Patent ID: 8723471

Claim:
A servo system for operating an exoskeleton dimensioned to surround an object of interest and for supplying a force thereon, comprising: a servomotor adapted to operate the position of the exoskeleton and thus the force exerted by the exoskeleton on a plurality of locations of the object of interest, wherein the plurality of locations surround the object of interest, a measuring unit adapted for measuring a raw driving current signal I new supplied by a power source for driving the servomotor, a low pass filtering means adapted to apply a low pass frequency filtering on I raw for determining a filtered current signal I filtered , and a processing unit adapted to determine: an actuated current signal I actuated based on servomotor setting parameters, I actuated indicating the contribution to I raw from the servomotor when operating the position of the exoskeleton, and a driving force current signal I force indicating the force exerted by the exoskeleton on the object of interest, where I force is proportional to the difference between I filtered and I actuated .