ATE467206T1 - Exoskelettregeler für ein menschliches exoskelettsystem - Google Patents

Exoskelettregeler für ein menschliches exoskelettsystem

Info

Publication number
ATE467206T1
ATE467206T1 AT06748964T AT06748964T ATE467206T1 AT E467206 T1 ATE467206 T1 AT E467206T1 AT 06748964 T AT06748964 T AT 06748964T AT 06748964 T AT06748964 T AT 06748964T AT E467206 T1 ATE467206 T1 AT E467206T1
Authority
AT
Austria
Prior art keywords
exoskeleton
human
exoskeleton system
controller
actuator
Prior art date
Application number
AT06748964T
Other languages
English (en)
Inventor
Behzad Dariush
Original Assignee
Honda Motor Co Ltd
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Honda Motor Co Ltd filed Critical Honda Motor Co Ltd
Application granted granted Critical
Publication of ATE467206T1 publication Critical patent/ATE467206T1/de

Links

Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/0006—Exoskeletons, i.e. resembling a human figure
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
    • B62D—MOTOR VEHICLES; TRAILERS
    • B62D57/00—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track
    • B62D57/02—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track with ground-engaging propulsion means, e.g. walking members
    • B62D57/032—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track with ground-engaging propulsion means, e.g. walking members with alternately or sequentially lifted supporting base and legs; with alternately or sequentially lifted feet or skid

Landscapes

  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Chemical & Material Sciences (AREA)
  • Combustion & Propulsion (AREA)
  • Transportation (AREA)
  • Robotics (AREA)
  • Manipulator (AREA)
  • Rehabilitation Tools (AREA)
  • Saccharide Compounds (AREA)
  • Pharmaceuticals Containing Other Organic And Inorganic Compounds (AREA)
  • Prostheses (AREA)
AT06748964T 2005-04-01 2006-03-31 Exoskelettregeler für ein menschliches exoskelettsystem ATE467206T1 (de)

Applications Claiming Priority (4)

Application Number Priority Date Filing Date Title
US66751805P 2005-04-01 2005-04-01
US67073205P 2005-04-12 2005-04-12
US11/395,654 US7774177B2 (en) 2001-06-29 2006-03-30 Exoskeleton controller for a human-exoskeleton system
PCT/US2006/011727 WO2006107716A2 (en) 2005-04-01 2006-03-31 An exoskeleton controller for a human-exoskeleton system

Publications (1)

Publication Number Publication Date
ATE467206T1 true ATE467206T1 (de) 2010-05-15

Family

ID=37073959

Family Applications (1)

Application Number Title Priority Date Filing Date
AT06748964T ATE467206T1 (de) 2005-04-01 2006-03-31 Exoskelettregeler für ein menschliches exoskelettsystem

Country Status (6)

Country Link
US (1) US7774177B2 (de)
EP (1) EP1864278B1 (de)
JP (1) JP4981786B2 (de)
AT (1) ATE467206T1 (de)
DE (1) DE602006014110D1 (de)
WO (1) WO2006107716A2 (de)

Families Citing this family (51)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US7835822B2 (en) * 2005-03-30 2010-11-16 Honda Motor Co., Ltd. Systems and methods for controlling a legged robot using a two-phase disturbance response strategy
JP4821516B2 (ja) * 2006-08-31 2011-11-24 旭光電機株式会社 多関節構造体
JP2008073830A (ja) * 2006-09-25 2008-04-03 Fanuc Ltd ロボット制御装置
US20080221487A1 (en) * 2007-03-07 2008-09-11 Motek Bv Method for real time interactive visualization of muscle forces and joint torques in the human body
EP2163226A1 (de) * 2007-04-23 2010-03-17 Golden Crab, S.L. Exoskelett zur sicherheit und kontrolle beim schifahren
WO2008135863A2 (en) * 2007-05-03 2008-11-13 Motek Bv Method and system for real tlme interactive dynamic alignment of prosthetics
CN101336848B (zh) * 2008-08-22 2011-05-04 中国人民解放军海军航空工程学院 人机外骨骼***及其力控制方法
US8060250B2 (en) * 2008-12-15 2011-11-15 GM Global Technology Operations LLC Joint-space impedance control for tendon-driven manipulators
KR101097040B1 (ko) 2009-09-16 2011-12-22 (주)동부로봇 보행로봇의 이상보행 교정방법
AU2011237368B2 (en) * 2010-04-09 2015-07-23 Ekso Bionics Exoskeleton load handling system and method of use
EP2622566B1 (de) * 2010-09-29 2020-11-11 Articulate Labs, Inc. Systeme von orthopädischer stütze und stimulus
FR2978844B1 (fr) * 2011-08-04 2014-03-21 Aldebaran Robotics Robot a articulations de rigidite variable et methode de calcul de ladite rigidite optimisee
ITFI20110232A1 (it) * 2011-10-21 2013-04-22 Zionamento Sant Anna Metodo per il calcolo del centro di massa per una piattaforma umanoide
JP5636352B2 (ja) * 2011-10-24 2014-12-03 本田技研工業株式会社 動作補助装置及び歩行補助装置
JP5810844B2 (ja) * 2011-11-02 2015-11-11 トヨタ自動車株式会社 アシストロボット制御装置
US8845566B2 (en) 2012-08-02 2014-09-30 The Regents Of The University Of Michigan Active exoskeletal spinal orthosis and method of orthotic treatment
CN104869969B (zh) 2012-09-17 2017-06-09 哈佛大学校长及研究员协会 用于辅助人类运动的软式外装护具
KR101517084B1 (ko) * 2012-11-12 2015-05-04 엘지전자 주식회사 공기조화기용 제어장치
MX2015011653A (es) 2013-03-14 2015-12-16 Ekso Bionics Inc Sistema ortopedico motorizado de rehabilitacion cooperativa sobre el suelo.
US9855181B2 (en) 2013-03-15 2018-01-02 Bionik Laboratories, Inc. Transmission assembly for use in an exoskeleton apparatus
US9421143B2 (en) 2013-03-15 2016-08-23 Bionik Laboratories, Inc. Strap assembly for use in an exoskeleton apparatus
US9675514B2 (en) 2013-03-15 2017-06-13 Bionik Laboratories, Inc. Transmission assembly for use in an exoskeleton apparatus
US9808390B2 (en) 2013-03-15 2017-11-07 Bionik Laboratories Inc. Foot plate assembly for use in an exoskeleton apparatus
EP3003231B1 (de) 2013-05-31 2019-09-18 President and Fellows of Harvard College Weiches exoskelett zur unterstützung von menschlicher bewegung
US20150025423A1 (en) 2013-07-19 2015-01-22 Bionik Laboratories, Inc. Control system for exoskeleton apparatus
CN103407588B (zh) * 2013-08-23 2016-12-28 电子科技大学 一种太空运动辅助装置
WO2015088863A2 (en) 2013-12-09 2015-06-18 President And Fellows Of Harvard College Assistive flexible suits, flexible suit systems, and methods for making and control thereof to assist human mobility
EP3102171A4 (de) 2014-02-05 2018-03-28 President and Fellows of Harvard College Systeme, verfahren und vorrichtung zur unterstützung des gehens für kleinkinder mit verzögerter entwicklung
US9314922B2 (en) 2014-02-07 2016-04-19 Control Interfaces LLC Remotely operated manipulator and ROV control systems and methods
US10864100B2 (en) 2014-04-10 2020-12-15 President And Fellows Of Harvard College Orthopedic device including protruding members
US9149938B1 (en) 2014-04-11 2015-10-06 Harris Corporation Robotic exoskeleton with adaptive viscous user coupling
US9757254B2 (en) 2014-08-15 2017-09-12 Honda Motor Co., Ltd. Integral admittance shaping for an exoskeleton control design framework
WO2016089466A2 (en) 2014-09-19 2016-06-09 President And Fellows Of Harvard College Soft exosuit for assistance with human motion
US10426637B2 (en) 2015-05-11 2019-10-01 The Hong Kong Polytechnic University Exoskeleton ankle robot
US10390973B2 (en) 2015-05-11 2019-08-27 The Hong Kong Polytechnic University Interactive exoskeleton robotic knee system
US9782322B2 (en) 2015-07-16 2017-10-10 Honda Motor Co., Ltd. Resistive exoskeleton control design framework
US11590046B2 (en) 2016-03-13 2023-02-28 President And Fellows Of Harvard College Flexible members for anchoring to the body
CN109789543B (zh) * 2016-07-22 2022-09-27 哈佛大学校长及研究员协会 用于可穿戴***的控制优化
JP6873871B2 (ja) * 2016-09-07 2021-05-19 社会福祉法人兵庫県社会福祉事業団 運動器作動力推定システム
US10004614B1 (en) 2016-11-02 2018-06-26 Joe Johnson Disarticulated compression socket
US11844667B2 (en) 2016-11-02 2023-12-19 Joe Johnson Disarticulated compression socket
WO2018170170A1 (en) 2017-03-14 2018-09-20 President And Fellows Of Harvard College Systems and methods for fabricating 3d soft microstructures
FR3069664B1 (fr) * 2017-07-31 2019-08-30 Safran Electronics & Defense Procede d’assistance d’au moins un mouvement d’un utilisateur et dispositif correspondant
DE102017126259B4 (de) * 2017-11-09 2019-08-01 Universität Stuttgart Exoskelett-System, Steuereinrichtung und Verfahren
CN109223444B (zh) * 2018-10-23 2021-03-26 上海电气集团股份有限公司 康复机器人及其人机协同交互力控制方法
JP7133511B2 (ja) * 2019-06-11 2022-09-08 本田技研工業株式会社 情報処理装置、情報処理方法、およびプログラム
CN110385697B (zh) * 2019-07-16 2021-07-20 北京机械设备研究所 外骨骼的控制方法及装置
US20210155353A1 (en) * 2019-11-22 2021-05-27 Eric Miller Augmented pressurized spacesuit
CN113180643B (zh) * 2021-04-25 2022-09-02 燕山大学 一种外骨骼助力检测装置及其评价方法
CN113642124B (zh) * 2021-08-12 2024-03-08 华南理工大学 一种多单元协同无源助力外骨骼的构建方法、***及介质
CN115524970A (zh) * 2022-09-28 2022-12-27 中国南方电网有限责任公司超高压输电公司昆明局 应用于特高压直流高空作业的外骨骼局部压力改善方法

Family Cites Families (82)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US4244120A (en) 1979-06-11 1981-01-13 The United States Of America As Represented By The Secretary Of The Navy Acceleration cueing simulation device
US5136227A (en) 1985-09-10 1992-08-04 Agency Of Industrial Science & Technology, Ministry Of International Trade & Industry Active gravity compensation device for force control system
US4786847A (en) 1986-11-20 1988-11-22 Unimation Inc. Digital control for multiaxis robots
JPS63150176A (ja) 1986-12-15 1988-06-22 工業技術院長 動的歩行ロボツトの歩行制御方法
US4925312A (en) * 1988-03-21 1990-05-15 Staubli International Ag Robot control system having adaptive feedforward torque control for improved accuracy
US5038089A (en) * 1988-03-23 1991-08-06 The United States Of America As Represented By The Administrator Of The National Aeronautics And Space Administration Synchronized computational architecture for generalized bilateral control of robot arms
US5044360A (en) 1989-12-26 1991-09-03 United States Manufacturing Company Orthosis with variable motion controls
US5203346A (en) * 1990-03-30 1993-04-20 Whiplash Analysis, Inc. Non-invasive method for determining kinematic movement of the cervical spine
JP3104249B2 (ja) * 1990-10-17 2000-10-30 オムロン株式会社 フィードバック制御装置
US5625577A (en) * 1990-12-25 1997-04-29 Shukyohojin, Kongo Zen Sohonzan Shorinji Computer-implemented motion analysis method using dynamics
US5432417A (en) * 1992-04-30 1995-07-11 Honda Giken Kogyo Kabushiki Kaisha Locomotion control system for legged mobile robot
JP3269852B2 (ja) * 1992-05-29 2002-04-02 本田技研工業株式会社 脚式移動ロボットの姿勢安定化制御装置
US5362288A (en) 1993-03-26 1994-11-08 Eli Razon Device for assisting running, walking or jumping
US5323549A (en) * 1993-08-16 1994-06-28 Sports Licensing, Inc. Shoe equipped with internal orthotic cradle device
US5476441A (en) * 1993-09-30 1995-12-19 Massachusetts Institute Of Technology Controlled-brake orthosis
US5570286A (en) * 1993-12-23 1996-10-29 Lord Corporation Regenerative system including an energy transformer which requires no external power source to drive same
WO1995020787A1 (en) * 1994-01-27 1995-08-03 Exos, Inc. Multimode feedback display technology
JP2761574B2 (ja) * 1994-07-06 1998-06-04 工業技術院長 力補助装置の制御方法及びその装置
US5835693A (en) * 1994-07-22 1998-11-10 Lynch; James D. Interactive system for simulation and display of multi-body systems in three dimensions
US5659480A (en) * 1995-06-27 1997-08-19 Industrial Service And Machine, Incorporated Method for coordinating motion control of a multiple axis machine
US5808433A (en) * 1995-09-29 1998-09-15 Honda Giken Kogyo Kabushiki Kaisha Method of generating gait of legged walking robot and system for controlling its locomotion
US5706589A (en) * 1996-06-13 1998-01-13 Marc; Michel Energy managing shoe sole construction
US5982389A (en) 1996-06-17 1999-11-09 Microsoft Corporation Generating optimized motion transitions for computer animated objects
RU2107328C1 (ru) 1996-08-14 1998-03-20 Нурахмед Нурисламович Латыпов Способ отслеживания и отображения положения и ориентации пользователя в пространстве и система для осуществления способа
US6364888B1 (en) * 1996-09-09 2002-04-02 Intuitive Surgical, Inc. Alignment of master and slave in a minimally invasive surgical apparatus
JP2962683B2 (ja) * 1996-12-04 1999-10-12 本田技研工業株式会社 電動パワーステアリング装置
WO1998026905A1 (fr) * 1996-12-19 1998-06-25 Honda Giken Kogyo Kabushiki Kaisha Controleur d'attitude de robot mobile sur jambes
JP3375843B2 (ja) * 1997-01-29 2003-02-10 本田技研工業株式会社 ロボットの自律走行方法および自律走行ロボットの制御装置
US5942869A (en) * 1997-02-13 1999-08-24 Honda Giken Kogyo Kabushiki Kaisha Mobile robot control device
DE29704393U1 (de) * 1997-03-11 1997-07-17 Aesculap Ag, 78532 Tuttlingen Vorrichtung zur präoperativen Bestimmung der Positionsdaten von Endoprothesenteilen
IL120889A (en) * 1997-05-22 1998-10-30 Eshed Robotec 1982 Ltd Method and facility for direct learning of vending machines
EP1040393A4 (de) * 1997-09-04 2004-03-10 Dynalog Inc Verfahren zum eichen eines robotisierten kontrollsystems
DE29719250U1 (de) 1997-10-30 1998-05-07 Hauptverband der gewerblichen Berufsgenossenschaften eV, 53757 Sankt Augustin Körperbelastungsmeß- und Analysesystem
US6161080A (en) 1997-11-17 2000-12-12 The Trustees Of Columbia University In The City Of New York Three dimensional multibody modeling of anatomical joints
US6045524A (en) * 1997-12-19 2000-04-04 Kabushiki Kaisha Tatematsu Seisakusho Joint of orthotic apparatus
EP1120203B1 (de) 1998-04-20 2011-01-19 Honda Giken Kogyo Kabushiki Kaisha Steuereinheit für einen mit beinen beweglichen roboter
ATE439806T1 (de) 1998-09-14 2009-09-15 Univ Leland Stanford Junior Zustandsbestimmung eines gelenks und schadenvorsorge
JP3497402B2 (ja) 1999-02-25 2004-02-16 日本電信電話株式会社 運動状態生成装置及び運動状態生成プログラムを記録した記録媒体
SE514921C2 (sv) * 1999-06-22 2001-05-21 Atlas Copco Tools Ab Metod för bestämning av optimala värden för skruvåtdragningsparametrar genom driftssimulering
US6204619B1 (en) * 1999-10-04 2001-03-20 Daimlerchrysler Corporation Dynamic control algorithm and program for power-assisted lift device
JP3555107B2 (ja) * 1999-11-24 2004-08-18 ソニー株式会社 脚式移動ロボット及び脚式移動ロボットの動作制御方法
JP3615702B2 (ja) * 1999-11-25 2005-02-02 ソニー株式会社 脚式移動ロボットの動作制御装置及び動作制御方法、並びに、脚式移動ロボット
US6750866B1 (en) 2000-04-21 2004-06-15 Realistic Dynamics, Inc. Method and system for dynamically filtering the motion of articulated bodies
US6633783B1 (en) 2000-06-06 2003-10-14 Honda Giken Kogyo Kabushiki Kaisha Fuzzy logic based control
US6445983B1 (en) * 2000-07-07 2002-09-03 Case Corporation Sensor-fusion navigator for automated guidance of off-road vehicles
JP4252721B2 (ja) * 2000-11-17 2009-04-08 本田技研工業株式会社 二足歩行ロボット
JP3726032B2 (ja) * 2001-04-27 2005-12-14 本田技研工業株式会社 脚式移動ロボットの目標運動生成装置
JP3760186B2 (ja) * 2001-06-07 2006-03-29 独立行政法人科学技術振興機構 二脚歩行式移動装置及びその歩行制御装置並びに歩行制御方法
DE10130485C2 (de) * 2001-06-25 2003-06-26 Robert Riener Programmierbarer Gelenksimulator
JP4611580B2 (ja) 2001-06-27 2011-01-12 本田技研工業株式会社 トルク付与システム
US7390309B2 (en) * 2002-09-23 2008-06-24 Honda Motor Co., Ltd. Human assist system using gravity compensation control system and method using multiple feasibility parameters
US7650204B2 (en) * 2001-06-29 2010-01-19 Honda Motor Co., Ltd. Active control of an ankle-foot orthosis
US7217247B2 (en) * 2002-09-23 2007-05-15 Honda Giken Kogyo Kabushiki Kaisha Gravity compensation method in a human assist system and a human assist system with gravity compensation control
US7623944B2 (en) * 2001-06-29 2009-11-24 Honda Motor Co., Ltd. System and method of estimating joint loads in a three-dimensional system
US7135003B2 (en) 2001-06-29 2006-11-14 Honda Giken Kogyo Kabushiki Kaisha Feedback estimation of joint forces and joint moments
JP3944566B2 (ja) 2001-07-30 2007-07-11 国立大学法人 東京大学 リンク機構において動力学的に関節加速度を求める方法
US20040031169A1 (en) * 2001-09-28 2004-02-19 Jensen Jeffrey L. Neuropathic foot protector
EP1306792B1 (de) * 2001-10-29 2015-05-27 Honda Giken Kogyo Kabushiki Kaisha Simulationssystem und -verfahren für Geräte zur Verstärkung eines Menschen
US6845295B2 (en) * 2002-03-07 2005-01-18 Fanuc Robotics America, Inc. Method of controlling a robot through a singularity
JP3833567B2 (ja) * 2002-05-01 2006-10-11 本田技研工業株式会社 移動ロボットの姿勢制御装置
FR2839916B1 (fr) * 2002-05-22 2004-10-15 Agence Spatiale Europeenne Exosquelette pour bras humain, notamment pour des applications spatiales
EP1550401A4 (de) * 2002-05-29 2008-03-19 Japan Science & Tech Agency Körpermechanik-berechnungsmethode, körpermechanikmodell, seine modelldaten und ein körpermodell-erzeugendes verfahren
US6856319B2 (en) * 2002-06-13 2005-02-15 Microsoft Corporation Interpolation using radial basis functions with application to inverse kinematics
US7402142B2 (en) * 2002-09-23 2008-07-22 Honda Giken Kogyo Kabushiki Kaisha Method and processor for obtaining moments and torques in a biped walking system
US6971267B2 (en) * 2002-09-23 2005-12-06 Honda Giken Kogyo Kabushiki Kaisha Method and processor for obtaining moments and torques in a biped walking system
JP2004174704A (ja) * 2002-11-14 2004-06-24 Sony Corp アクチュエータ装置及び多軸型ロボット
US6966882B2 (en) 2002-11-25 2005-11-22 Tibion Corporation Active muscle assistance device and method
US7072740B2 (en) * 2002-12-16 2006-07-04 Sony Corporation Legged mobile robot
US7333111B2 (en) 2003-04-25 2008-02-19 Honda Giken Kogyo Kabushiki Kaisha Joint component framework for modeling complex joint behavior
EP2210713B1 (de) * 2003-06-27 2011-11-30 Honda Motor Co., Ltd. Steuervorrichtung für mobilen Schreitroboter
US7010390B2 (en) * 2003-07-17 2006-03-07 Kuka Roboter Gmbh Method and system for controlling robots
WO2005028166A1 (ja) * 2003-09-22 2005-03-31 Matsushita Electric Industrial Co., Ltd. 弾性体アクチュエータの制御装置及び制御方法
US8075633B2 (en) * 2003-09-25 2011-12-13 Massachusetts Institute Of Technology Active ankle foot orthosis
JP4503311B2 (ja) * 2004-02-25 2010-07-14 本田技研工業株式会社 脚体運動補助装具の発生トルク制御方法
US8579771B2 (en) * 2004-08-11 2013-11-12 Omnitek Partners Llc Walk-assist devices and methods
JP4541867B2 (ja) * 2004-12-16 2010-09-08 本田技研工業株式会社 外力制御方法、外力制御システム及び外力制御プログラム
JP4426432B2 (ja) * 2004-12-17 2010-03-03 本田技研工業株式会社 脚体運動補助装具の補助モーメント制御方法
US20060139355A1 (en) * 2004-12-27 2006-06-29 Seyoon Tak Physically based motion retargeting filter
US20070123997A1 (en) * 2005-03-31 2007-05-31 Massachusetts Institute Of Technology Exoskeletons for running and walking
US8082062B2 (en) * 2005-06-10 2011-12-20 Honda Motor Co., Ltd. Regenerative actuation in motion control
US7331111B2 (en) * 2005-07-12 2008-02-19 Myers Kent J Chainsaw throttle and brake mechanisms
DE102005054575B3 (de) * 2005-11-16 2007-04-26 Deutsches Zentrum für Luft- und Raumfahrt e.V. Verfahren zur Regelung eines Roboterarms sowie Roboter zur Durchführung des Verfahrens

Also Published As

Publication number Publication date
US20060247904A1 (en) 2006-11-02
EP1864278A4 (de) 2008-05-07
JP4981786B2 (ja) 2012-07-25
JP2008534156A (ja) 2008-08-28
WO2006107716A2 (en) 2006-10-12
WO2006107716A3 (en) 2007-03-08
US7774177B2 (en) 2010-08-10
EP1864278B1 (de) 2010-05-05
EP1864278A2 (de) 2007-12-12
DE602006014110D1 (de) 2010-06-17

Similar Documents

Publication Publication Date Title
ATE467206T1 (de) Exoskelettregeler für ein menschliches exoskelettsystem
ATE426379T1 (de) Aktive steuerung einer fussgelenkorthese
ATE495095T1 (de) Ausfallsichere steuerflächentropfenverbindung
WO2007127723A3 (en) Control of robots from human motion descriptors
WO2008129847A1 (ja) 移乗支援装置
NZ597934A (en) Control system for a mobility aid
EP2052925A3 (de) Prädiktive Fahrzeugsteuerung
DE602004023040D1 (de) Manuelles Steuerungssystem für Roboter
WO2009156098A3 (de) Thiadiazolyloxyphenylamidine und deren verwendung als fungizide
WO2013188510A3 (en) Prosthetic, orthotic or exoskeleton device
UA102175C2 (uk) Фунгіцидна композиція
WO2009079479A3 (en) Actuator powered deformable soft-bodied autonomous platforms
EP2033612A4 (de) Kontrollvorrichtung für eine gehhilfevorrichtung
WO2008091798A3 (en) Optimized ca9 antibodies and methods of using the same
FI20050263A0 (fi) Hissiryhmä ja menetelmä hissiryhmän ohjaamiseksi
WO2009156074A8 (de) Thiadiazolyloxyphenylamidine und deren verwendung als fungizide
WO2008084480A3 (en) A quadruped legged robot driven by linear actuators
EP1852761A3 (de) Roboter mit Hindernisdetektionseinheit und Steuerungsverfahren dafür
WO2010046603A3 (fr) Procede pour faire rouler un aeronef au sol
WO2019053474A3 (en) Robotic arm
UA89000C2 (ru) Соединение 2-(пиридин-2-ил)-пиримидина и способ борьбы с фитопатогенными грибами
GB2428112B (en) Control system of an actuator for the actuation of submarine devices
ATE486404T1 (de) Selbstmessendes stellglied und verfahren zu seiner steuerung
UY33720A (es) Agentes para el control de limnoperna sp
NO341556B1 (en) System and method for reducing bending moments

Legal Events

Date Code Title Description
RER Ceased as to paragraph 5 lit. 3 law introducing patent treaties