DE102018211050A1 - Process for operating an exoskeleton system, exoskeleton system and central server unit - Google Patents

Abstract

The invention relates to a method for operating an exoskeleton system (10) comprising at least one exoskeleton module (12, 12 ', 14) with at least one actuator (18). The invention also relates to an exoskeleton system (10) and a central server unit (22). The central server unit (22) determines a movement command (28) based on a control program associated with the at least one exoskeleton module (12, 12 ', 14), which comprises at least one control instruction for controlling the at least one actuator (18). The invention is characterized in that a connection of a further exoskeleton module (16) to a physical interface of the at least one exoskeleton module (12) is detected. The central server unit (22) then loads a control program assigned to the further connected exoskeleton module (16) from a memory unit (26) and links it to the respective control programs of the other exoskeleton modules (12, 12 ', 14) of the exoskeleton module. Systems (10). The movement command (28) is now determined based on all linked control programs of the respective exoskeleton modules (12, 12 ', 14, 16) of the exoskeleton system (10).

Description

The invention relates to a method for operating an exoskeleton system comprising at least one exoskeleton module with at least one actuator. Furthermore, the invention relates to an exoskeleton system and a central server unit for determining a movement command for operating an exoskeleton system.

A so-called exoskeleton is known for giving an external support structure to a body part or a biological organism. An exoskeleton is thus used in the medical field, for example as an orthosis, or as a machine worn on the body, which supports or reinforces movement of a wearer, for example by driving a joint of the exoskeleton by an actuator or by a motor. However, an exoskeleton can also find an industrial application, for example for lifting heavy loads or for handling tools. It is known that several modules of an exoskeleton, each of which supports an arm, a leg or a foot, for example, are combined to form a holistic exoskeleton system in order to coordinate a movement of the individual exoskeleton modules with one another.

So describes the US 2017/0202725 A1 an exoskeleton for the rehabilitation and restoration of muscle function in patients with impaired muscle function or muscle control. The exoskeleton includes a system of motorized staples that can exert a force on the wearer's limbs. For this purpose, the exoskeleton has a control system which controls the position of the clips and a strength of the force exerted. The control takes place according to one or more trajectory sequences, which are uploaded beforehand to a central server and made available to a user of the exoskeleton for download.

From the EP 3 192 484 A1 a gang data management system is known. A gait support device comprises sensors which detect a user's gait with the gait support device. The gait data management system uses a statistical method to determine a characteristic gait algorithm, which is then transmitted to the gait support device.

The EP 3 037 081 A1 describes an exoskeleton to support a user while running by means of a supporting moment. Here, too, data relating to a user's gait is recorded by sensors and transmitted to a server, which determines an ideal support torque based on the recorded data.

The known exoskeleton systems form a self-contained system from a certain number of modules and therefore have the disadvantage of being less adaptable to individual needs of different users.

The object of the present invention is to further develop a method for operating a generic exoskeleton system and a generic exoskeleton system in such a way that flexible use and use of the exoskeleton system adapted to the individual needs of a user are made possible.

This object is solved by the subject matter of the independent claims. Advantageous developments of the invention are disclosed by the subclaims, the following description and the figures.

The present invention is based on the knowledge that an exoskeleton system that allows a subsequent functional addition and / or expansion of individual exoskeleton modules by additional exoskeleton modules offers a great deal of flexibility for a user of the exoskeleton system. Thus, the user can subsequently connect additional exoskeleton modules to his existing exoskeleton system and / or supplement the exoskeleton system with additional functions.

The method according to the invention for operating an exoskeleton system comprising at least one exoskeleton module with at least one actuator provides that a central server unit, upon receipt of an execution instruction and based on a control program assigned to the at least one exoskeleton module, determines a movement command which determines at least one Control instruction for controlling the at least one actuator of the at least one exoskeleton module comprises. The control program assigned to the at least one exoskeleton module can, for example, comprise a microprocessor with a program code which is specially designed for calculating a control and / or operation of the at least one actuator of the relevant exoskeleton module. The control program can be designed as software set up to control the relevant exoskeleton module. By means of the at least one control instruction of the movement command, all actuators of the exoskeleton system can be controlled so that the exoskeleton system as a whole executes a specific movement and / or sequence of movements.

The method according to the invention provides for the following steps: in a first method step, another is connected Exoskeleton module detected at a physical interface of the at least one exoskeleton module. In other words, a subsequent physical connection of the further exoskeleton module to the existing exoskeleton system is recorded. For this purpose, the physical interface and / or the respective exoskeleton module can have a detection unit which is set up to automatically detect the connection of the further exoskeleton module. However, an entry can also be made manually by a user by physically connecting the further exoskeleton module via a user interface.

In a second method step, a detection signal with information about the further connected exoskeleton module is sent to the central server unit. For this purpose, a communication link can be established between the registration unit and the central server unit. Alternatively, however, a communication connection can also be established between the user interface and the central server unit.

In a third method step, the central server unit loads a control program assigned to the further connected exoskeleton module from a memory unit. This can also be a program code which is designed specifically for calculating a control and / or operation of the at least one actuator of the further connected exoskeleton module. The central server unit can itself comprise the storage unit or alternatively access a storage unit external to the server unit. The respective control program of the at least one exoskeleton module of the exoskeleton system is linked to the loaded control program of the further connected exoskeleton module. For this purpose, the respective program codes can be summarized, for example.

In a fourth method step, the movement command is determined based on all linked control programs of the respective exoskeleton modules of the exoskeleton system. In other words, the movement command takes into account all control programs of the connected exoskeleton modules of the exoskeleton system. This enables the movement command to include all combinations of movements made possible by the various exoskeleton modules. This results in the advantage that the assembled exoskeleton modules can interact with one another seamlessly and promptly after the connection of the further exoskeleton module and can complement one another.

The individual exoskeleton modules can be combined, for example, using a so-called “plug and play” method, both in terms of software and biomechanics, and form an overall consistent exoskeleton system. For example, each exoskeleton module has a standardized physical interface. This offers the advantage that a user of the exoskeleton system can purchase and / or rent individual exoskeleton modules at different times and can integrate these individually acquired exoskeleton modules into a functioning overall system. Thus, different configurations of the exoskeleton system can exist depending on the needs of the individual user. The exoskeleton system can be variably and quickly adapted, expanded and / or reduced for various applications and remains functional in all possible configurations.

The invention also includes further developments of the method according to the invention, which result in additional advantages. The invention also includes combinations of the features of the described embodiments.

One embodiment provides that the central server unit determines the movement command for each exoskeleton module of the exoskeleton system using a control instruction relating to the respective exoskeleton module. The respective control instruction is determined taking into account an interaction with the respective at least one further exoskeleton module of the exoskeleton system. In other words, for each exoskeleton module, a movement command that is tailored to it is determined, which, for example, only includes control instructions for the actuators of the exoskeleton module in question. The respective control instructions take into account the fact that there is an interaction between the relevant exoskeleton module and the other exoskeleton modules of the exoskeleton system, which arises, for example, from the individual actuation of the various actuators. The central server unit transmits the movement command with the respective control instruction to the respective exoskeleton module. For example, each exoskeleton module can have its own microprocessor, which is set up to control the respective actuators of the exoskeleton module. The central server unit can thus determine a movement command per module that specifically relates to the respective exoskeleton module. This has the advantage that the individual control instructions to the actuators of the various exoskeleton modules can be executed simultaneously and / or in real time.

A further embodiment provides that the central server unit furthermore when the loaded control program is linked connected exoskeleton module with the respective control program of the at least one already existing exoskeleton module of the exoskeleton system determines at least one movement sequence made possible by the interlinked exoskeleton modules. This at least one determined possible movement sequence is made available to the user for selection via the user interface. For example, an ankle module is subsequently connected to a leg module of the exoskeleton. The central server unit can determine here that a certain movement sequence, which corresponds to climbing, is made possible by the combination of these two modules. The user is thus offered the option of selecting climbing via the user interface. The execution instruction, upon which the movement command is determined by the central server unit, can now include the “climb” selection. By determining the various possible uses of the interlinked exoskeleton modules, the user of the exoskeleton system is thus able to use numerous functions of the exoskeleton system.

For this purpose, the at least one determined, possible movement sequence comprises a sequence of individual control instructions for controlling the at least one actuator of a respective exoskeleton module. For example, the sequence comprises a sequential setting of the at least one actuator in different setting positions, it being possible for one setting position to include a setting angle and / or a drive strength of the respective actuator. Upon receipt of the movement command, the at least one actuator of the at least one exoskeleton module is controlled with the selected movement sequence to execute the individual control instructions in succession. This can be carried out by a control device of the respective exoskeleton module, such as by the microprocessor. This makes it possible to determine a holistic sequence of movements of the exoskeleton system, which takes into account the mutual effects of the movement and / or the control of the individual actuators of the different exoskeleton modules with respect to one another. Overall, this results in a harmonized sequence of movements of the entire exoskeleton system, which is particularly comfortable for the wearer of the exoskeleton system.

Another embodiment provides that the central server unit checks before loading the control program assigned to the further connected exoskeleton module whether a user is authorized to use the further connected exoskeleton module. This check can also be carried out when the central server unit determines the at least one movement sequence made possible by the interlinked exoskeleton modules. Furthermore, the central server unit can check whether the user is authorized to use the at least one possible movement sequence. For this purpose, the user can log in with a customer profile via the user interface. It can then be checked whether the respective exoskeleton module and / or the respective possible movement sequence has been activated for the customer profile. This enables the user to purchase and / or rent individual exoskeleton modules and / or individual movements at different times. In this way, a so-called “function on demand” system can be implemented for the different exoskeleton modules and / or ascertainable movement sequences of the exoskeleton system.

A further embodiment provides that further decoupling of the further exoskeleton module is recognized at the physical interface of the at least one exoskeleton module. This can also be done, for example, by the detection unit of the respective exoskeleton module. The decoupling includes, for example, physically disassembling and / or physically separating the two exoskeleton modules. As soon as the decoupling is recognized, a decoupling signal comprising information about the decoupled exoskeleton module is sent to the central server unit. The central server unit then decouples the control program, which is assigned to the decoupled exoskeleton module, from the respective other control programs of the other exoskeleton modules of the exoskeleton system. For this purpose, the central server unit can again determine which movements are now possible through the other exoskeleton modules of the exoskeleton system and make them available for selection via the user interface. An exoskeleton system is thus provided which not only enables individual exoskeleton modules to be added subsequently, but also to be removed subsequently. The control of the respective actuators of the different exoskeleton modules of the exoskeleton system is adapted to the current composition of the exoskeleton system.

Another embodiment provides that each exoskeleton module records movement data and / or position data and transmits it to the central server unit. For example, the respective setting position of the at least one actuator of the respective exoskeleton module is detected via the respective microprocessors or via a respective motion sensor of the individual exoskeleton modules. Furthermore, the spatial position data of the respective one can be arranged on a GPS system arranged on at least one exoskeleton module Exoskeleton module can be determined. The movement data and / or the position data of the exoskeleton modules can be recorded and transmitted in real time. For example, these will be sent from the respective microprocessors of the exoskeleton modules to the central server unit via a so-called 4G network or 5G network. This enables the central server unit to determine the movement command using real-time data. In this way, the central server unit can check an effect of a previous movement command to determine whether it corresponds to a desired effect and then adapt subsequent movement commands. A movement command which corresponds to a desired movement sequence of the exoskeleton system can thus be determined even more precisely on the interaction of the individual exoskeleton modules with one another.

The exoskeleton system according to the invention comprises at least one exoskeleton module with at least one actuator. The at least one exoskeleton module is set up to receive at least one movement command and to control the at least one actuator according to a control instruction included in the movement command for controlling the at least one actuator. According to the invention, the at least one exoskeleton module has at least one physical interface for connecting a further exoskeleton module. The at least one physical interface each has a detection unit, which is set up to detect the connection of the further exoskeleton module and then to transmit a detection signal comprising information about the further connected exoskeleton module.

The respective at least one exoskeleton module is preferably designed as a movement support and / or as an orthosis for a predetermined human body region in each case. For example, the respectively predetermined human body region relates to a leg, foot, hand, arm and / or back of a human body.

The invention also includes further developments of the exoskeleton system according to the invention, which have features as have already been described in connection with the further developments of the method according to the invention. For this reason, the corresponding developments of the exoskeleton system according to the invention are not described again here.

The central server unit according to the invention for determining a movement command for operating an exoskeleton system with at least one exoskeleton module with at least one actuator has a control program assigned to the respective exoskeleton module for each exoskeleton module. The central server unit is set up to determine, upon receipt of an execution instruction and based on the control program assigned to the at least one exoskeleton module, a movement command which comprises at least one control instruction for controlling the at least one actuator of the at least one exoskeleton module.

The central server unit according to the invention is set up to receive a detection signal comprising information about a further exoskeleton module connected to the exoskeleton system. Furthermore, the central server unit is set up to load a control program assigned to the further connected exoskeleton module from a storage unit and to link the loaded control program with the respective control program of the at least one exoskeleton module of the exoskeleton system. The central server unit is then set up to determine the movement command based on all linked control programs of the respective exoskeleton modules of the exoskeleton system.

The invention also includes further developments of the central server unit according to the invention, which have features as have already been described in connection with the further developments of the method according to the invention. For this reason, the corresponding developments of the central server unit according to the invention are not described again here.

• 1 eine schematische Darstellung eines lediglich teilweise dargestellten Exoskelett-Systems mit zwei Bein-Modulen und einem Fuß-Modul, sowie ein weiteres Fuß-Modul zum nachträglichen Verknüpfen mit dem Exoskelett-System, sowie eine zentrale Servereinheit; und
• 2 ein Diagramm, welches die Verfahrensschritte für ein Verfahren zum Betreiben eines Exoskelett-Systems umfassend zumindest ein Exoskelett-Modul mit zumindest einem Aktor erläutert.

Exemplary embodiments of the invention are described below. Show:

• 1 a schematic representation of an only partially shown exoskeleton system with two leg modules and a foot module, as well as another foot module for subsequent linking with the exoskeleton system, and a central server unit; and
• 2 a diagram which explains the method steps for a method for operating an exoskeleton system comprising at least one exoskeleton module with at least one actuator.

The exemplary embodiments explained below are preferred embodiments of the invention. In the exemplary embodiments, the described components of the embodiments each represent individual features of the invention that are to be considered independently of one another and that further develop the invention independently of one another. Therefore, the disclosure is also intended to be different from that shown Combinations of the features of the embodiments include. Furthermore, the described embodiments can also be supplemented by further features of the invention that have already been described.

In the figures, the same reference numerals designate elements that have the same function.

1 shows schematically an only partially shown exoskeleton system 10 with two leg modules 12 . 12 ' and a foot module 14 , Furthermore, in 1 another foot module 16 shown which is subsequently connected to the exoskeleton system. This includes the individual exoskeleton modules 12 . 12 ' . 14 . 16 at least one actuator each 18 , its setting position by a microprocessor 20 of the respective exoskeleton module 12 . 12 ' . 14 . 16 is controlled. Furthermore shows 1 a schematically shown central server unit 22 , which is designed, for example, as a so-called cloud.

2 shows a diagram showing the process steps for a method for operating an exoskeleton system 10 comprising at least one exoskeleton module 12 . 12 ' . 14 . 16 with at least one actuator 18 explained.

The following are the in 2 illustrated process steps in conjunction with the 1 explained.

The exoskeleton system 10 initially comprises three exoskeleton modules, namely a first leg module 12 , a second leg module 12 ' as well as a foot module 14 , Shown here using the example of the leg module 12 ' this has an actuator 18 in the area of a knee joint and another actuator 18 in the area of a hip of a human body. To simplify the illustration, in 1 a representative actuator 18 shown again. The respective control of the actuators 18 is through the microprocessor 20 executed, each exoskeleton module 12 . 12 ' . 14 . 16 its own microprocessor 20 having. In 1 is just a single microprocessor for ease of illustration 20 shown.

The foot module 14 as well as the further foot module 16 each have two actuators 18 on an ankle area of the human body. The further foot module 16 is now in a first step S1 to the leg module 12 connected. The leg module points to this 12 a physical interface for connecting the additional foot module 16 on. The leg module 12 or the physical interface comprises a detection unit which connects the further foot module 16 recognizes. For example, the physical interface is equipped with a detection sensor.

In a second step S2 is from the registration unit of the leg module 12 a detection signal 24 Comprehensive information about the other connected foot module 16 to the central server unit 22 Posted. The central server unit 22 shown here has its own storage unit 26 on. In this storage unit 26 are about the different exoskeleton modules 12 . 12 ' . 14 . 16 respective control programs are stored, a respective control program being a specific exoskeleton module 12 . 12 ' . 14 . 16 is assigned and for this exoskeleton module 12 . 12 ' . 14 . 16 a program code and / or instructions for determining at least one control instruction for controlling the at least one actuator 18 of the respective exoskeleton module 12 . 12 ' . 14 . 16 includes.

In a third step S3 loads the central server unit 22 upon receipt of the detection signal 24 towards the other connected foot module 16 assigned control program from the memory unit 26 , The central server unit 22 then links this control program with the respective control programs of the other exoskeleton modules 12 . 12 ' . 14 of the exoskeleton system 10 , For this purpose, the respective program codes of the control programs can be summarized and / or supplemented. The central server unit can 22 continue to determine which movements of the exoskeleton system 10 with the further connected foot module 16 be made possible. For example, the exoskeleton system 10 now with the complete leg modules 12 . 12 ' and foot modules 14 . 16 worn on a human body support this body when climbing. So the central server unit 22 determine that the movement sequence "climbing" for the exoskeleton system 10 now by connecting the additional foot module 16 is available. Furthermore, the central server unit 22 check whether the respective enabled movement sequences for a specific user of the exoskeleton system 10 are unlocked and only then provide a further sequence of movements for selection.

A user or user of the exoskeleton system can use a user interface (not shown here), which is designed, for example, as a portable computer or as a smartphone or as a tablet 10 a selection of at least one movement sequence can be made available. For example, the user interface provides the movement sequences "walking", "running", "climbing". If an input with a selection of a specific movement sequence is recognized via the user interface, the central server unit 22 an execution instruction with information comprising the selected movement sequence.

In a fourth step S4 determines the central server unit 22 a motion command upon receipt of the execution instruction 28 for the exoskeleton system 10 , The movement order 28 includes for at least one of the exoskeleton modules 12 . 12 ' . 14 . 16 of the exoskeleton system 10 a control instruction for controlling the at least one actuator 18 of the respective exoskeleton module 12 . 12 ' . 14 . 16 , the motion command 28 but can also be used for every exoskeleton module 12 . 12 ' . 14 . 16 of the exoskeleton system 10 include a respective control instruction which is specific to the respective actuators of the respective exoskeleton module 12 . 12 ' . 14 . 16 includes a control instruction. For example, any microprocessor 20 one specifically for the relevant exoskeleton module 12 . 12 ' . 14 . 16 tailored control instruction received.

To determine the movement command 28 pulls the central server unit 22 all linked control programs of the respective exoskeleton modules 12 . 12 ' . 14 . 16 of the exoskeleton system 10 added. The different determined control instructions take into account an interaction of a possible movement of the individual exoskeleton modules 12 . 12 ' . 14 . 16 among themselves and adapts the respective control instructions to them. The central server unit can do this 22 to determine the movement command 28 furthermore movement data and / or position data of the respective actuators 18 and / or the respective exoskeleton modules 12 . 12 ' . 14 . 16 use. The movement data and / or position data are obtained from a respective movement sensor 32 of the respective actuator 18 determined. For example, via the microprocessor 20 of a respective exoskeleton module 12 . 12 ' . 14 . 16 all movement data and / or position data of the actuators 18 of the respective exoskeleton module 12 . 12 ' . 14 . 16 recorded and sent to the central server unit 22 be sent. This can be done in real time or real time so that the central server unit 22 when determining the movement command 28 automatic feedback on previous motion commands 28 to determine another motion command 28 considered.

Furthermore, a respective physical interface of the exoskeleton system can be used 10 removal of a respective exoskeleton module 12 . 12 ' . 14 . 16 recognize and information about the central server unit 22 submit automatically. The central server unit 22 then removes the respective control program of the removed exoskeleton module 12 . 12 ' . 14 . 16 , thus further movement commands 28 determined only on the basis of those control programs which the other exoskeleton modules 12 . 12 ' . 14 . 16 of the exoskeleton system 10 assigned.

Overall, the examples show how the invention creates a flexible exoskeleton system, which adapts individual movement sequences for controlling the exoskeleton to the currently available functional possibilities of the exoskeleton system, so that the exoskeleton system can subsequently be replaced by individual exoskeleton systems as required. Modules can be expanded and / or reduced by individual exoskeleton modules.

QUOTES INCLUDE IN THE DESCRIPTION

This list of documents listed by the applicant has been generated automatically and is only included for the better information of the reader. The list is not part of the German patent or utility model application. The DPMA assumes no liability for any errors or omissions.

Patent literature cited

• US 2017/0202725 A1 [0003]
• EP 3192484 A1 [0004]
• EP 3037081 A1 [0005]

Claims (10)

Method for operating an exoskeleton system (10) comprising at least one exoskeleton module (12, 12 ', 14) with at least one actuator (18), a central server unit (22) receiving an execution instruction and based on one of the at least one a movement command (28) determines a control program associated with an exoskeleton module (12, 12 ', 14), the movement command (28) at least one control instruction for controlling the at least one actuator (18) of the at least one exoskeleton module (12, 12' , 14), characterized by the following steps: - detecting a connection of a further exoskeleton module (16) to a physical interface of the at least one exoskeleton module (12) (step S1); - Sending a detection signal (24) comprising information about the further connected exoskeleton module (16) to the central server unit (22) (step S2); - Loading a control program assigned to the further connected exoskeleton module (16) from a memory unit (26) and linking the loaded control program with the respective control program of the at least one exoskeleton module (12, 12 ', 14) of the exoskeleton system (10 ) (Step S3); and - determining the movement command (28) based on all linked control programs of the respective exoskeleton modules (12, 12 ', 14, 16) of the exoskeleton system (10) (step S4). Procedure according to Claim 1 , wherein the central server unit (22) for each exoskeleton module (12, 12 ', 14, 16) of the exoskeleton system (10) receives the movement command (28) with the respective exoskeleton module (12, 12', 14, 16) determines the relevant control instruction, the central server unit (22) determining the respective control instruction including an interaction with the respective at least one further exoskeleton module (12, 12 ', 14, 16) of the exoskeleton system (10), and wherein the central server unit (22) transmits the movement command (28) with the respective control instruction to the respective exoskeleton module (12, 12 ', 14, 16). Method according to one of the preceding claims, wherein the central server unit (22) upon linking the loaded control program of the further connected exoskeleton module (16) with the respective control program of the at least one exoskeleton module (12, 12 ', 14) of the exoskeleton system (10) at least one movement sequence made possible by the linked exoskeleton modules (12, 12 ', 14, 16) is determined and made available for selection via a user interface, the movement command (28) being issued by the central one as a function of the selection of the at least one movement sequence provided Server unit (22) is determined. Procedure according to Claim 3 , wherein the at least one possible movement sequence comprises a sequence of individual control instructions for controlling the at least one actuator (18) of the at least one exoskeleton module (12, 12 ', 14, 16), the at least one actuator (18) of the at least one exoskeleton Module (12, 12 ', 14, 16) is controlled upon receipt of the movement command (28) with the selected movement sequence to execute the individual control instructions in succession. Method according to one of the preceding claims, wherein the central server unit (22) checks before loading the control program associated with the further connected exoskeleton module (16) whether a user authorization for the further connected exoskeleton module (16) is present. Method according to one of the preceding claims, wherein the method further comprises the following steps: - Detection of a decoupling of the further exoskeleton module (16) at the physical interface of the at least one exoskeleton module (12); - Sending a decoupling signal comprising information about the decoupled exoskeleton module (16) to the central server unit (22); and - Decoupling the control program of the decoupled exoskeleton module (16) from the respective control program of the at least one exoskeleton module (12, 12 ', 14) of the exoskeleton system (10). Method according to one of the preceding claims, wherein each exoskeleton module (12, 12 ', 14, 16) records movement data and / or position data (30) and transmits them to the central server unit (22), which transmits the movement data and / or the position data ( 30) of the individual exoskeleton modules (12, 12 ', 14, 16) of the exoskeleton system (10) when determining the movement command (28). Exoskeleton system (10) comprising at least one exoskeleton module (12, 12 ', 14) with at least one actuator (18), the at least one exoskeleton module (12, 12', 14) being set up to at least one movement command (28) and to control the at least one actuator (18) according to a control instruction included in the movement command (28) for controlling the at least one actuator (18) of the exoskeleton module (12, 12 ', 14), characterized in that the at least one exoskeleton module (12) comprises at least one physical interface for connecting a further exoskeleton module (16), the at least one physical interface has a detection unit which is set up to detect the connection of the further exoskeleton module (16) and to transmit a detection signal (24) comprising information about the further connected exoskeleton module (16). Exoskeleton system (10) after Claim 8 , wherein the respective at least one exoskeleton module (12, 12 ', 14, 16) is designed as a movement support and / or as an orthosis for a predetermined human body region. Central server unit (22) for determining a movement command (28) for operating an exoskeleton system (10) with at least one exoskeleton module (12, 12 ', 14) with at least one actuator (18), the central server unit (22 ) for each exoskeleton module (12, 12 ', 14) of the exoskeleton system (10) has a control program assigned to the respective exoskeleton module (12, 12', 14), the central server unit (22) being set up to upon receipt of an execution instruction and based on the control program assigned to the at least one exoskeleton module (12, 12 ', 14), to determine a movement command (28), the movement command (28) at least one control instruction for controlling the at least one actuator (18 ) of the at least one exoskeleton module (12, 12 ', 14), characterized in that the central server unit (22) is set up to - a detection signal (24) comprising information about another, to the exoskeleton system (10) to receive the connected exoskeleton module (16); - to load a control program assigned to the further connected exoskeleton module (16) from a memory unit (26) and to load the loaded control program with the respective control program of the at least one exoskeleton module (12, 12 ', 14) of the exoskeleton system (10 ) to link; and - to determine the movement command (28) based on all linked control programs of the respective exoskeleton modules (12, 12 ', 14, 16) of the exoskeleton system (10).

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