AMBULATORY EXOSQUELET - METHOD FOR CONTROLLING AN AMBULATORY EXOSKELET

摘要

A method of controlling an ambulatory exoskeleton (1) bound to a user (100), comprising the steps of: - measuring only the vertical component (Zg, Zd) of the resting force (Ra, Rg) under each foot ( 123, 133) of the user (1); - controlling actuators (40, 41, 42, 43) so that the vertical component (ZEd, ZEg) of the resultant of the balancing forces (REg, REd) applied to the exoskeleton (1) and exerted by each foot (23, 33) of the exoskeleton (1) on the ground is a function of the vertical component (Zg, Zd) of the bearing force (Rd, Rg) measured under the foot (123, 133) corresponding of the user (100).