Fecha de publicación: 16/06/2022 Fuente: Wipo "Sensorization" An exoskeleton operable in a safety mode comprises at least one joint mechanism rotatably coupling two of a plurality of support structures, and a plurality of sensors associated with the at least one joint mechanism. The exoskeleton comprises a controller configured to generate a plurality of command signals according to a plurality of respective control policies, to generate each command signal based on sensor output data from at least one sensor, and to control operation of the at least one joint mechanism according to a selected control policy, based on at least one of an identified discrepancy between at least some of the plurality of command signals or a determination whether each of the plurality of sensors satisfies at least one self-test defined criterion or a comparison criterion between the output signal of two or more sensors, or both of these.