Systems and methods for bilateral wireless communication
Inventors
Mooney, Luke • DUVAL, Jean-François • Harris, Rachel
Assignees
Publication Number
US-11944581-B2
Publication Date
2024-04-02
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 provides systems and methods for bilateral wireless communication between multiple lower limb exoskeletons, such as exoskeleton boots worn on each leg of a user. The core functionality involves communicating sensor data wirelessly between these exoskeleton devices to coordinate control and optimize the assistance provided to the user's limbs during various activities such as walking, running, or hiking. Through this wireless exchange, each device can determine metrics, such as latency, in the communication link to help select or adjust its control strategies based on real-time network performance.
A key innovation is the use of real-time latency measurements to assess the quality of the wireless connection between exoskeleton devices. When a first exoskeleton boot transmits a data packet to a second exoskeleton boot and receives a response, it calculates the latency based on the time elapsed between sending the initial packet and receiving the reply. This latency is then used to update or weight models that generate commands for the exoskeleton actuators, thus ensuring that control decisions account for the reliability and timing of shared data.
The problem addressed is that wireless communication between exoskeleton devices can be delayed or unreliable, potentially introducing outdated or irrelevant sensor data into the control process. The described system mitigates issues from lost or delayed communication by allowing the devices to dynamically determine whether to accept or reject received data based on measured latency and predefined thresholds. As a result, the control system can either use shared data when the connection is sufficiently reliable or fall back to local data when necessary, maintaining effective assistive performance.
Claims Coverage
The independent claims focus on inventive features pertaining to bilateral wireless communication, latency-aware control, and state-dependent data acceptance and command generation in exoskeleton systems.
Latency-aware wireless communication between exoskeletons
A first exoskeleton comprising an actuator, a sensor, and a controller that communicates wirelessly with a second exoskeleton. The controller identifies the latency of the wireless connection based on a time difference associated with packets transmitted between the exoskeletons, and generates a command for the actuator to provide torque based on this latency.
State-based control and data acceptance in exoskeletons
A system or exoskeleton configured to determine the state of a second exoskeleton based on the measured latency, and uses this state to instruct a component to act accordingly, including accepting or rejecting information in packets and performing corresponding actions.
Latency-dependent model updating and command generation
A system or method where a model is updated based on observed communication latency. The updated model is then used to control components of at least one of the exoskeletons involved, ensuring that actuation commands are responsive to the real-time communication status.
Latency threshold comparison for packet validation
The first exoskeleton determines the time difference between transmission and receipt of packets, compares this difference with a threshold, and selects a state for the second exoskeleton that may indicate packet validity or invalidity based on the threshold comparison.
Human-machine interaction based on latency indication
The exoskeleton outputs an indication of the latency via a display device and receives user input via a user interface in response to this indication, allowing direct feedback or adjustment based on communication quality.
Collectively, these claims establish systems, devices, and methods for managing wireless bilateral communication between exoskeletons, using real-time latency measurements to adapt control commands, accept or reject shared data, and interact with the user accordingly.
Stated Advantages
Enables real-time decision-making for exoskeleton devices by using latency measurements to improve control strategies and minimize reliance on always-available communication.
Reduces the physiological impact on the user during movement by efficiently sharing sensor data to provide accurate and timely torque or force assistance.
Mitigates performance issues associated with delayed or lost communication between devices by allowing for dynamic acceptance or rejection of data based on measured latency.
Enhances user feedback and adaptively modifies control parameters, resulting in improved exoskeleton performance for activities requiring limb synchronization.
Documented Applications
Bilateral lower limb exoskeleton boots aiding users in performing movements such as walking, running, hiking, squatting, jumping, and any activity requiring leg synchronization.
Exoskeleton systems for both single-user and multi-user group scenarios, enabling wireless communication between devices worn by one or more users.
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