Multi-User Exoskeleton Control With Virtual Coupling
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Solution Overview
Problem
Existing exoskeleton systems face challenges in precise control, especially when multiple users wearing exoskeletons work together, leading to imprecise coordination and potential errors in load distribution.
Innovation Solution
An exoskeleton system with mechanically decoupled units that utilize a control model based on a multi-body system, allowing for holistic control and adaptive adjustment based on user physiology, environmental conditions, and task requirements, ensuring coordinated and precise support of multiple users.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Measurement precision
If sensor technology is improved to detect user movement requests more precisely, then control precision of individual exoskeletons is improved, but device complexity and cost increase
Solution Approach 1:
The patent introduces a central control unit as an intermediary that coordinates multiple exoskeletons through a multi-body system model. Instead of relying solely on improved sensors at each exoskeleton, the control unit acts as a mediator that receives data from all exoskeletons and users, processes it through the multi-body model, and generates coordinated control commands. This approach achieves precise control without requiring each individual exoskeleton to have highly complex sensor systems.
2Ease of operation
If exoskeletons are controlled independently based on individual user inputs, then ease of operation is maintained, but coordination precision between multiple exoskeletons deteriorates
Solution Approach 1:
The patent merges the control of multiple independently operated exoskeletons by introducing a central control unit that processes all user inputs and exoskeleton states through a unified multi-body system model. The control unit combines information from all users and exoskeletons to generate coordinated control commands, thereby maintaining individual ease of operation while achieving system-level coordination precision that would be impossible with purely independent control.
3Measurement precision
If a centralized control system is implemented to coordinate multiple exoskeletons, then coordination precision is improved, but device complexity increases
Solution Approach 1:
The patent employs parameter changes by utilizing a multi-body system model that dynamically adjusts control parameters based on the states of all users and exoskeletons. The control unit modifies control parameters in real-time according to the simulated multi-body system behavior, enabling precise coordination without requiring a overly complex control architecture. The model-based approach allows systematic parameter adjustment rather than ad-hoc control complexity.
4Measurement precision
If exoskeleton units are mechanically coupled to work together, then coordination is improved, but adaptability to different users and configurations deteriorates
Solution Approach 1:
The patent replaces mechanical coupling between exoskeletons with a virtual coupling through the multi-body system model in the control unit. Instead of physically connecting exoskeletons, the control unit uses the mathematical model to simulate and coordinate the interactions between all exoskeletons and users. This virtual coupling mechanism achieves coordination precision while maintaining full mechanical independence and adaptability of each exoskeleton unit to different users and configurations.
Data Source
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AI summary
The present invention relates to an exoskeleton system (1) comprising: a first exoskeleton unit (11) for supporting a first body part (21); a second exoskeleton unit (12) for supporting a second body part (22); and a control device (30); wherein the control device is configured to control the first exoskeleton unit (11) and/or the second exoskeleton unit (12) based on a control model (31), wherein the control model is based on a multibody system (32) that models the first exoskeleton unit (11); the second exoskeleton unit (12); and the first and/or second body part (21, 22); and wherein the first exoskeleton unit (11) and the second exoskeleton unit (12) are mechanically decoupled from each other;wherein the control device (30) is further configured to control the first and/or second exoskeleton unit (11, 12) in such a way as to override the user (2, 3) of the respective exoskeleton unit (11, 12), and to control the first and/or second exoskeleton unit in such a way as to bring the multibody system (32) into a safe state. Furthermore, the present invention relates to a control device (30) and a corresponding method (100) for controlling a first and/or second exoskeleton unit (11, 12).