Exoskeleton Control System for Terrain Adaptation
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Solution Overview
Problem
Conventional powered walking aids for mobility-impaired individuals face stability issues, especially on uneven terrain and external disturbances, requiring users to rely on crutches for support.
Innovation Solution
A control system for an exoskeleton that adjusts actuator movements based on terrain slope data from contact sensors, allowing the exoskeleton to pivot the foot member to a maximum allowable slope angle and balance the user by shifting the center of pressure, ensuring stability and balance during movement.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Adaptability or versatility
If powered bracing systems with actuators are used to assist locomotion, then mobility assistance is improved, but stability deteriorates on uneven terrain
Solution Approach 1:
The patent implements dynamic adjustment of actuator movements based on real-time terrain detection. The control system modifies the pre-programmed movement sequences by adjusting actuator positions and timing according to detected terrain slope, allowing the exoskeleton to adapt its behavior dynamically to maintain stability while providing mobility assistance on varied terrain surfaces.
Solution Approach 2:
The patent employs feedback mechanisms where sensors detect terrain conditions and feed this information back to the control system. The control system then adjusts the actuator movements based on this feedback, creating a closed-loop control system that continuously optimizes stability while maintaining mobility assistance functionality.
2Ease of operation
If pre-programmed movement sequences are used for exoskeleton control, then ease of operation is improved, but adaptability to terrain changes deteriorates
Solution Approach 1:
The control system transitions from static pre-programmed sequences to dynamic adaptive sequences. While maintaining the structured approach of pre-programmed movements for ease of operation, the system dynamically modifies these sequences based on real-time terrain detection, adjusting actuator positions and timing to adapt to changing terrain conditions without requiring complex manual reprogramming.
Solution Approach 2:
The exoskeleton system performs self-adjustment by automatically detecting terrain changes and modifying its own movement sequences without external intervention. The control system autonomously processes sensor data and adjusts actuator commands, enabling the system to adapt to terrain changes independently while maintaining ease of operation.
Data Source
AI summary
A control system for controlling an exoskeleton worn by a user and having one or more actuators associated with various body members of the exoskeleton each corresponding to a body part of the user. The control system comprises a user interface for receiving input data indicative of a desired movement sequence, a memory component for storing pre-programmed movement data indicative of one or more sequential instructions required to effect the movement sequence, each instruction being associated with relative actuator movements for performing the instruction, and an actuator controller for moving the one or more actuators according to the relative actuator movements for each instruction. The control system also comprises a terrain sub-system for adjusting the actuator movements upon detection of a change in terrain slope and a balance control sub-system for periodically adjusting the balance of the exoskeleton during relative movement of the one or more actuators.