Exoskeleton-Controlled Robotic Assembly for Hazardous Environments
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Solution Overview
Problem
There is a need for a system that allows a human to control a robotic device from a safe distance, particularly in environments that are hazardous or dangerous for humans to enter directly.
Innovation Solution
The system includes an exoskeleton apparatus worn by the user, which is connected to at least one robotic assembly and a mobile platform. Sensors on the user's body collect movement signals, which are then mapped to control the robotic assembly, allowing the user to remotely operate the robotic device attached to the mobile platform.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Object-affected harmful factors
If a human performs tasks directly in hazardous environments, then task completion is achieved, but safety and risk of injury increase
Solution Approach 1:
The patent introduces a robotic assembly as an intermediary between the human operator and the hazardous environment. The robotic assembly performs the dangerous tasks while the human operator controls it remotely through motion capture sensors and a control system, eliminating direct exposure to hazards while maintaining task execution capability
Solution Approach 2:
The patent replaces direct human mechanical action with a robotic mechanical system controlled by sensor data. Motion capture sensors detect human movements and translate them into robotic assembly actions through a control system, substituting the human body's mechanical operations with an automated robotic system that can operate safely in hazardous conditions
2Object-affected harmful factors
If a robotic assembly is controlled remotely, then operator safety improves, but control precision and response accuracy may deteriorate
Solution Approach 1:
The patent implements a feedback mechanism where motion capture sensors continuously detect the operator's movements and the control system processes this information in real-time to control the robotic assembly. This closed-loop feedback system ensures that control responses remain accurate and responsive despite the remote operation setup
Solution Approach 2:
The control system is designed to handle multiple types of sensor inputs and translate diverse motion capture data into precise robotic control commands. The system's ability to process various motion signals and adapt to different operational contexts maintains control precision across diverse task scenarios
3Speed
If motion signals are mapped directly to robotic movement, then control responsiveness improves, but adaptability to different movement patterns deteriorates
Solution Approach 1:
The patent employs a dynamic motion mapping approach where the control system can adapt the relationship between sensor inputs and robotic outputs based on the operational context. The system adjusts movement patterns and mapping ratios in real-time to accommodate different task requirements while maintaining responsive control
Solution Approach 2:
The control system dynamically modifies mapping parameters such as movement scaling, transformation ratios, and motion profiles based on the current task and environmental conditions. This parameter adjustment capability allows the system to maintain responsiveness while adapting to various movement patterns and operational scenarios
Data Source
AI summary
A robotic assembly control system is disclosed. The robotic assembly control system includes an exoskeleton apparatus adapted to be worn by a user, at least one robotic assembly, the at least one robotic assembly controlled by the user by way of the exoskeleton, and at least one mobile platform, the at least one mobile platform controlled by the user and wherein the at least one robotic assembly is attached to the at least one mobile platform.