Modular Exoskeleton Control for Adaptive Torque and Power Use
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Solution Overview
Problem
Existing exoskeleton systems lack modular configurations that can efficiently adapt to different user needs and environments, particularly in terms of power distribution and sensor integration, leading to suboptimal performance and user discomfort.
Innovation Solution
A modular exoskeleton system with adjustable fluidic actuators and integrated power packs that can operate in single-knee or dual-knee configurations, featuring operational control software that adapts to the number and location of actuation units, and includes sensors for real-time feedback and user-specific torque adjustments.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Adaptability or versatility
If a modular exoskeleton system is designed to adapt to different user needs and environments, then adaptability is improved, but device complexity increases due to multiple configurations and integrated components
Solution Approach 1:
The exoskeleton system is divided into modular actuation units that can be independently configured and attached to different knees. Each actuation unit contains its own fluidic actuator, sensors, and power components, allowing the system to be customized for single-knee or dual-knee applications without requiring complete system redesign.
Solution Approach 2:
The control system is designed with universal software that can automatically detect and adapt to various configurations (single-knee or dual-knee, different attachment locations). This multi-functional control architecture allows the same hardware platform to serve multiple user needs and environmental conditions without requiring separate dedicated systems.
2Adaptability or versatility
If power packs and sensors are integrated into the exoskeleton system, then functionality is improved, but weight of the device increases
Solution Approach 1:
Power packs and sensor arrays are distributed locally at each actuation unit rather than centralized in a single location. This allows the system to include only the necessary power and sensing components for the specific configuration being used, reducing overall weight while maintaining full functionality where needed.
Solution Approach 2:
The system dynamically adjusts power distribution and sensor activation based on the detected configuration and user needs. The control software enables selective engagement of power packs and sensors, activating only those components necessary for the current operational mode, thereby reducing the effective weight burden during operation.
3Productivity
If the exoskeleton system provides real-time feedback and user-specific torque adjustments, then performance is improved, but device complexity increases due to advanced control requirements
Solution Approach 1:
Sensor arrays embedded in each actuation unit provide real-time feedback on joint position, force applied, and user motion intent. This feedback is continuously processed by the control system to dynamically adjust torque output, ensuring optimal assistance while adapting to changing user needs and environmental conditions throughout operation.
Solution Approach 2:
The control system automatically detects the exoskeleton configuration and user-specific parameters, then self-adjusts control algorithms and torque profiles without requiring manual programming or complex external calibration. This self-configuring capability simplifies the user interface while maintaining advanced adaptive performance.
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
The system provides enhanced user comfort and performance by dynamically adjusting to user needs, optimizing power usage, and improving the fit and functionality of the exoskeleton based on sensor data and user-specific traits.
Implementation Method 1
A bellows actuator can be operated by introducing pneumatic pressure into the bellows actuator to cause the bellows actuator to expand and contract
Implementation Method 2
The pneumatic system can include a compressor that can be operated to compress air to a selected level to inflate the bellows actuator to a selected degree
Data Source
AI summary
A method of operating a modular exoskeleton system that includes determining a first new operating configuration based at least in part on a first actuator unit being operably coupled to a modular exoskeleton system and a determination that the first actuator unit has been associated with a first body portion of a user and setting the first new operating configuration for the modular exoskeleton system.