US 12,468,289 B2
Exosuit activity transition control
Kathryn Jane Zealand, Palo Alto, CA (US); Elliott J. Rouse, Ann Arbor, MI (US); and Georgios Evangelopoulos, Venice, CA (US)
Assigned to Skip Innovations, Inc., San Francisco, CA (US)
Filed by Skip Innovations, Inc., San Francisco, CA (US)
Filed on Nov. 9, 2023, as Appl. No. 18/505,905.
Application 18/505,905 is a continuation of application No. 17/110,537, filed on Dec. 3, 2020, granted, now 11,853,034.
Claims priority of application No. 20200100233 (GR), filed on May 8, 2020.
Prior Publication US 2024/0077848 A1, Mar. 7, 2024
Int. Cl. G05B 19/4155 (2006.01); B25J 9/00 (2006.01); G06N 20/00 (2019.01); H04Q 9/00 (2006.01)
CPC G05B 19/4155 (2013.01) [B25J 9/0006 (2013.01); G06N 20/00 (2019.01); H04Q 9/00 (2013.01); G05B 2219/40305 (2013.01)] 20 Claims
OG exemplary drawing
 
1. A computer-implemented method comprising:
receiving, by one or more computing devices, a first set of sensor data from one or more sensors in a powered exosuit;
predicting, by the one or more computing devices, based on the received first set of sensor data, that a wearer of the powered exosuit is performing a first type of activity with a first confidence score;
receiving, by the one or more computing devices, a second set of sensor data from the one or more sensors in the powered exosuit;
predicting, by a transition detection model of the one or more computing devices, based on the received second sensor data, that the wearer of the powered exosuit has transitioned from the first type of activity to a second type of activity with a second confidence score;
determining, by the one or more computing devices, a plurality of actions to be performed based on the transition;
detecting, by the one or more computing devices, that the second confidence score exceeds a threshold value corresponding to at least one action of the plurality of actions; and
triggering, by the one or more computing devices, the at least one action upon detecting that the second confidence score exceeds the threshold value, wherein the plurality of actions includes:
changing a threshold value corresponding to another action of the plurality of actions,
changing a maximum amount of force or torque allowed to be applied by an actuator of the powered exosuit,
adjusting a maximum allowed flex at a hinge of the powered exosuit,
activating one or more safety rules that include at least one of: locking a joint, restricting rotation of the joint, and altering assistive force output,
adjusting a maximum speed of movement allowed for the powered exosuit, and
changing, based on the transition, an active control program in the powered exosuit that operates the powered exosuit to a control program associated with the second type of activity;
detecting, by the one or more computing devices, that the second confidence score exceeds a second threshold value, wherein the second threshold value is greater than the threshold value; and
based on the detection, activating a second set of one or more safety rules and deactivating, based on the detection, the one or more safety rules.