Patent ID: 9642725
Date: 2017-05-09
CPC Classifications: A61F,G05B,G06N,G09B

Claim:
1. A system for a joint testing comprising: a simulator stage comprising first and second mounts configured to support first and second elements of a prosthetic joint device, respectively, a drive system configured to apply testing forces and displacements to the first and second elements of the prosthetic joint device; a force sensor configured to measure forces applied to the first and second elements of the prosthetic joint device; a displacement sensor configured to measure displacements applied to the first and second elements of the prosthetic joint device; a digital control system configured to control the drive system in response to inputs from a test waveform, the force sensor and the displacement sensor, so that the applied testing forces and displacements on the first and second elements of the prosthetic joint device are close to prescribed testing forces and displacements, respectively; and wherein the digital control system comprises an impedance control topology, a waveform compensation system and an iterative learning control system (ILC) comprising a haptic mapping application.