Exoskeleton Force Sensor Actuation for Dynamic Movement
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Solution Overview
Problem
Existing exoskeleton robots struggle to accurately mirror human movement, especially under dynamic conditions like sweating, running, or changing loads, due to the limitations of bioelectric sensors and trajectory tracking methods which are computationally intensive and not robust to environmental disturbances.
Innovation Solution
A wearable robotic exoskeleton system equipped with linear and rotational force sensors near the hands and feet that detect a baseline interface force status relationship, outputting force signals to a computation system to generate actuation signals for the drive system, allowing the exoskeleton to maintain or adjust its position in real-time to match human movement, even without predefined trajectories.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Reliability
If bioelectric sensors and trajectory tracking methods are used to control exoskeleton movement, then the exoskeleton can mirror human movement, but the system becomes computationally intensive and not robust to environmental disturbances
Solution Approach 1:
The patent replaces bioelectric sensors and complex trajectory tracking methods with force sensors that measure mechanical forces at the interface between the exoskeleton and human body. This mechanical measurement approach is inherently more robust to environmental disturbances like sweating and running, while requiring less computational intensity for real-time control.
Solution Approach 2:
The force sensors automatically detect the baseline interface force status relationship between the exoskeleton and human extremities, enabling the system to self-adjust and maintain proper contact without requiring complex predefined trajectories or intensive computational processing. The system serves itself by using the measured forces to automatically generate appropriate actuation signals.
2Measurement precision
If force sensors are used to detect interface force status relationship, then the exoskeleton can accurately maintain controlling force status, but the device complexity increases
Solution Approach 1:
The patent divides the force detection system into multiple independent force sensors positioned at specific locations on the exoskeleton frame near the hands and feet. Each sensor measures forces at its local position, and the computation system integrates these segmented measurements to determine the overall interface force status relationship, achieving high measurement precision through distributed sensing.
Solution Approach 2:
The force sensors serve multiple functions: they detect the baseline interface force status relationship, identify contacting and non-contacting states, and provide data for calculating required actuation forces. This multi-functionality reduces the need for separate specialized sensors and computation systems, thereby limiting the increase in device complexity while maintaining high measurement precision.
Data Source
AI summary
A robot displacement device for use with a robotic frame shaped to approximate and be coupleable to at least a portion of the human body and configured to mimic movement of the human body. The device employs a plurality of force sensors which are attached to the robotic frame which detect a baseline controlling interface force status relationship between the sensors and the extremities of the human operator. Based on the output force signal from the sensors and the force and direction of gravity relative to the robotic frame, the computation system calculates at least a rotational force required to maintain the controlling force status relationship. That system then generates and transmits an actuation signal to a drive system attached to the robotic frame which displaces a portion of the robotic frame in order to maintain the controlling force status relationship.