Systems and methods for bilateral wireless communication
Inventors
Mooney, Luke • DUVAL, Jean-François • Harris, Rachel
Assignees
Publication Number
US-11147733-B1
Publication Date
2021-10-19
Expiration Date
2040-10-29
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Abstract
Systems and methods for communicating between multiple lower limb exoskeletons are provided. A first exoskeleton boot can receive, responsive to transmitting a first packet, a second packet from a second exoskeleton boot through a wireless connection between the first exoskeleton boot and the second exoskeleton boot. The first exoskeleton boot can determine a latency for communication between the first exoskeleton boot and the second exoskeleton boot based on a time difference between transmission of the first packet and receipt of the second packet and update, responsive to the comparison, a model indicating data weighted based on the latency for controlling the first exoskeleton boot and the second exoskeleton boot. The first exoskeleton boot can generate, using data from the model, a command to cause an electric motor of the first exoskeleton boot to generate torque to aid a limb of a user in performing a movement.
Core Innovation
The invention discloses systems and methods for bilateral wireless communication between multiple lower limb exoskeletons, such as exoskeleton boots. This system involves a first exoskeleton boot transmitting a first packet to a second exoskeleton boot, receiving a second packet in response through a wireless connection, and calculating the communication latency based on the time difference between the transmission and receipt of these packets. The first exoskeleton boot then updates a model that weights data based on the measured latency and controls both exoskeleton boots accordingly.
The background problem addressed is that communications between exoskeleton devices can become delayed, lost, or corrupted during user movements, which is significant in dynamic activities where accurate and timely data sharing is essential for coordinated control. Delays or interruptions in the wireless link can diminish the performance and physiological benefits provided by the exoskeletons. The disclosed solution includes multi-control strategies using real-time latency measurements to determine how communication data is weighted and whether to accept or reject wireless data, reducing dependence on constantly available communication.
The system can select the communication state based on latency by comparing the measured delay to a threshold, accepting or rejecting data as appropriate. The threshold can be modified based on the type of activity or gait event detected in the data. Commands generated from the updated model are used by the electric motor in the exoskeleton boot to generate torque, aiding the user's limb movement. This architecture supports real-time adaptation to communication conditions, optimizing the exoskeletons’ assistance even if the wireless exchange is intermittent or delayed.
Claims Coverage
There are two independent claims outlining the main inventive features of the patent, which relate to methods and systems for bilateral wireless communication and adaptive control between multiple lower limb exoskeletons.
Method for bilateral wireless communication and weighted data modeling between exoskeleton boots
This feature covers a method comprising: - Receiving, by a first exoskeleton boot after transmitting a first packet, a second packet from a second exoskeleton boot through a wireless connection. - Determining, by the first exoskeleton boot, the latency for communication between the two boots based on the time difference between the transmission of the first packet and receipt of the second packet. - Updating, by the first exoskeleton boot and responsive to a comparison of latency to a threshold, a model indicating data weighted based on the latency for controlling both boots. - Generating, using data from the model, a command to cause the electric motor of the first boot to generate torque to aid a limb of the user in performing a movement.
System for bilateral wireless communication and adaptive torque command generation in exoskeleton boots
This feature covers a system comprising: - A first exoskeleton boot with a processor coupled to memory. - The boot is configured to receive, after transmitting a first packet, a second packet from a second boot using a wireless link. - The boot determines communication latency based on the time difference between sending the first packet and receiving the second packet. - The boot updates, based on a comparison of the latency to a threshold, a model with data weighted according to latency for controlling both boots. - The boot generates, using data from the model, a command directing the electric motor to generate torque to assist a limb of the user in movement.
The inventive features collectively define a method and system for real-time, latency-aware bilateral wireless communication between lower limb exoskeletons, incorporating adaptive control strategies and model updates to optimize user assistance regardless of communication quality.
Stated Advantages
Reduces the need for constant communication availability between exoskeleton devices by adapting control strategies based on real-time communication latency.
Enhances user performance during movements and activities by weighting control data according to the measured latency in wireless communication.
Reduces physiological impact on the user during movement by enabling timely and accurate torque assistance even when wireless communication is delayed or lost.
Facilitates easier donning and doffing of exoskeleton devices by enabling wireless communication, which also eliminates sang (snag) hazards associated with wired connections crossing body joints.
Documented Applications
Assisting users in performing movements such as walking, running, hiking, squatting, jumping, or other lower limb activities using exoskeleton boots.
Providing torque or force to reduce the physical effort required by the user for movement and to decrease physiological impact during dynamic activities.
Coordinating multiple exoskeleton boots worn by a single user or by multiple users—such as military units or adventure groups—for synchronized or collaborative movement assistance.
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