Exoskeleton Support Control for Uncontrolled Arm Lift Risk
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Solution Overview
Problem
Exoskeletons pose a risk of uncontrolled upward movement of the support section, potentially injuring the user's face due to incorrect attachment or activation of the exoskeleton, especially when the support force is applied before the user has fully put it on.
Innovation Solution
Incorporating a sensor device to detect risk variables such as rotational angular speed, acceleration, force, and pressure between the support section and the body part, with a control device that initiates safety measures like warning signals or counteracting forces to prevent injury by detecting risk states and adjusting the support force accordingly.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Productivity
If the support force is activated before the user has fully put on the exoskeleton, then the exoskeleton can provide support functionality, but the risk of uncontrolled upward movement injuring the user's face increases
Solution Approach 1:
The control device checks whether the arm is properly attached to the support section before activating the actuator device. This preliminary verification ensures that the support force is only applied when the user is correctly positioned, preventing uncontrolled upward movement that could injure the face while still enabling support functionality when appropriate
2Force
If the support force is increased to provide better support, then the support functionality is improved, but the potential harm from uncontrolled movement increases
Solution Approach 1:
The control device continuously monitors the position and movement of the support section relative to the user's face. When the support section approaches a dangerous position or moves uncontrollably, the control device automatically reduces or deactivates the support force, providing feedback control that prevents injury while maintaining effective support during normal operation
3Ease of operation
If the exoskeleton is designed with simpler attachment mechanisms, then the ease of operation is improved, but the risk of incorrect attachment increases
Solution Approach 1:
The control device performs a preliminary check to verify that the arm is properly attached to the support section before enabling the actuator device. This verification step ensures that even with simple attachment mechanisms, the system only operates when correctly configured, maintaining reliability without compromising ease of operation
Data Source
AI summary
An exoskeleton device including an exoskeleton with a base section, a support section movably coupled to the base section for supporting a body part of the human body, and an actuator device acting on the support section for providing a support force for the body part. The exoskeleton device further includes a sensor device for detecting a risk variable which includes a movement of the support section and/or a force and/or a pressure between the support section and the body part, and a control device for controlling the actuator device. The control device is configured to detect a risk state on the basis of the detected risk variable, in which risk state there is a risk of health impairment and/or damage, and to initiate a safety measure in response to the detection of the risk state, which comprises outputting a warning signal and/or counteracting the risk state.