User interface and feedback systems and methods for a mobile robot
An exoskeleton system comprising at least one leg actuator unit configured to be coupled to leg of a user, the leg actuator unit including: an upper arm and a lower arm that are rotatably coupled via a joint, the joint positioned at a knee of the user with the upper arm coupled about an upper leg portion of the user above the knee and with the lower arm coupled about a lower leg portion of the user below the knee, a leg-actuator-unit user interface comprising a plurality of input and feedback elements, and an actuator that extends between the upper arm and lower arms.
1 . An exoskeleton system comprising:
a left leg actuator unit and a right leg actuator unit configured to be respectively coupled to a left leg and a right leg of a user, the left leg actuator unit and the right leg actuator unit each including:
an upper arm and a lower arm that are rotatably coupled via a joint, the joint configured to be positioned at a knee of the user with the upper arm configured to be coupled about an upper leg portion of the user above the knee and with the lower arm configured to be coupled about a lower leg portion of the user below the knee,
a leg-actuator-unit user interface comprising a plurality of input and feedback elements,
a bellows actuator that extends between the upper arm and the lower arm, and
one or more sets of fluid lines coupled to the bellows actuator to introduce fluid to the bellows actuator to cause the bellows actuator to expand and move the upper arm and the lower arm;
a pneumatic system operably coupled to, and configured to introduce fluid to, the bellows actuators of the left leg actuator unit and the right leg actuator unit via the one or more sets of fluid lines of the left leg actuator unit and the right leg actuator unit;
an exoskeleton device that includes a processor and memory, the memory storing instructions, that when executed by the processor, are configured to control the pneumatic system to introduce fluid to the bellows actuators of the left leg actuator unit and the right leg actuator unit; and
a shoulder-mounted backpack configured to be worn by the user that houses:
a power source for powering the pneumatic system and for powering the exoskeleton device,
at least a portion of the pneumatic system, and
at least a portion of the exoskeleton device,
the shoulder-mounted backpack further including a pack user interface associated therewith, the pack user interface comprising a set of input elements and feedback elements, the pack user interface being disposed on a shoulder strap of the shoulder-mounted backpack and configured to be disposed over the user's chest and proximate to the user's shoulder with a communication line of the pack user interface configured to extend along the shoulder strap and over the user's shoulder, the pack user interface comprising:
a unitary function button configured to allow the user to indicate one or more inputs, including one or more of:
input for unsupervised intent recognition,
input for supervised intent recognition,
input for semi-supervised intent recognition, or
enabling and disabling a functionality, and
a selection indicator button configured to allow the user to generate an input for one or more of:
increasing or decreasing one or more settings, or
cycling through a group of settings,
wherein the exoskeleton system is configured to be independently operated by the user, including at least activating the exoskeleton system and using the exoskeleton system to assist with leg extension, and
wherein the exoskeleton system is configured to support the user in moving, including at least using the exoskeleton system to assist with leg extension, via physical force generated by the exoskeleton system including at least via the pneumatic system introducing fluid to the bellows actuators of the left leg actuator unit and the right leg actuator unit via the one or more sets of fluid lines of the left leg actuator unit and the right leg actuator unit.
2 . The exoskeleton system of claim 1 , wherein an external device that comprises a smartphone is operably coupled to the exoskeleton system via a direct or indirect wired or wireless communication channel, the external device presenting an external-device user interface that is separate from the leg-actuator-unit user interface of the left leg actuator unit or the right leg actuator unit and separate from the pack user interface associated with the shoulder-mounted backpack.
3 . The exoskeleton system of claim 1 , wherein the leg-actuator-unit user interfaces of each of the left leg actuator unit and the right leg actuator unit have a set of redundant input elements and a set of redundant feedback elements, the redundant input elements the left leg actuator unit and the right leg actuator unit each associated with the same function, and each of the redundant feedback elements of the left leg actuator unit and the right leg actuator unit configured to present the same feedback.
4 . The exoskeleton system of claim 3 , wherein the exoskeleton system is configured to operate in a dual-leg configuration where both of the left leg actuator unit and the right leg actuator unit are operably coupled to the exoskeleton system, with the exoskeleton system configured to obtain input and present feedback via each of the leg-actuator-unit user interfaces of the left leg actuator unit and the right leg actuator unit and/or the pack user interface, and
wherein the exoskeleton system is configured to operate in a single-leg configuration where only one of the left leg actuator unit and the right leg actuator unit is operably coupled to the exoskeleton system, with the exoskeleton system configured to obtain input and present feedback via the leg-actuator-unit user interface of the left leg actuator unit or the right leg actuator unit operably coupled to the exoskeleton system and/or the pack user interface.
5 . The exoskeleton system of claim 1 , wherein each of the leg-actuator-unit user interfaces of the left leg actuator unit and the right leg actuator unit and the pack user interface associated with the shoulder-mounted backpack include one or more of:
a first feedback element comprising a plurality of lights, wherein a number of lit lights of the plurality of lights indicates a battery level of one or more batteries of the exoskeleton system or an assistance level of the exoskeleton system, a color of lit lights of the plurality of lights indicates a currently set mode of operation of the exoskeleton system, and a set of lights of the plurality of lights being lit red indicating that an error or fault is present, a second feedback element comprising a screen;
a third feedback element comprising an audio speaker or noise maker;
a fourth feedback element comprising a vibratory element such as a motor or piezo;
a first input element comprising a single button for indicating an intention to make a state transition;
a second input element comprising a button mapped to a single transition and state pair;
a third input element comprising a dedicated button that immediately stops positive torque transmission to the left leg actuator unit and the right leg actuator unit,
a fourth input element comprising a button associated with a quick-doff feature that is configured to cause a plurality of couplings of at least one of the left leg actuator unit and the right leg actuator unit to decouple and cause at least one of the left leg actuator unit and the right leg actuator unit to be decoupled from the user;
a fifth input element comprising a touch-screen;
a sixth input element comprising a button that disconnects electrical power to the exoskeleton system;
a seventh input element comprising a button that disconnects pneumatic power between the shoulder-mounted backpack and either or both of the left leg actuator unit and the right leg actuator unit; and
an eighth input element comprising a button that shuts off all visible lights of the exoskeleton system.
6 . The exoskeleton system of claim 1 , wherein the unitary function button is disposed on a front face of a housing of the pack user interface and wherein the selection indicator button is disposed on a side face of the housing of the pack user interface.
7 . The exoskeleton system of claim 1 , wherein the unitary function button is configured for enabling and/or disabling the functionality which comprises:
when the exoskeleton system is active, pushing the unitary function button is configured to generate a deactivate response that deactivates the exoskeleton system, immediately stopping any fluid flow to the left leg actuator unit and the right leg actuator unit from the pneumatic system.