Combining Sensor Output Data to Prevent Unsafe Operation of an Exoskeleton

An exoskeleton operable to prevent unsafe operation of the exoskeleton, comprising:

• a plurality of joint mechanisms;
• a plurality of force sensors each configured to generate force sensor output data associated with a respective one of the plurality of joint mechanisms in response to user movement;
• a controller, having one or more processors, configured to:
• generate a first command signal, based on the force sensor output data from a first sensor, for impending operational control of a first joint mechanism, and generate a second command signal, based on the force sensor output data from a second sensor, for impending operational control of a second joint mechanism;
• combine the first and second command signals;
• and
• determine whether the combination of the first and second command signals satisfies an error condition in relation to at least one defined criterion, wherein the existence of the error condition is indicative of an anomalous operating state of the exoskeleton.

A computer implemented method to prevent unsafe operation of an exoskeleton, the method comprising:

• facilitating operation of an exoskeleton comprising a plurality of joint mechanisms and a plurality of sensors operable to generate sensor output data;
• receiving sensor output data generated by a first sensor of the plurality of sensors, the sensor output data from the first sensor being associated with a first joint mechanism of the plurality of joint mechanisms;
• receiving sensor output data generated by a second sensor of the plurality of sensors, the sensor output data from the second sensor being associated with a second joint mechanism of the plurality of joint mechanisms;
• combining the sensor output data from the first and second sensors;
• and
• determining whether the combination of the sensor output data from the first and second sensors satisfies an error condition in relation to at least one defined criterion, wherein the existence of the error condition is indicative of an anomalous operating state of the exoskeleton.

A computer implemented method to prevent unsafe operation of an exoskeleton, the method comprising:

• facilitating operation of an exoskeleton comprising a plurality of joint mechanisms that define respective joints of the exoskeleton rotatable about respective axes of rotation, the exoskeleton comprising a plurality of sensors operable to generate sensor output data;
• generating a first command signal, based on sensor output data from a first sensor of the plurality of sensors, for impending operational control of a first joint mechanism of the plurality of joint mechanisms;
• generating a second command signal, based on sensor output data from a second sensor of the plurality of sensors, for impending operational control of a second joint mechanism of the plurality of joint mechanisms;
• combining the first and second command signals;
• and
• determining whether the combination of the first and second command signals satisfies an error condition in relation to at least one defined criterion, wherein the existence of the error condition is indicative of an anomalous kinematic movement of the exoskeleton.

An anomalous operating state detection system of an exoskeleton, comprising:

• a plurality of sensors operable with an exoskeleton and configured to generate sensor output data associated with at least two joint mechanisms of the exoskeleton;
• at least one processor;
• a memory device including instructions that, when executed by the at least one processor, cause the system to:
• combine sensor output data from the plurality of sensors;
• determine whether the combination of the sensor output data from the plurality of sensors satisfies an error condition in relation to at least one defined criterion, wherein the existence of the error condition is indicative of an anomalous operating state of the exoskeleton;
• and
• execute a remedial measure based on the existence of an error condition to prevent unsafe operation of the exoskeleton.

One or more non-transitory computer readable storage media storing instructions that, when executed by one or more processors, cause the one or more processors to:

• receive sensor output data generated by a first sensor of a plurality of sensors of an exoskeleton, the sensor output data from the first sensor being associated with a first joint mechanism of the exoskeleton;
• receive sensor output data generated by a second sensor of the plurality of sensors, the sensor output data from the second sensor being associated with a second joint mechanism of the exoskeleton;
• combine the sensor output data from the first and second sensors;
• and
• determine whether the combination of the sensor output data from the first and second sensors satisfies an error condition in relation to at least one defined criterion, wherein the existence of the error condition is indicative of an anomalous operating state of the exoskeleton.