Sensor Suite Discrepancy Detection System for Safe Operation of an Exoskeleton

An exoskeleton comprising:

• a plurality of joint mechanisms;
• a suite of sensors configured to generate sensor output data pertaining to at least one operational function of the exoskeleton;
• a sensor suite discrepancy detection system operable to interrogate the suite of sensors within the exoskeleton, the sensor suite discrepancy detection system comprising:
• a plurality of sensor groups, each associated with a respective joint mechanism, and each comprising a plurality of sensors from the suite of sensors, wherein each of the sensors within respective sensor groups complement one another;
• and
• a controller, having one or more processors, configured to recruit at least one substitute sensor from a first sensor group of the plurality of sensor groups based on an identified discrepancy between the sensor output data of at least two sensors within the first sensor group and a target sensor within the first sensor group, to execute a remedial measure associated with a safety mode of the exoskeleton for safe operation of the exoskeleton.

A method for safe operation of an exoskeleton, the method comprising:

• operating the exoskeleton in a normal operation mode, the exoskeleton comprising a suite of sensors configured to generate sensor output data pertaining to at least one operational function of the exoskeleton;
• operating a sensor suite discrepancy detection system of the exoskeleton, the sensor suite discrepancy detection system comprising a sensor group comprising a plurality of sensors of the suite of sensors, the sensor group associated with a joint mechanism of the exoskeleton, the sensor group comprising a target sensor and a plurality of auxiliary sensors that complement each other;
• facilitating recruitment of, through continued use of the exoskeleton and through use of a controller of the sensor suite discrepancy detection system, at least one auxiliary sensor as a substitute for the target sensor based on an identified discrepancy between sensor output data of the target sensor and transformed sensor output data of at least one auxiliary sensor of the plurality of auxiliary sensors;
• and
• operating the exoskeleton in a safe operating mode as switched by the controller from the normal operating mode, wherein the one or more recruited auxiliary sensors operate as a substitute for the target sensor.