Patents
US 12734049 B2: Systems and methods for reinforcement learning control of a powered prosthesis
- Granted
- 2026-09-15
- Filed
- 2020-11-16 application 17792695
- Type
- Utility · 25 claims
- Elsewhere
- Google Patents ↗ · USPTO patent document ↗ · USPTO Patent Center record ↗
Abstract
Systems and methods for tuning a powered prosthesis are described herein. A system includes a powered prosthesis including a joint, a motor mechanically coupled to the joint, a plurality of sensors, a finite state machine, and an impedance controller. The sensors are configured to measure a plurality of gait parameters, and the finite state machine is configured to determine a gait cycle state. The impedance controller is configured to output a control signal for adjusting a torque of the motor, where the torque is adjusted as a function of the measured gait parameters and a plurality of impedance control parameters, and where the impedance control parameters are dependent on the gait cycle state. The system also includes a reinforcement learning controller operably connected to the powered prosthesis. The reinforcement learning controller is configured to tune the impedance control parameters to achieve a target gait characteristic using a training data set.
Source: PTBLXML, file of 2026-09-15 (ipgb20260915.xml).
Assignees
| Assignee | Type | Place | Also on furp.org | Source |
|---|---|---|---|---|
| North Carolina State University 827 patents | US company or organization | Raleigh, NC | North Carolina State University State business registration EXACT high confidence: identical full name and state NORTH CAROLINA STATE UNIVERSITY Federal lobbying client EXACT high confidence: identical full name and state | PTBLXML, file of 2026-09-15 |
| ARIZONA BOARD OF REGENTS ON BEHALF OF ARIZONA STATE UNIVERSITY 1,571 patents | US company or organization | Scottsdale, AZ | PTBLXML, file of 2026-09-15 |
Inventors
| Inventor | Place | Patents | Person page | Source |
|---|---|---|---|---|
| He Huang | Cary, NC | PTBLXML, file of 2026-09-15 | ||
| Yue Wen | Raleigh, NC | PTBLXML, file of 2026-09-15 | ||
| Jennie Si | Phoenix, AZ | 4 | PTBLXML, file of 2026-09-15 | |
| Xiang Gao | Tempe, AZ | 192 | PTBLXML, file of 2026-09-15 | |
| Minhan Li | Raleigh, NC | PTBLXML, file of 2026-09-15 |
CPC categories
| Subclass | Category | First group | Source |
|---|---|---|---|
| A61F | Filters implantable into blood vessels; prostheses; devices providing patency to, or preventing collapsing of, tubular structures of the body, e.g. stents; orthopaedic, nursing or contraceptive devices; fomentation; treatment or protection of eyes or ears; bandages, dressings or absorbent pads; first-aid kits | A61F2/68 | PTBLXML, file of 2026-09-15 |
Cooperative Patent Classification, as currently assigned (one row per subclass).
Assignments and security interests
No recorded assignments or security interests on file for this patent.
USPTO bulk data: PatentsView granted patents, disambiguated (PVGPATDIS) for patents, assignees, inventors, places and CPC categories; the USPTO Patent Assignment Dataset (ECORSEXC) for assignments and security interests. Patents filed in the last 20 years. No claims or full text. Links to other records are by name (and state): EXACT means the identical full name and state; FUZZY means a looser name match, with the confidence shown.