Data-Oriented Feedback Controller for Wearable Robotics
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Solution Overview
Problem
Existing wearable robotic devices, such as ankle foot orthoses, do not effectively incorporate human psychology, including comfort and sensitivity, into their control mechanisms, leading to discomfort and inefficiency for users.
Innovation Solution
A data-oriented feedback controller system that integrates biometric information detection and evaluation to determine psychological feedback parameters, allowing for real-time adjustment of device settings to enhance user comfort and performance.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Reliability
If traditional control systems are used for wearable robotic devices, then device functionality is achieved, but user comfort and psychological well-being deteriorate due to lack of psychological feedback consideration
Solution Approach 1:
The patent implements a dual-loop feedback control system where the primary controller receives feedback from biometric sensors (heart rate, skin conductance, muscle activity) to assess user psychological states, and the secondary controller adjusts device control parameters based on this psychological feedback. This allows the system to dynamically adapt to user comfort levels while maintaining device functionality, resolving the contradiction between reliable operation and user comfort.
2Ease of operation
If biometric sensors and psychological evaluation systems are added to wearable devices, then user comfort is improved, but device complexity increases
Solution Approach 1:
The control system is segmented into two independent but coordinated controllers: a primary controller that handles basic device control and a secondary controller that specializes in psychological feedback processing. This segmentation allows each controller to focus on specific tasks, reducing individual complexity while achieving comprehensive functionality through their interaction.
Solution Approach 2:
The patent introduces a psychological evaluation module as an intermediary between the biometric sensors and the control system. This module processes raw biometric data into meaningful psychological indicators (comfort level, stress level, engagement level), simplifying the interface between sensors and controllers and reducing overall system complexity.
3Measurement precision
If real-time biometric data processing is implemented, then psychological feedback accuracy is improved, but computational resource consumption increases
Solution Approach 1:
The system processes biometric data at different levels of detail based on current operational needs. The psychological evaluation module uses simplified algorithms for routine monitoring and activates more computationally intensive processing only when significant changes in psychological state are detected or when user comfort becomes critical, reducing average energy consumption while maintaining accuracy when needed.
Data Source
AI summary
A data-oriented feedback controller disclosed herein allows the user to wear or use a device under control comfortably, and includes: a device under control for determining a controlled variable θ(t) with respect to a human being in accordance with an input manipulated variable u(t); a primary controller for determining the manipulated variable u(t) based on an input difference v(t) between an estimated target value w(t) and the controlled variable θ(t); a psychological evaluator for detecting biometric information bio(t) about the human being corresponding to the controlled variable θ(t), evaluating the human being's psychology based on the biometric information bio(t), and determining a psychological output value y(t) representing the psychology; and a secondary controller for receiving a difference ε(t) between a target value r(t) of the human being's psychology and the psychological output value y(t) and determining the estimated target value w(t) based on the difference ε(t).