Patent ID: 9526668
Filing Date: 2016-12-27
CPC Classification: A61F,A61H,B25J

Claim Text:
1. A method of controlling an exoskeleton bracing system to ascend a stair, the exoskeleton bracing system including a trunk support, leg braces, wherein each leg brace includes limb segment braces, motorized joints adapted to provide relative angular movement between the limb segment braces of the leg braces, and between the leg braces and the trunk support, one or more ground force sensors for sensing a ground force exerted on each of the leg braces, and a controller, the method comprising: when a sensor signal from said one or more ground force sensors indicates leaning on one leg, actuating the motorized joints actuating the corresponding motorized joints to straighten the opposite leg when an acknowledgement is received; and when the sensor signal indicates contact of the opposite leg with the top of the stair and leaning on the opposite leg, moving said one leg forward until adjacent to the opposite leg.