Control Systems Suit Control

General Suit Control Tasks

Suit State Controller

We want to maintain an overall 'state' of the exoskeleton suit for various reasons such as more accurate model predictions, or preventing signals to motors if we are in an idle state.

The controller should view various input streams and system statistics in order to determine the overall state. Primary Inputs:

• IMU detections
• State of other submodules across the suit

Possible States:

• Active
• Idle (no movement detected above a certain threshold for a certain time period)
• Error