Multibody Exoskeleton Control for Precise Coordinated Support
Find Innovative SolutionsGenerate Solutions
Solution Overview
Problem
Existing exoskeleton systems suffer from imprecise control, particularly when multiple users wearing exoskeletons collaborate, leading to error propagation and inefficient load distribution.
Innovation Solution
An exoskeleton system with mechanically decoupled units controlled by a multibody system-based control model that accounts for both exoskeleton and body part dynamics, enabling holistic control and improved interaction between multiple exoskeletons.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Measurement precision
If conventional control methods are used for multiple exoskeletons, then individual exoskeleton control is simplified, but control precision deteriorates due to error propagation
Solution Approach 1:
The patent merges multiple independent exoskeleton control systems into a unified multibody system model. Instead of controlling each exoskeleton separately, the system models the entire group of exoskeletons and users as an integrated multibody system, allowing centralized coordination that eliminates error propagation while maintaining individual control capabilities.
Solution Approach 2:
The patent introduces a multibody system model as an intermediary layer between the control device and individual exoskeletons. This intermediary model coordinates the interactions between multiple exoskeletons and users, enabling precise control through mathematical modeling of the entire system rather than direct individual control.
2Measurement precision
If exoskeletons are mechanically coupled for coordinated control, then control precision improves, but movement freedom deteriorates
Solution Approach 1:
The patent replaces mechanical coupling between exoskeletons with a virtual multibody system model. Instead of physically connecting exoskeletons through mechanical linkages, the system uses mathematical models and control algorithms to coordinate movements, achieving precise coordinated control without restricting individual movement freedom.
Solution Approach 2:
The patent implements dynamic control through the multibody system model, which continuously adapts to the changing states of users and exoskeletons. The system dynamically adjusts control parameters and coordination strategies based on real-time conditions, maintaining movement freedom while achieving precise coordinated control.
3Measurement precision
If sensor technology is improved for detecting user movement wishes, then control precision improves, but device complexity increases
Solution Approach 1:
The patent makes the multibody system model serve multiple functions: it detects user movement intentions, coordinates exoskeleton movements, distributes loads, and adapts to changing conditions. This universal approach eliminates the need for complex specialized sensor systems, achieving high detection precision through the integrated model rather than through advanced sensor technology.
Data Source
AI summary
An exoskeleton system includes a first exoskeleton unit configured to support a first body part, a second exoskeleton unit configured to support a second body part, and a control device. The first exoskeleton unit and the second exoskeleton unit are mechanically decoupled from each other. The control device is configured to control, based on a control model, at least one of the first exoskeleton unit and the second exoskeleton unit. The control model is based on a multibody system that models the first exoskeleton unit, the second exoskeleton unit, and at least one of the first body part and the second body part.