Multi-Body Exoskeleton Control for Coordinated Load Sharing
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Solution Overview
Problem
Existing exoskeleton systems face challenges with imprecise control, particularly when multiple users wearing exoskeletons work together, leading to errors in coordinated movements and load distribution.
Innovation Solution
An exoskeleton system with mechanically decoupled units that utilize a multi-body system control model to coordinate the movement of separate exoskeleton units, taking into account the state of each unit and the supported body parts, allowing for holistic control and improved interaction between users and their exoskeletons.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Ease of operation
If multiple exoskeleton units are controlled independently based on individual user movements, then each exoskeleton can respond to its user's needs, but coordination between multiple exoskeletons becomes imprecise and errors accumulate
Solution Approach 1:
The patent merges multiple independent exoskeleton control systems into a unified multi-body system model. The controller integrates kinematic data from all exoskeleton units and users into a single coordinated control framework, allowing synchronized movement while maintaining individual responsiveness. This resolves the contradiction by combining individual control capabilities with system-level coordination precision.
Solution Approach 2:
The patent introduces a multi-body system model as an intermediary between individual exoskeleton controllers and the overall system coordination. This model acts as a mediator that processes individual unit data and generates coordinated control commands, enabling precise multi-exoskeleton coordination while preserving individual user-exoskeleton interaction quality.
2Reliability
If exoskeleton units are mechanically coupled to work together, then coordination between units improves, but system complexity and difficulty of control increase
Solution Approach 1:
The patent replaces mechanical coupling between exoskeleton units with a virtual multi-body system model implemented through software control. Instead of physically linking exoskeletons through mechanical interfaces, the system uses a computational model to coordinate units, achieving reliable coordination while avoiding the complexity of mechanical integration.
Solution Approach 2:
The patent segments the control system into independent exoskeleton units that each maintain their own control independence, while the multi-body system model provides high-level coordination. This segmentation allows each unit to be controlled separately with full reliability, while the overall system complexity is managed through modular software architecture rather than integrated mechanical design.
3Measurement precision
If sensor technology is improved to detect user movements more precisely, then individual exoskeleton control accuracy improves, but system-wide coordination errors still accumulate
Solution Approach 1:
The patent implements a feedback mechanism where the multi-body system model continuously receives kinematic data from all exoskeleton units and users, processes this information centrally, and generates coordinated control commands. This feedback loop ensures that precise individual movement detection is translated into reliable system-wide coordination, preventing error accumulation by constantly adjusting based on overall system state.
Data Source
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AI summary
The invention relates to an exoskeleton system (1) comprising: a first exoskeleton unit (11) for supporting a first body part (21); a second exoskeleton unit (12) for supporting a second body part (22); and a control device (30); wherein the control device is designed to actuate the first exoskeleton unit (11) and/or the second exoskeleton unit (12) based on a control model (31), wherein the control model is based on a multi-body system (32) which models the first exoskeleton unit (11), the second exoskeleton unit (12) and the first and/or second body part (21, 22), and wherein the first exoskeleton unit (11) and the second exoskeleton unit (12) are mechanically decoupled from one another. The invention also relates to a control device (30) and a corresponding method (100) for actuating a first and/or second exoskeleton unit (11, 12).