Patent ID: 7676440

Claim:
A neuromorphic motion controller comprising: (a) a movable joint having at least one degree of rotational or transitional freedom and an inducer operatively interconnected with the joint; (b) a flexor channel comprising of a first actuator operatively connected via a flexor tendon to the joint; (c) a flexor stretch sensor operatively connected with the flexor tendon; (d) an extensor channel comprising of a second actuator operatively connected via extensor tendon to the joint; (e) an extensor stretch sensor operatively connected to the extensor tendon; (f) a flexor channel positional transducer coupled to the inducer, wherein the flexor channel positional transducer is adapted to produce a flexor positional response characteristic; (g) an extensor channel positional transducer coupled to the inducer, wherein the extensor channel positional transducer is adapted to produce an extensor positional response characteristic; (h) module adapted to calculate a difference of products of outputs of the first and second stretch and positional sensors of the extensor channel and the flexor channel by: E=ω f *θ f *T f −ω e *θ e *T e ; wherein E comprises a energy characteristics of the joint; wherein Wf comprises a flexor weight multiplier coefficient and We comprises an extensor weight multiplier coefficient; wherein Of comprises an output of a flexor positional sensor and 0 e comprises an output of a extensor positional sensor; and wherein Tf comprises an output of the first stretch sensor and Te comprises an output of the second stretch sensor, wherein the first and second actuators operate antagonistically to each other; wherein the flexor response characteristic and the extensor response characteristic are combined to produce a neuromorphic motion controller response characteristic that produces a winner take all operation on flexor-extensor response; and wherein the neuromorphic motion controller is at a zero attractor point at a point of intersection of the extensor positional response characteristic and the flexor positional response characteristic on the combined response characteristic.