{"id":235,"date":"2023-04-24T20:36:36","date_gmt":"2023-04-24T20:36:36","guid":{"rendered":"https:\/\/nau.edu\/research\/?page_id=235"},"modified":"2024-12-12T16:59:30","modified_gmt":"2024-12-12T16:59:30","slug":"joint-moment-control","status":"publish","type":"page","link":"https:\/\/in.nau.edu\/research\/innovations\/available-technologies\/biomedical\/joint-moment-control\/","title":{"rendered":"Proportional Joint-Moment Control for Powered Exoskeletons"},"content":{"rendered":"<div class=\"nau-block nau-block-left-nav-top-bound\">\n    \t<button id=\"left-nav-toggle-btn\" onclick=\"toggleNav();\">\n\t\tON THIS PAGE \n\t\t<i id=\"chevron-icon\" class=\"fas fa-solid fa-chevron-down\"><\/i>\n\t<\/button>\n\t<div id=\"left-nav-menu-track\">\n\t\t<div id=\"left-nav-wrapper\">\n\t\t\t<div class=\"rfi-above-anchor-tags\">\n\t\t\t\t<div class=\"ri-container\">\n\t\t\t\t\t<a href=\"https:\/\/nau.edu\/admissions\/request-information\/\" id=\"request-info\" class=\"btn bg-true-blue left-nav-menu-bottom-button display-mobile\">Request info&nbsp;&nbsp;<\/a>\t\t\t\t<\/div>\n\t\t\t<\/div>\n\t\t\t<div id=\"left-nav-menu\">\n\t\t\t\t\t\t\t\t\t\t\t\t<div class=\"menu-section backcolor\">\n\t\t\t\t\t<div class=\"header\">\n\t\t\t\t\t\tHOW CAN WE HELP?\t\t\t\t\t<\/div>\n\t\t\t\t\t<ul class=\"responsive-icons\">\n\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t<li><a href=\"tel:928-523-4620\"><img decoding=\"async\" src=\"https:\/\/in.nau.edu\/wp-content\/themes\/nau-marketing-2021\/img\/icon-phone.svg\" alt=\"Telephone:\"> 928-523-4620<\/a>\n\t\t\t\t\t\t<\/li>\n\t\t\t\t\t\t\t\t\t\t\t\t<li><a href=\"mailto:nauinnovations@nau.edu\"><img decoding=\"async\" src=\"https:\/\/in.nau.edu\/wp-content\/themes\/nau-marketing-2021\/img\/icon-email.svg\" alt=\"Email:\"><span class=\"left-nav-email\"> nauinnovations&#8203;@nau.edu <\/span><\/a><\/li>\n\t\t\t\t\t<\/ul>\n\t\t\t\t<\/div>\n\t\t\t\t\t\t\n\t\t\t<\/div>\n\t\t<\/div>\n\t<\/div>\n<\/div>\n\n<section class=\"nau-block left-nav-section\"><header class=\"entry-header\"><div class=\"breadcrumb\"><ol class=\"breadcrumbs\"><li><a href=\"https:\/\/in.nau.edu\">IN<\/a><span class=\"breadcrumb-chevron\" aria-hidden=\"true\">&gt;<\/span><\/li><li><a href=\"https:\/\/in.nau.edu\/research\">Research<\/a><span class=\"breadcrumb-chevron\" aria-hidden=\"true\">&gt;<\/span><\/li><li class=\"current\">Pages<\/li><\/ol><\/div><h1 class=\"entry-title text-left \">Proportional Joint-Moment Control for Powered Exoskeletons<\/h1><hr class=\"h1-hr  text-left \" role=\"none\"><\/header><!-- .entry-header --><\/section><!-- <section class=\"nau-block left-nav-section grid-md-12\">\n    <header class=\"entry-header\">\n        <h1 class=\"entry-title text-left \" tabindex=\"0\" id=\"h1-first\">Dummy H1<\/h1>\n        <hr class=\"h1-hr  text-left \" role=\"none\">\n    <\/header>\n<\/section> -->\n\n<section class=\"nau-block left-nav-section grid-md-12\">\n    <div class=\"page-content\">\n        \n\n<h2 class=\"wp-block-heading\">Description<\/h2>\n\n\n\n<p>The wearable robotic assistive device is a powered exoskeleton and powered prostheses that adapts assistance across locomotor tasks encountered during daily life, remaining realistic for users to implement themselves at home. The device control strategy (Proportional Joint-Moment Control) is based on the concept of providing assistance that is proportional to the instantaneous demand placed on a joint (e.g., ankle), a torque balance about the joint. A force\/pressure sensor, located between the foot and ground, is used to approximate the ground reaction force applied to a proximal segment along with the inferred or calculated center of pressure. The ankle exoskeleton was designed to minimize the metabolic burden of adding mass to the lower extremity by placing the motors and battery at the waist.<\/p>\n\n\n\n<h2 class=\"wp-block-heading\">Additional information<\/h2>\n\n\n\n<section  \n    class=\"nau-block nau-block-panels   \" \n    data-layout_mobile=\"groupLayout-Stack gutter_Default panelLayoutPhotoTextVertical  photoAspect-1-1\"\n        data-layout_tablet=\"groupLayout-Stack gutter_Default panelLayoutPhotoTextVertical  photoAspect-1-1\"\n        data-layout_desktop=\"groupLayout-Tabs gutter_Default panelLayoutPhotoTextVertical  photoAspect-1-1\"\n        data-layout_xl=\"groupLayout-Tabs gutter_Default panelLayoutPhotoTextVertical  photoAspect-1-1\">\n\n    <div class=\"background-wrapper\">\n        <div class=\"block-main-content\">\n            \n            \n                            <div class=\"tab-nav\" role=\"tablist\" aria-label=\"Tabs for  articles\">\n                                                \n                        <button data-panel=\"panel--0\"\n                            role=\"tab\"\n                            aria-controls=\"panel--0\"\n                            class=\"active bg-true-blue bg-none\"\n                            tabindex=\"0\">Patent number and inventor<\/button>\n                                                \n                        <button data-panel=\"panel--1\"\n                            role=\"tab\"\n                            aria-controls=\"panel--1\"\n                            class=\"after-active bg-true-blue bg-none\"\n                            tabindex=\"-1\">Potential applications<\/button>\n                                                \n                        <button data-panel=\"panel--2\"\n                            role=\"tab\"\n                            aria-controls=\"panel--2\"\n                            class=\" bg-true-blue bg-none\"\n                            tabindex=\"-1\">Benefits and advantages<\/button>\n                                                \n                        <button data-panel=\"panel--3\"\n                            role=\"tab\"\n                            aria-controls=\"panel--3\"\n                            class=\" bg-true-blue bg-none\"\n                            tabindex=\"-1\">Case number and licensing status<\/button>\n                                    <\/div>\n            \n            \n            \n            <div class=\"panel-wrapper\">\n                \n                                \n                        <div class=\"panel bg-true-blue  panelTypeText  noHover \"\n                            data-role=\"tabpanel\"\n                            data-panel=\"panel--0\"\n                            id=\"panel--0\">\n\n                            \n                                                                    <div class=\"content\">\n                                            <div class=\"text-wrapper\">\n                                                                                                <h3 class=\"h3-tab-index\">Patent number and inventor<\/h3>\n                                                \n                                                                                                    <div class=\"text\">\n                                                        <p>16\/403,121<\/p>\n<p>Zachary F. Lerner<\/p>\n                                                    <\/div>\n                                                \n                                                                                            <\/div>\n                                        <\/div>\n\n                                    \n                                \n                                                        <\/div>\n                    \n                        <div class=\"panel bg-true-blue  panelTypeText  noHover \"\n                            data-role=\"tabpanel\"\n                            data-panel=\"panel--1\"\n                            id=\"panel--1\">\n\n                            \n                                                                    <div class=\"content\">\n                                            <div class=\"text-wrapper\">\n                                                                                                <h3 class=\"h3-tab-index\">Potential applications<\/h3>\n                                                \n                                                                                                    <div class=\"text\">\n                                                        <p>Clinical applications for gait rehabilitation through robotics.<\/p>\n                                                    <\/div>\n                                                \n                                                                                            <\/div>\n                                        <\/div>\n\n                                    \n                                \n                                                        <\/div>\n                    \n                        <div class=\"panel bg-true-blue  panelTypeText  noHover \"\n                            data-role=\"tabpanel\"\n                            data-panel=\"panel--2\"\n                            id=\"panel--2\">\n\n                            \n                                                                    <div class=\"content\">\n                                            <div class=\"text-wrapper\">\n                                                                                                <h3 class=\"h3-tab-index\">Benefits and advantages<\/h3>\n                                                \n                                                                                                    <div class=\"text\">\n                                                        <p>The primary goal of wearable assistance is to improve walking efficiency. The technology was designed for an adaptive exoskeleton control strategy that is suitable for maximum usability across a wide range of user ages, cognitive abilities, and fine motor skills. The primary benefit of the wearable exoskeleton is to improve free-living mobility for ambulatory individuals with neuromotor impairment, such as stroke, cerebral palsy, and Parkinson\u2019s. The exoskeleton responds to intended actions. An advantage of proportional control strategies is that they do not require additional classifier training for unique and asymmetric pathological gait patterns.<\/p>\n                                                    <\/div>\n                                                \n                                                                                            <\/div>\n                                        <\/div>\n\n                                    \n                                \n                                                        <\/div>\n                    \n                        <div class=\"panel bg-true-blue  panelTypeText  noHover \"\n                            data-role=\"tabpanel\"\n                            data-panel=\"panel--3\"\n                            id=\"panel--3\">\n\n                            \n                                                                    <div class=\"content\">\n                                            <div class=\"text-wrapper\">\n                                                                                                <h3 class=\"h3-tab-index\">Case number and licensing status<\/h3>\n                                                \n                                                                                                    <div class=\"text\">\n                                                        <p>2019-014<\/p>\n<p>This invention is available for licensing.<\/p>\n                                                    <\/div>\n                                                \n                                                                                            <\/div>\n                                        <\/div>\n\n                                    \n                                \n                                                        <\/div>\n                                                <\/div>\n\n                    <\/div>\n    <\/div>\n<\/section>\n\n    <\/div>\n<\/section>\n\n<div class=\"nau-block nau-block-left-nav-bottom-bound\">\n\n<\/div>","protected":false},"excerpt":{"rendered":"","protected":false},"author":276,"featured_media":1037,"parent":65,"menu_order":0,"comment_status":"closed","ping_status":"closed","template":"","meta":{"_acf_changed":false,"_relevanssi_hide_post":"","_relevanssi_hide_content":"","_relevanssi_pin_for_all":"","_relevanssi_pin_keywords":"","_relevanssi_unpin_keywords":"","_relevanssi_related_keywords":"","_relevanssi_related_include_ids":"","_relevanssi_related_exclude_ids":"","_relevanssi_related_no_append":"","_relevanssi_related_not_related":"","_relevanssi_related_posts":"","_relevanssi_noindex_reason":"","ring_central_script_selection":"","footnotes":""},"class_list":["post-235","page","type-page","status-publish","has-post-thumbnail","hentry"],"acf":[],"_links":{"self":[{"href":"https:\/\/in.nau.edu\/research\/wp-json\/wp\/v2\/pages\/235","targetHints":{"allow":["GET"]}}],"collection":[{"href":"https:\/\/in.nau.edu\/research\/wp-json\/wp\/v2\/pages"}],"about":[{"href":"https:\/\/in.nau.edu\/research\/wp-json\/wp\/v2\/types\/page"}],"author":[{"embeddable":true,"href":"https:\/\/in.nau.edu\/research\/wp-json\/wp\/v2\/users\/276"}],"replies":[{"embeddable":true,"href":"https:\/\/in.nau.edu\/research\/wp-json\/wp\/v2\/comments?post=235"}],"version-history":[{"count":19,"href":"https:\/\/in.nau.edu\/research\/wp-json\/wp\/v2\/pages\/235\/revisions"}],"predecessor-version":[{"id":6088,"href":"https:\/\/in.nau.edu\/research\/wp-json\/wp\/v2\/pages\/235\/revisions\/6088"}],"up":[{"embeddable":true,"href":"https:\/\/in.nau.edu\/research\/wp-json\/wp\/v2\/pages\/65"}],"wp:featuredmedia":[{"embeddable":true,"href":"https:\/\/in.nau.edu\/research\/wp-json\/wp\/v2\/media\/1037"}],"wp:attachment":[{"href":"https:\/\/in.nau.edu\/research\/wp-json\/wp\/v2\/media?parent=235"}],"curies":[{"name":"wp","href":"https:\/\/api.w.org\/{rel}","templated":true}]}}