Patents by Inventor Hartmut Geyer
Hartmut Geyer has filed for patents to protect the following inventions. This listing includes patent applications that are pending as well as patents that have already been granted by the United States Patent and Trademark Office (USPTO).
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Patent number: 10307272Abstract: A model-based neuromechanical controller for a robotic limb having at least one joint includes a finite state machine configured to receive feedback data relating to the state of the robotic limb and to determine the state of the robotic limb, a muscle model processor configured to receive state information from the finite state machine and, using muscle geometry and reflex architecture information and a neuromuscular model, to determine at least one desired joint torque or stiffness command to be sent to the robotic limb, and a joint command processor configured to command the biomimetic torques and stiffnesses determined by the muscle model processor at the robotic limb joint. The feedback data is preferably provided by at least one sensor mounted at each joint of the robotic limb. In a preferred embodiment, the robotic limb is a leg and the finite state machine is synchronized to the leg gait cycle.Type: GrantFiled: November 3, 2016Date of Patent: June 4, 2019Assignee: Massachusetts Institute of TechnologyInventors: Hugh M. Herr, Hartmut Geyer, Michael Frederick Eilenberg
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Publication number: 20170151069Abstract: Local swing leg control was developed that takes advantage of segment interactions to achieve robust leg placement under large disturbances while generating trajectories and joint torque patterns similar to those observed in human walking and running. The results suggest the identified control as a powerful alternative to existing swing leg controls in humanoid and rehabilitation robotics. Alternatively, a detailed neuromuscular model of the human swing leg was developed to embody the control with local muscle reflexes. The resulting reflex control robustly places the swing leg into a wide range of landing points observed in human walking and running, and it generates similar patterns of joint torques and muscle activations. The results suggest an alternative to existing swing leg controls in humanoid and rehabilitation robotics which does not require central processing.Type: ApplicationFiled: February 10, 2017Publication date: June 1, 2017Applicant: CARNEGIE MELLON UNIVERSITY, a Pennsylvania Non-Profit CorporationInventors: Hartmut Geyer, Ruta P. Desai
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Patent number: 9603724Abstract: Local swing leg control was developed that takes advantage of segment interactions to achieve robust leg placement under large disturbances while generating trajectories and joint torque patterns similar to those observed in human walking and running. The results suggest the identified control as a powerful alternative to existing swing leg controls in humanoid and rehabilitation robotics. Alternatively, a detailed neuromuscular model of the human swing leg was developed to embody the control with local muscle reflexes. The resulting reflex control robustly places the swing leg into a wide range of landing points observed in human walking and running, and it generates similar patterns of joint torques and muscle activations. The results suggest an alternative to existing swing leg controls in humanoid and rehabilitation robotics which does not require central processing.Type: GrantFiled: August 27, 2014Date of Patent: March 28, 2017Assignee: Carnegie Mellon University, a Pennsylvania Non-Profit CorporationInventors: Hartmut Geyer, Ruta P. Desai
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Publication number: 20170049587Abstract: A model-based neuromechanical controller for a robotic limb having at least one joint includes a finite state machine configured to receive feedback data relating to the state of the robotic limb and to determine the state of the robotic limb, a muscle model processor configured to receive state information from the finite state machine and, using muscle geometry and reflex architecture information and a neuromuscular model, to determine at least one desired joint torque or stiffness command to be sent to the robotic limb, and a joint command processor configured to command the biomimetic torques and stiffnesses determined by the muscle model processor at the robotic limb joint. The feedback data is preferably provided by at least one sensor mounted at each joint of the robotic limb. In a preferred embodiment, the robotic limb is a leg and the finite state machine is synchronized to the leg gait cycle.Type: ApplicationFiled: November 3, 2016Publication date: February 23, 2017Inventors: Hugh M. Herr, Hartmut Geyer, Michael Frederick Eilenberg
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Patent number: 9539117Abstract: A model-based neuromechanical controller for a robotic limb having at least one joint includes a finite state machine configured to receive feedback data relating to the state of the robotic limb and to determine the state of the robotic limb, a muscle model processor configured to receive state information from the finite state machine and, using muscle geometry and reflex architecture information and a neuromuscular model, to determine at least one desired joint torque or stiffness command to be sent to the robotic limb, and a joint command processor configured to command the biomimetic torques and stiffnesses determined by the muscle model processor at the robotic limb joint. The feedback data is preferably provided by at least one sensor mounted at each joint of the robotic limb. In a preferred embodiment, the robotic limb is a leg and the finite state machine is synchronized to the leg gait cycle.Type: GrantFiled: October 21, 2014Date of Patent: January 10, 2017Assignee: Massachusetts Institute of TechnologyInventors: Hugh M. Herr, Hartmut Geyer, Michael Frederick Eilenberg
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Publication number: 20150066156Abstract: Local swing leg control was developed that takes advantage of segment interactions to achieve robust leg placement under large disturbances while generating trajectories and joint torque patterns similar to those observed in human walking and running. The results suggest the identified control as a powerful alternative to existing swing leg controls in humanoid and rehabilitation robotics. Alternatively, a detailed neuromuscular model of the human swing leg was developed to embody the control with local muscle reflexes. The resulting reflex control robustly places the swing leg into a wide range of landing points observed in human walking and running, and it generates similar patterns of joint torques and muscle activations. The results suggest an alternative to existing swing leg controls in humanoid and rehabilitation robotics which does not require central processing.Type: ApplicationFiled: August 27, 2014Publication date: March 5, 2015Applicant: CARNEGIE MELLON UNIVERSITY, a Pennsylvania Non-Profit CorporationInventors: Hartmut Geyer, Ruta P. Desai
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Publication number: 20150051710Abstract: A model-based neuromechanical controller for a robotic limb having at least one joint includes a finite state machine configured to receive feedback data relating to the state of the robotic limb and to determine the state of the robotic limb, a muscle model processor configured to receive state information from the finite state machine and, using muscle geometry and reflex architecture information and a neuromuscular model, to determine at least one desired joint torque or stiffness command to be sent to the robotic limb, and a joint command processor configured to command the biomimetic torques and stiffnesses determined by the muscle model processor at the robotic limb joint. The feedback data is preferably provided by at least one sensor mounted at each joint of the robotic limb. In a preferred embodiment, the robotic limb is a leg and the finite state machine is synchronized to the leg gait cycle.Type: ApplicationFiled: October 21, 2014Publication date: February 19, 2015Inventors: Hugh M. Herr, Hartmut Geyer, Michael Frederick Eilenbeg
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Patent number: 8864846Abstract: A model-based neuromechanical controller for a robotic limb having at least one joint includes a finite state machine configured to receive feedback data relating to the state of the robotic limb and to determine the state of the robotic limb, a muscle model processor configured to receive state information from the finite state machine and, using muscle tendon lever arm and muscle tendon length equations and reflex control equations in a neuromuscular model, to determine at least one desired joint torque or stiffness command to be sent to the robotic limb, and a joint command processor configured to command the biomimetic torques and stiffnesses determined by the muscle model processor at the robotic limb joint. The feedback data is preferably provided by at least one sensor mounted at each joint of the robotic limb. In a preferred embodiment, the robotic limb is a leg and the finite state machine is synchronized to the leg gait cycle.Type: GrantFiled: February 1, 2010Date of Patent: October 21, 2014Assignee: Massachusetts Institute of TechnologyInventors: Hugh M. Herr, Hartmut Geyer, Michael Frederick Eilenberg
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Publication number: 20100324699Abstract: A model-based neuromechanical controller for a robotic limb having at least one joint includes a finite state machine configured to receive feedback data relating to the state of the robotic limb and to determine the state of the robotic limb, a muscle model processor configured to receive state information from the finite state machine and, using muscle geometry and reflex architecture information and a neuromuscular model, to determine at least one desired joint torque or stiffness command to be sent to the robotic limb, and a joint command processor configured to command the biomimetric torques and stiffnesses determined by the muscle model processor at the robotic limb joint. The feedback data is preferably provided by at least one sensor mounted at each joint of the robotic limb. In a preferred embodiment, the robotic limb is a leg and the finite state machine is synchronized to the leg gait cycle.Type: ApplicationFiled: February 1, 2010Publication date: December 23, 2010Applicant: Massachusetts Institute of TechnologyInventors: Hugh M. Herr, Hartmut Geyer, Michael Frederick Eilenberg
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Patent number: 7295892Abstract: A control scheme for legged running machines which is based on a decoupled control of system energy and kinematic trajectory is described.Type: GrantFiled: December 31, 2003Date of Patent: November 13, 2007Assignee: Massachusetts Institute of TechnologyInventors: Hugh Herr, Andre Seyfarth, Hartmut Geyer
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Publication number: 20050085948Abstract: A control scheme for legged running machines which is based on a decoupled control of system energy and kinematic trajectory is described.Type: ApplicationFiled: December 31, 2003Publication date: April 21, 2005Inventors: Hugh Herr, Andre Seyfarth, Hartmut Geyer