Method for Sensor Suite Discrepancy Detection and Safe Operation of a Robotic Exoskeleton

A computer implemented method for detecting discrepancies in sensor output data from a suite of sensors operable within an exoskeleton to facilitate safe operation of the exoskeleton, the method comprising:

• receiving sensor output data generated by each of a plurality of sensors within a sensor group, the plurality of sensors comprising a target sensor and a plurality of auxiliary sensors that complement one another;
• transforming the sensor output data of the plurality of auxiliary sensors into transformed sensor output data that corresponds to the sensor output data of the target sensor;
• generating a sensor output data map comprising, at least in part, the sensor output data from the target sensor and the transformed sensor output data derived from the auxiliary sensors;
• comparing, using the sensor output data map, the sensor output data of the target sensor with the transformed sensor output data of each of the auxiliary sensors;
• and
• determining whether a discrepancy exists between the sensor output data of the target sensor and the transformed sensor output data of the auxiliary sensors based on at least one comparison defined criterion, to generate comparison test data, for operating the exoskeleton in a safety mode.

A sensor suite discrepancy detection system, comprising:

• a sensor group comprising a plurality of sensors configured to generate sensor output data associated with operating an exoskeleton, the plurality of sensors comprising a target sensor and a plurality of auxiliary sensors that complement one another;
• at least one processor;
• a memory device operatively coupled to the at least one processor and storing instructions that, when executed by the at least one processor, cause the system to:
• receive sensor output data generated by each sensor of the plurality of sensors;
• transform the sensor output data of each auxiliary sensor into transformed sensor output data that corresponds to the sensor output data of the target sensor;
• generate a sensor output data map comprising, at least in part, the sensor output data from the target sensor and the transformed sensor output data from the auxiliary sensors;
• compare, using the sensor output data map, the sensor output data of the target sensor with the transformed sensor output data of each of the auxiliary sensors;
• and
• determine, based on the comparison, whether a discrepancy exists between the sensor output data of the target sensor and the transformed sensor output data of the auxiliary sensors based on at least one defined criterion.

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 from a sensor group comprising a plurality of sensors of an exoskeleton that complement one another, the plurality of sensors comprising a target sensor and a plurality of auxiliary sensors;
• transform the sensor output data of for each auxiliary sensor into transformed sensor output data that corresponds to the sensor output data of the target sensor;
• generate a sensor output data map comprising, at least in part, the sensor output data from the target sensor and the transformed sensor output data derived from the auxiliary sensors;
• compare, using the sensor output data map, the sensor output data of the target sensor with the transformed sensor output data of each of the auxiliary sensors;
• and
• determine, based on the comparison, whether a discrepancy exists between the sensor output data of the target sensor and the transformed sensor output data of the auxiliary sensors based on at least one defined criterion, to generate comparison test data, for operating the exoskeleton in a safety mode.

A method for identifying, within an exoskeleton comprising a suite of sensors, suitable substitute sensor output data for discrepant sensor output data of a target sensor for safe operation of the exoskeleton, the method comprising:

• executing a self-test process for sensor output data generated from a plurality of sensors within a sensor group, the plurality of sensors complementing one another, and comprising a target sensor associated with a joint of the exoskeleton, and a plurality of auxiliary sensors;
• executing a sensor comparison test process to determine whether at least one discrepancy exists between comparable data derived from the sensor output data from at least some of the plurality of sensors;
• executing, using a combination of results from the self-test process and the sensor comparison test process, a combination test process to determine discrepant sensor output data associated with the target sensor;
• and
• selecting, as substitute sensor data for the discrepant sensor output data of the target sensor, comparable data associated with an auxiliary sensor of the plurality of auxiliary sensors.