Exoskeleton Fall Classification and Joint Modulation for Injury Mitigation
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Solution Overview
Problem
Current exoskeleton devices lack effective methods to detect the precise nature of a fall and adjust their locking and releasing mechanisms to mitigate injuries, as conventional systems primarily generate alerts for device faults rather than fall-related conditions, and existing detection methods are insufficient for precise fall characterization and control.
Innovation Solution
The exoskeleton device employs sensors like accelerometers and gyroscopes to classify falls by direction and extent, allowing the electronic control system to modulate joint components for fall mitigation, including locking or releasing mechanisms to reduce injury potential and facilitate recovery.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Reliability
If conventional alert systems are used to detect device faults, then device reliability is monitored, but fall detection precision is insufficient
Solution Approach 1:
The alert system is segmented into multiple independent detection modules: a fall detection module using accelerometer data, a stance detection module using pressure sensor data, and a fault detection module for device monitoring. Each module processes specific types of information independently, allowing precise fall detection without compromising device reliability monitoring.
Solution Approach 2:
The electronic control device is designed with multi-functionality, serving both as a fall detection system and a device fault monitoring system. The same electronic control device processes data from multiple sensor types (accelerometers, pressure sensors) to perform different functions simultaneously, eliminating the need for separate dedicated systems.
2Stability of the object's composition
If exoskeleton joints are locked rigidly during operation, then stability is improved, but fall impact severity increases
Solution Approach 1:
The exoskeleton joint components transition from a static locked state to a dynamic controlled state during fall events. The electronic control device modulates the joint components dynamically based on real-time fall detection, adjusting stiffness and damping characteristics to reduce impact severity while maintaining operational stability during normal use.
Solution Approach 2:
The system detects fall events beforehand using accelerometer data and pressure sensor data, allowing the electronic control device to prepare the joint components for impact absorption before the actual fall occurs. This preliminary detection enables proactive adjustment of joint characteristics to cushion the upcoming impact.
3Reliability
If exoskeleton actuation is halted in response to detected falls, then safety is improved, but recovery capability is reduced
Solution Approach 1:
Instead of simply halting actuation, the system changes operational parameters of the joint components based on fall characteristics. The electronic control device modulates parameters such as joint stiffness, damping, and actuation force according to the detected fall type and severity, enabling both safety protection and recovery assistance through parameter adjustment rather than complete actuation shutdown.
Applied Scientific Principles
This section explains which scientific principles are used to turn an abstract innovation direction into a practical engineering solution.
Function Achieved in This Case
This approach enables staged fall progression and recovery control, reducing the likelihood and severity of injuries by classifying falls and adjusting the exoskeleton's response accordingly, allowing for smoother impacts and enhanced recovery options.
Implementation Method 1
detecting with one or more sensors a fall state including a direction and an extent of the fall
Implementation Method 2
sensors like accelerometers and gyroscopes to classify falls
Data Source
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AI summary
A method of controlling an exoskeleton device of a user performs fall mitigation operations. The control method may be performed by executing program code stored on a non-transitory computer readable medium. The exoskeleton device may be a powered legged mobility device including a plurality of drive components that drive joint components including at least knee joint components and hip joint components. The control method includes detecting a fall state including a direction and an extent of a fall; classifying the fall state based on the direction and the extent of the fall; and controlling the drive components of the exoskeleton device to selectively modulate one or more joint components in accordance with the fall classification to perform a fall mitigation operation. The control method further may include controlling the drive components to perform a recovery operation to aid the user in returning to standing position after the fall.