An exemplary robotic system includes a plurality of controllable joints and a controller. An exemplary control method provides for controlling the controllable joints by the controller. The control method provides for determining a configuration space for the robotic system and determining a reference movement path within the configuration space. The control method then provides for assigning a plurality of streamlines in the configuration space to yield a flow field based on the reference movement path. The control method then provides for measuring actual velocity vectors of the robotic system in the configuration space. The control method then provides for determining an error velocity vector based on a difference between the actual velocity vector and the desired velocity vector given by the flow field corresponding to the current robot configuration. The control method then provides for applying a total control vector at the plurality of controllable joints, by the controller, based on the error velocity vector.

A method of operating a modular exoskeleton system, the method comprising: monitoring for one or more actuator units being operably coupled to or removed from the modular exoskeleton system, the modular exoskeleton system comprising at least a first actuator unit configured to be operably coupled and removed from the modular exoskeleton system; determining that the first actuator unit has been operably coupled to the modular exoskeleton system; determining the first actuator unit has been associated with a first body portion of the user; determining a first new operating configuration based at least in part on the determination that the first actuator unit has been operably coupled to the modular exoskeleton system and the determination that the first actuator unit has been associated with the first body portion of the user; and setting the first new operating configuration for the modular exoskeleton system.

An exoskeleton comprising a plurality of support structures, and a plurality of joint mechanisms each joint mechanism rotatably coupling at least two of the plurality of support structures. A sensor suite discrepancy detection system can be operable to interrogate the suite of sensors within the exoskeleton, and can comprise a plurality of sensor groups, each associated with a respective joint mechanism, and each comprising a plurality of sensors from a suite of sensors. A controller can be configured to recruit at least one substitute sensor from a first sensor group of based on an identified discrepancy between the sensor output data of at least two sensors within the first sensor group and a target sensor within the first sensor group, and to execute a remedial measure associated with a safety mode of the exoskeleton for safe operation of the exoskeleton.

An exoskeleton operable to prevent unsafe operation can comprise a plurality of joint mechanisms and a plurality of sensors comprising configured to generate sensor output data associated with at least two joint mechanisms. The exoskeleton can comprise a controller configured to receive the sensor output data; combine the sensor output data; and determine whether the combination of the sensor output data from the first and second sensors satisfies an error condition in relation to at least one defined criterion. The existence of an error condition can be indicative of an anomalous operating state of the exoskeleton, such as a malfunction or an (impending) anomalous kinematic movement. The controller can also combine command signals to be transmitted to two or more joint mechanisms to determine another anomalous operating state to prevent unsafe operation. Associated software and methods are provided.

An exoskeleton operable in a safety mode comprises a plurality of support structures, and at least one joint mechanism rotatably coupling two of the plurality of support structures and a plurality of sensors associated with the at least one joint mechanism. The exoskeleton comprises a controller configured to generate a plurality of command signals according to a plurality of respective control policies, and configured to generate each command signal based on sensor output data from at least one sensor of the plurality of sensors, and configured to control operation of the at least one joint mechanism according to a selected control policy, of the plurality of control policies, based on at least one of an identified discrepancy between at least some of the plurality of command signals or a determination whether each of the plurality of sensors satisfies at least one self-test defined criterion or a comparison criterion between the output signal of two or more sensors of the plurality of sensors, or both of these.

An exoskeleton operable in a safety mode comprises a plurality of support structures, and at least one joint mechanism rotatably coupling two of the plurality of support structures, and a plurality of sensors associated with the at least one joint mechanism. The exoskeleton comprises a controller configured to generate a plurality of command signals according to a plurality of respective control policies, and configured to generate each command signal based on sensor output data from at least one sensor of the plurality of sensors, and configured to control operation of the at least one joint mechanism according to a selected control policy, of the plurality of control policies, based on at least one of an identified discrepancy between at least some of the plurality of command signals or a determination whether each of the plurality of sensors satisfies at least one self-test defined criterion defined criterion or a comparison criterion between the output signal of two or more sensors of the plurality of sensors, or both of these.

An exoskeleton comprising a plurality of support structures, and a plurality of joint mechanisms each joint mechanism rotatably coupling at least two of the plurality of support structures. A sensor suite discrepancy detection system can be operable to interrogate the suite of sensors within the exoskeleton, and can comprise a plurality of sensor groups, each associated with a respective joint mechanism, and each comprising a plurality of sensors from a suite of sensors. A controller can be configured to recruit at least one substitute sensor from a first sensor group of based on an identified discrepancy between the sensor output data of at least two sensors within the first sensor group and a target sensor within the first sensor group, and to execute a remedial measure associated with a safety mode of the exoskeleton for safe operation of the exoskeleton.

Methods, systems, and apparatus, for control systems for exosuits. In some implementations, a motor command to drive a motor of the exosuit is received. A reference value that indicates a desired level of force is determined from the motor command. A measurement is obtained from a load cell of the exosuit. A motor signal to provide to the motor that is expected to adjust the force applied to the load cell towards the desired level of force is determined. The motor signal is provided to the motor to adjust a force applied by the motor.

A method for controlling a robot (1) for handling a part to be handled (14), the handling robot (1) being linked to a control interface comprising a glove (40) comprising a first finger (41) provided with a first contact sensor (42) and a second finger (43) provided with a second contact sensor (44), the method comprising the following steps; a) associating, in a signal library (25), a first and a second recorded combination of signals (26, 21); b) acquiring a combination of signals originating from the sensors (26, 27) of the glove (40); c) comparing the acquired combination of signals with the recorded combinations (27, 28, 29) in the library (25); d) controlling the handling robot (1) in such a way as to perform a movement according to the velocity vector associated with the acquired combination of signals A handling glove (40) and handling device implementing the method.

A method of operating an exoskeleton device includes: receiving sensor information; connecting a clutch system to a pulley system in; determining whether to engage a drive train gear to the clutch system based on the sensor information; engaging the drive train gear through the clutch system when determined to engage the drive train gear; and powering a first motor to drive the drive train gear for controlling a joint or segment of exoskeleton device.