Back to results
US 2023/0330837 A1Published application
Sensor Suite Discrepancy Detection System for Safe Operation of an Exoskeleton
AssigneePalladyne Corp.
InventorFraser M. Smith
Life of this patent
Estimating the term…
Abstract
An exoskeleton comprising a plurality of support structures, and a plurality of joint mechanisms each joint mechanism rotatably coupling at least two of the plurality of support structures. A sensor discrepancy detection system can be operable to compare sensor output data from a user operated force moment sensor and at least one torque sensor of a joint mechanism. A controller can be configured to recruit at least one substitute sensor from a first sensor group of based on an identified discrepancy between the sensor output data and to execute a remedial measure associated with a safety mode of the exoskeleton for safe operation of the exoskeleton.
Claims22
An exoskeleton, comprising:
- a joint mechanism;
- at least one actuator configured to actuate the joint mechanism;
- a force moment sensor carried by the exoskeleton and associated with a support structure in contact with a human element of a user operating the exoskeleton, the force moment sensor being configured to generate sensor output data associated with the force moment sensor;
- a controller configured to receive the sensor output data associated with the force moment sensor and transmit a command signal to the at least one actuator;
- and
- the controller configured to execute a remedial measure associated with a safety mode of the exoskeleton based on an identified discrepancy between the sensor output data associated with the force moment sensor and a known load applied to the joint mechanism.
3 more elements
An exoskeleton, comprising:
- a joint mechanism;
- at least one actuator configured to actuate the joint mechanism;
- at least one torque sensor associated with the joint mechanism and configured to generate sensor output data associated with the at least one joint mechanism;
- a force moment sensor carried by the exoskeleton and associated with a support structure in contact with a human element of a user operating the exoskeleton, the force moment sensor being configured to generate sensor output data associated with the force moment sensor;
- a controller configured to receive the sensor output data associated with the force moment sensor and transmit a command signal to the at least one actuator;
- and
- the controller configured to execute a remedial measure associated with a safety mode of the exoskeleton based on an identified discrepancy between the sensor output data associated with the force moment sensor and transformed sensor output data associated with the at least one torque sensor.
4 more elements
An exoskeleton, comprising:
- a joint mechanism;
- at least one actuator configured to actuate the joint mechanism;
- at least one torque sensor associated with the joint mechanism and configured to generate sensor output data associated with the joint mechanism;
- a contact displacement system comprising a force moment sensor associated with the joint mechanism, and coupled to a support structure adjacent the joint mechanism and positioned to be in contact with a human element of a user operating the exoskeleton, and configured to sense movement of the user and transmit output signals;
- a controller configured to receive the output signals from the force moment sensor and transmit a command signal to the at least one actuator of the joint mechanism configured to effectuate position motion and applied force of the joint mechanism;
- and
- a sensor suite discrepancy detection system configured to execute a remedial measure associated with a safety mode of the exoskeleton based on an identified discrepancy between the output data associated with the force moment sensor and transformed sensor output data associated with the at least one torque sensor, the controller transforming the sensor output data with a gain ratio between the force moment sensor and the at least one torque sensor.
4 more elements
A method for safe operation of an exoskeleton, the method comprising:
- operating the exoskeleton in a normal operation mode, the exoskeleton comprising a torque sensor configured to generate sensor output data pertaining to an applied load on the exoskeleton;
- operating a contact displacement system comprising a force moment sensor associated with the joint mechanism, and coupled to a support structure adjacent the joint mechanism and positioned to be in contact with a human element of a user operating the exoskeleton, the force moment sensor being configured to sense movement of the user and transmit output signals;
- operating a sensor suite discrepancy detection system of the exoskeleton to identified discrepancy between the output data associated with the force moment sensor and transformed sensor output data associated with the torque sensor;
- and
- operating the exoskeleton in a safe operating mode as switched by the controller from the normal operating mode.
2 more elements
Dependencies are inferred from the claim text.