 1993 (1993-10-28), pages 576 - 577, XP010574463, ISBN: 0-7803-1377-1
RAMOS C F ET AL: "BEHAVIOUR SPACE OF A STRETCH REFLEX MODEL AND ITS IMPLICATIONS FOR THE NEURAL CONTROL OF VOLUNTARY MOVEMENT", MEDICAL AND BIOLOGICAL ENGINEERING AND COMPUTING, PETER PEREGRINUS LTD. / IFMBE, HERTS, GB, vol. 28, no. 1, January 1990 (1990-01-01), pages 15 - 23, XP000297215, ISSN: 0140-0118
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