Exosuit control using movement primitives from embeddings of unstructured movements

A non-transitory computer-readable storage medium having instructions stored thereon configured to cause one or more data processors to perform a set of actions comprising:

• receiving a first set of sensor data of one or more sensors in a powered exosuit, wherein the first set of sensor data captures a first movement of a wearer during a first time interval;
• determining a first set of features that represents the first movement of the wearer based on the first set of sensor data;
• receiving a second set of sensor data of the one or more sensors in the powered exosuit, wherein the second set of sensor data captures a second movement of the wearer during a second time interval;
• determining a second set of features that represents the second movement of the wearer based on the second set of sensor data;
• detecting a change in one or more features by comparing the first set of features with the second set of features;
• and
• adjusting an exosuit controller based on a control program to vary a degree of assistance to the wearer by the powered exosuit upon detecting that the change in the one or more features exceed a threshold value, wherein the control program is selected based on a cluster associated with an embedding generated from the first set of sensor data and the second set of sensor data, the embedding representing biomechanical kinematic relationships among leg segment accelerations and angular velocities measured by the powered exosuit, and the cluster corresponding to a movement primitive of the wearer selected from a set of primitives representing exosuit-specific motion states including gait phase, terrain type, or fatigue condition, each primitive being associated with a control law that defines actuator torque and stiffness profiles for the powered exosuit.

A system comprising:

• one or more processors;
• one or more non-transitory computer-readable media storing instructions, which, when executed by the system, cause the system to perform a set of actions comprising:
• receiving a first set of sensor data of one or more sensors in a powered exosuit, wherein the first set of sensor data captures a first movement of a wearer during a first time interval;
• determining a first set of features that represents the first movement of the wearer based on the first set of sensor data;
• receiving a second set of sensor data of the one or more sensors in the powered exosuit, wherein the second set of sensor data captures a second movement of the wearer during a second time interval;
• determining a second set of features that represents the second movement of the wearer based on the second set of sensor data;
• detecting a change in one or more features by comparing the first set of features with the second set of features;
• and
• adjusting an exosuit controller based on a control program to vary a degree of assistance to the wearer by the powered exosuit upon detecting that the change in the one or more features exceed a threshold value, wherein the control program is selected based on a cluster associated with an embedding generated from the first set of sensor data and the second set of sensor data, the embedding representing biomechanical kinematic relationships among leg segment accelerations and angular velocities measured by the powered exosuit, and the cluster corresponding to a movement primitive of the wearer selected from a set of primitives representing exosuit-specific motion states including gait phase, terrain type, or fatigue condition, each primitive being associated with a control law that defines actuator torque and stiffness profiles for the powered exosuit.