Abstract: A method for moving an exoskeleton from a seated position to a standing position (and vice versa) in which none of the degrees of freedom of the exoskeleton is non-actuated. The method includes the implementation by a data processor of steps of: (a) generating a trajectory of the exoskeleton from the seated position to the standing position (and vice versa), the trajectory being parameterised as a function of time; (b) applying to the trajectory a set of virtual constraints on the actuated degrees of freedom, the virtual constraints being parameterised by a phase variable; and (c) running a controller of the exoskeleton associated with the set of virtual constraints such that the exoskeleton moves from the seated position to the standing position (and vice versa), the controller being capable of generating commands for the actuators so as to comply with the virtual constraints during the trajectory.

Abstract: The present invention relates to 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 degree of freedom actuated and at least one non-actuated degree of freedom, the method being characterised in that it comprises the implementation of steps of: (a) when a start request is received, generating and emitting a command to at least one of said actuators so as to put the exoskeleton (1) in a tipping state; (b) in a database stored in data storage means (12) of triplets of: a set of virtual requirements on said actuated degrees of freedom, a controller for said exoskeleton (1) capable of generating commands of said actuators so as to fulfil said virtual requirements by implementing at least one attracting stable trajectory, a stability pool formed by all the points from which the execution of said controller allows a convergence to said attracting stable trajectory; identifying a set of virtual requirements such

Abstract: The present invention relates to a method for moving an exoskeleton (1) accommodating a human operator, from a seated position to a standing position (and vice versa), said seated and standing positions being such that said exoskeleton (1) has in said seated and standing positions a plurality of degrees of freedom each actuated by an actuator controlled by data processing means (11) in such a way that no degree of freedom is non-actuated, the method being characterised in that it comprises the implementation by the data processing means (11) of steps of: (a) Generating a trajectory of the exoskeleton (1) from said seated position to said standing position (and vice versa), said trajectory being parameterised as a function of time.

Abstract: The present invention relates to 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 degree of freedom actuated and at least one non-actuated degree of freedom, the method being characterised in that it comprises the implementation of steps of: (a) when a start request is received, generating and emitting a command to at least one of said actuators so as to put the exoskeleton (1) in a tipping state; (b) in a database stored in data storage means (12) of triplets of: a set of virtual requirements on said actuated degrees of freedom, a controller for said exoskeleton (1) capable of generating commands of said actuators so as to fulfil said virtual requirements by implementing at least one attracting stable trajectory, a stability pool formed by all the points from which the execution of said controller allows a convergence to said attracting stable trajectory; identifying a set of virtual requirements such