Patents
US 12755410 B2: Systems and methods for an environment-aware predictive modeling framework for human-robot symbiotic walking
- Granted
- 2026-10-06
- Filed
- 2022-06-14 application 18570521
- Type
- Utility · 8 claims
- Elsewhere
- Google Patents ↗ · USPTO patent document ↗ · USPTO Patent Center record ↗
Abstract
An environment-aware prediction and control framework, which incorporates learned environment and terrain features into a predictive model for human-robot symbiotic walking, is disclosed herein. First, a compact deep neural network is introduced for accurate and efficient prediction of pixel-level depth maps from RGB inputs. In turn, this methodology reduces the size, weight, and cost of the necessary hardware, while adding key features such as close-range sensing, filtering, and temporal consistency. In combination with human kinematics data and demonstrated walking gaits, the extracted visual features of the environment are used to learn a probabilistic model coupling perceptions to optimal actions. The resulting data-driven controllers. Bayesian Interaction Primitives, can be used to infer in real-time optimal control actions for a lower-limb prosthesis. The inferred actions naturally take the current state of the environment and the user into account during walking.
Source: PTBLXML, file of 2026-10-06 (ipgb20261006.xml).
Assignees
| Assignee | Type | Place | Also on furp.org | Source |
|---|---|---|---|---|
| Arizona Board of Regents on Behalf of Arizona State University 1,571 patents | US company or organization | Tempe, AZ | PTBLXML, file of 2026-10-06 |
Inventors
| Inventor | Place | Patents | Person page | Source |
|---|---|---|---|---|
| Xiao Liu | Tempe, AZ | PTBLXML, file of 2026-10-06 | ||
| Geoffrey Clark | Phoenix, AZ | PTBLXML, file of 2026-10-06 | ||
| Heni Ben Amor | Tempe, AZ | PTBLXML, file of 2026-10-06 |
CPC categories
| Subclass | Category | First group | Source |
|---|---|---|---|
| G06T | Image data processing or generation, in general | G06T7/55 | PTBLXML, file of 2026-10-06 |
| 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 | A61F2/6607 | PTBLXML, file of 2026-10-06 |
| A61H | Physical therapy apparatus, e.g. devices for locating or stimulating reflex points in the body; artificial respiration; massage; bathing devices for special therapeutic or hygienic purposes or specific parts of the body | A61H1/0266 | PTBLXML, file of 2026-10-06 |
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.