Exoskeleton Sensor Discrepancy Detection for Safe Joint Operation
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Solution Overview
Problem
High-performance exoskeletons pose safety risks to operators and bystanders due to potential component failures or malfunctions, which can lead to unintended operation scenarios, emphasizing the need for enhanced safety mechanisms to constrain operational functionality.
Innovation Solution
An exoskeleton system equipped with a joint mechanism, actuators, force moment sensors, torque sensors, and a controller that detects discrepancies in sensor data to execute remedial measures, such as recruiting auxiliary sensors or activating brakes/clutches, to ensure safe operation and prevent injuries or fatalities.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Power
If high-performance actuators are used to amplify human capabilities, then the exoskeleton can perform difficult or impossible tasks, but safety risks to the operator and others increase due to potential failures or malfunctions
Solution Approach 1:
The controller continuously compares sensor output data from multiple sensors (force moment sensor, torque sensors, pressure sensors) before actual failure occurs. By performing preliminary discrepancy detection and comparison, the system identifies potential failures early and executes remedial measures proactively, preventing harmful outcomes while maintaining high actuator performance
Solution Approach 2:
The system implements a feedback mechanism where sensor data from multiple sources is continuously monitored and compared. The controller receives feedback from force moment sensors, torque sensors, and pressure sensors, and uses this feedback to detect discrepancies that indicate sensor or actuator failures, enabling real-time safety responses
2Measurement precision
If multiple sensors are deployed to monitor operational parameters, then measurement accuracy improves, but device complexity increases
Solution Approach 1:
The controller performs multiple functions using the same sensor suite: it monitors operational parameters for control, compares sensor data for failure detection, and executes remedial measures. The force moment sensor, torque sensors, and pressure sensors serve both primary measurement functions and safety monitoring functions, reducing the need for separate dedicated safety sensors
Solution Approach 2:
The patent combines multiple sensor types (force moment sensor, torque sensors, pressure sensors) into a unified sensor suite that feeds into a single controller. The controller merges the data from these sensors and performs comprehensive discrepancy analysis, consolidating what could be separate safety monitoring systems into one integrated approach
Data Source
AI summary
An exoskeleton comprising a plurality of support structures, and a plurality of joint mechanisms each joint mechanism rotatably coupling at least two of the plurality of support structures. A sensor discrepancy detection system can be operable to compare sensor output data from a user operated force moment sensor and at least one torque sensor of a joint mechanism. A controller can be configured to recruit at least one substitute sensor from a first sensor group of based on an identified discrepancy between the sensor output data and to execute a remedial measure associated with a safety mode of the exoskeleton for safe operation of the exoskeleton.