Exoskeleton Robot Tilt Angle Control Method
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Solution Overview
Problem
Exoskeleton robots pose a security risk due to potential incorrect movements that can harm the user, and existing control methods are complex, making it difficult for patients to operate them effectively.
Innovation Solution
A method and system that utilize a tilt angle sensor to control the exoskeleton robot, allowing users to change postures by triggering a single or two buttons, with a processor deciding actions based on detected tilt angles to prevent harmful movements and simplify control.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Ease of operation
If traditional control methods with multiple buttons are used, then the exoskeleton robot can perform various movements, but the control complexity increases and security risks arise from wrong movements
Solution Approach 1:
The system uses the user's own body tilt angle as the control input, eliminating the need for complex button operations. The detector automatically senses the user's intended movement direction through tilt angle, and the processor autonomously determines the appropriate action, making the system self-controlling based on natural user posture.
Solution Approach 2:
The patent replaces mechanical button-pressing control with an automated sensing system using detectors (sensors) that measure tilt angle. This substitution of mechanical interaction with automated sensing simplifies the user interface while maintaining comprehensive movement control capabilities.
2Adaptability or versatility
If multiple control buttons are provided, then more movement options are available, but the risk of wrong movement and user injury increases
Solution Approach 1:
The system continuously monitors the user's tilt angle in real-time and uses this feedback to dynamically adjust the exoskeleton's movement. This closed-loop feedback ensures that the robot's movements always align with the user's actual posture and intent, preventing harmful movements while maintaining full adaptability.
Solution Approach 2:
The processor evaluates the tilt angle before executing any movement command, anticipating potential harmful actions by checking whether the intended movement aligns with safe operating conditions. This preliminary safety check prevents wrong movements before they occur.
3Ease of operation
If simple button control is used, then ease of operation improves, but the ability to respond to undesired conditions and prevent falls is reduced
Solution Approach 1:
The system autonomously monitors tilt angle and automatically responds to unsafe conditions without requiring user input. The detector-processor-motor system self-regulates to prevent falls and correct undesired postures, maintaining reliability while keeping the interface simple.
Solution Approach 2:
Continuous real-time monitoring of tilt angle provides constant feedback about user posture and intent, enabling the system to detect and respond to undesired conditions immediately while maintaining a simple one-or two-button interface for deliberate user commands.
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
Reduces the risk of user injury by simplifying control to a minimal number of buttons and preventing unintended movements, ensuring the exoskeleton robot operates safely and effectively.
Implementation Method 1
The detector detects a tilt angle and sends a tilt signal to the processor
Data Source
AI summary
The present disclosure provides a method for controlling an exoskeleton robot. The method comprises checking that a first signal is triggered by a first button, checking a tilt angle after the first signal is triggered, setting an action based on the tilt angle, and executing the action to move the exoskeleton robot. The first signal indicates to change the exoskeleton robot from a standing posture to another posture, and the tilt angle is a leaning-forward angle of a waist assembly of the exoskeleton robot relative to a line vertical to ground. The method utilizes the tilt angle to judge the intent of the user, and thus can simplify the controlling buttons to one or two buttons. Further, the controlling method also monitors the tilt angle to choose a suitable action.