US Patent 9474632 Robotic exoskeleton with fall control and actuation

Method for controlling an exoskeleton (100) involves detecting an occurrence of an uncontrolled acceleration of at least a portion of the exoskeleton, as might occur during a fall. In response, the exoskeleton is caused to automatically transition at least one motion actuator (104a, 104b) from a first operational state to a second operational state. In the first operational state, the one or more motion actuators are configured to provide a motive force for controlled movement of the exoskeleton. In the second operational state, the one or more motion actuators are configured to function as energy dampers which dissipate a shock load exerted upon the exoskeleton.