Exosuit activity transition control
AssigneeSkip Innovations, Inc.
InventorsKathryn Jane Zealand, Elliott J. Rouse, Georgios Evangelopoulos
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Abstract
Methods, systems, and apparatus, including computer programs encoded on a computer storage medium, for an exosuit activity transition control structure. In some implementations, sensor data for a powered exosuit is received. The sensor data is classified depending on whether the sensor data is indicative of a transition between different types of activities of a wearer of the powered exosuit. The classification is provided to a control system for the powered exosuit. The powered exosuit is controlled based on the classification.
Claims28
(canceled)
A computer-implemented method of controlling a powered exosuit having at least one actuator coupled to a joint of a wearer, the method comprising:
- receiving sensor data from one or more sensors of the powered exosuit;
- determining, based on the sensor data, that the wearer is transitioning between a first activity and a second activity;
- and
- in response to determining that the wearer is transitioning, performing supervisory control of the actuator by:
- selecting one of a plurality of predefined control rule sets for governing operation of the actuator, and
- enforcing, using the selected control rule set, a modified maximum allowable torque limit for the actuator that differs from a torque limit used while the wearer performs the first activity,
- wherein each control rule set defines at least one constraint on actuator operation.
A computer-program product tangibly embodied in a non-transitory machine-readable storage medium, including instructions configured to cause one or more data processors to perform a set of actions comprising:
- receiving sensor data from one or more sensors of the powered exosuit;
- determining, based on the sensor data, that the wearer is transitioning between a first activity and a second activity;
- and
- in response to determining that the wearer is transitioning, performing supervisory control of the actuator by:
- selecting one of a plurality of predefined control rule sets for governing operation of the actuator, and
- enforcing, using the selected control rule set, a modified maximum allowable torque limit for the actuator that differs from a torque limit used while the wearer performs the first activity,
- wherein each control rule set defines at least one constraint on actuator operation.
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 sensor data from one or more sensors of the powered exosuit;
- determining, based on the sensor data, that the wearer is transitioning between a first activity and a second activity;
- and
- in response to determining that the wearer is transitioning, performing supervisory control of the actuator by:
- selecting one of a plurality of predefined control rule sets for governing operation of the actuator, and
- enforcing, using the selected control rule set, a modified maximum allowable torque limit for the actuator that differs from a torque limit used while the wearer performs the first activity,
- wherein each control rule set defines at least one constraint on actuator operation.
Dependencies are inferred from the claim text.