A self aligning attachment to counter misalignment in human-robot interaction and a method for the same

Abstract

The present invention relates to a self-aligning attachment to counter misalignment in Human-Robot interaction and a method for the same. The proposed human-robot interface attachment integrates a spring and spherical bearing mechanism, offering a dynamic and adaptable solution to mitigate misalignment, facilitation smooth and controlled movement, minimizing the risk of singularities ensuring optimal force distribution across the limb. The self-aligning attachment for human-robot symbiosis comprising a solid cuff part with a pivoted attachment (Fig. 107-521) to a top plate (Fig. 101-503) wherein a human limb (Fig. 104-590) is placed on the top plate and the solid cuff part adjusts according to the size of the human limb; a flexible cuff material path configured to secure within the self-aligning arm brace mechanism, wherein the cuff material path follows a unique sequence (Fig. 102), , Initially cuff material is taken through solid cuff part position FIG. 102 -1, the next position is FIG. 102-2 then next path position is FIG. 102-3. The cuff material is then taken to the opposite side of solid cuff part position FIG.102-4, it is then taken through solid cuff part position FIG.102-5. The next position of cuff material path follows the FIG.102-6 and FIG.102-7 positions. FIG.104-9 and FIG.104-10 is position of cuff material strap fixing male and female respectively to provide tightness from both the top and bottom sides of the human limb. One top plate and a bottom plate are connected through an arrangement of four spherical ball mechanism (Fig. 101-513) and a spring mechanism configured to restrain free movement of the top plate, wherein the attachment provides a dynamic adjustment of the top plate in response to misalignment forces, characterized by X and Y axes on its surface and a perpendicular Z – axis (Fig 105 – axis) effectively distributing and countering misalignment force vectors((Fig 105 – Misalignment Vector) with X and Y components ensuring seamless adaption to varying misalignment scenarios, promoting stress / strain-free symbiosis between the human limb and the robot, enhancing overall interaction performance and user experience.

Description

FIELD OF INVENTIONPresent invention relates to a Self-Aligning attachment to counter misalignment in Human-Robot interaction. More particularly, the invention pertains to a novel human-robot interfacemodule designed to mitigate misalignment challenges encountered in conventional attachmentsystems.BACKGROUND OF THE INVENTIONHuman-Robot interaction (HRI) is the study of interaction between humans and robots.Human-Robot interaction is a multidisciplinary filed with contribution from human-computerinteraction, artificial intelligence, robotics, natural language processing, design, psychologyand philosophy. A subfield known as physical human-robot interaction (PHRI) has tended tofocus on device design to enable people to safely interact with robotic system.A humanoid robot is a robot resembling the human body in shape. The design may befunctional purposes, such as interaction with human tools. The main goal of HRI is to developefficient and acceptable robots.Today, HRI is a rapidly growing filed with researches studying how human and robot can worktogether in a variety of settings, including healthcare, education and entertainment. HRI iscritical to the future of robotics. Effective HRI will be essential for ensuring that these robotscan work alongside humans safely and effectively. HRI will also be important for ensuring thatrobots are accepted by society. If robots are unable to interact with human effectively, theymay be viewed as a threat rather than a helpful tool. This could lead to resistance to the use ofrobots in certain settings.Many a times we encounter with problem in human-robot interaction attachments. In robotics,misalignment poses a significant challenge, particularly when robotic links operate outside thebody, necessitating precise coordination with epidermal positions that do not change. Thiscomplexity intensifies when complete joint motion leads to singularities, points where roboticjoints encounter limitations in movement. In such instances, the forces exerted by conventionalstraps can exacerbate skin convulsions and aberrations, further complicating the issue.Even when joints operate on a complete revolute basis, synchronization does not guaranteeavoidance of singularities. Moreover, rigid attachments between straps and limbs mayinadvertently exacerbate misalignment issues, as forces acting on the limb may not distributeuniformly.Misalignment between an attachment and the human body poses significant engineeringchallenges, impacting both performance and safety aspects of the attachment system. From anengineering perspective, misalignment introduces biomechanical inefficiencies, leading todiscomfort, diminished functionality, and potential safety hazards.1. Biomechanical Inefficiencies: Misalignment disrupts the natural kinematic alignmentof the attachment with the human body, resulting in suboptimal force transmission andload distribution. This leads to biomechanical inefficiencies, such as increased jointloading, localized pressure points, and altered movement kinematics. Theseinefficiencies not only compromise user comfort but also limit the attachment's abilityto effectively augment human movement or provide assistance.2. Performance Degradation: In engineering terms, misalignment undermines theintended functionality and performance of the attachment system. Deviations fromoptimal alignment adversely affect the attachment's mechanical integrity, structuralstability, and load-bearing capacity. As a result, the attachment may fail to deliver thedesired level of support, stability, or assistance, diminishing its overall performanceand usability.3. Safety Implications: From a safety perspective, misalignment introduces risks of injuryor harm to the user. Mechanical misalignment can lead to unanticipated loadingconditions, stress concentrations, or structural failures within the attachment system,jeopardizing user safety. Moreover, misaligned attachments may induce unnatural bodypostures or movement patterns, increasing the likelihood of musculoskeletal injuries oraccidents.To address these engineering challenges, innovative solutions are required to mitigatemisalignment in human-robot interaction attachments.OBJECT OF THE INVENTION- Therefore, it is an object of the invention to propose a self-aligning attachments to countermisalignment in human-robot interaction which is capable of offering a dynamic andadaptable solution to mitigate misalignment.- Another object of the invention is to propose a self-aligning attachments to countermisalignment in human-robot interaction which effectively facilitates smooth and controlmovement, minimizing the risk of singularities and ensuring optimal force distributionacross the limb.- A further object of the invention is to propose a self-aligning attachments to countermisalignment in human-robot interaction which is able to enhance the overall performanceand safety of human-robot interaction attachments.SUMMARY OF INVENTIONThe present invention pertains to a novel human-robot interface module designed to mitigatemisalignment challenges encountered in conventional attachment systems. In robotics,misalignment poses significant engineering hurdles, particularly when robotic links operateexternally to the body, necessitating precise coordination with epidermal positions that remainstatic. Such misalignments are exacerbated when complete joint motion leads to singularities,points where robotic joints encounter limitations in movement. Conventional attachmentmechanisms, often reliant on rigid structures or straps, further compound the issue by exertinguneven forces on the limb, potentially leading to discomfort and skin complications.To address these challenges, the proposed human-robot interface module integrates a springand spherical bearing mechanism, offering a dynamic and adaptable solution to mitigatemisalignment. This innovative mechanism allows for seamless alignment between theattachment and the human body, compensating for variations in joint motion and epidermalpositions. By incorporating spring-loaded spherical bearings, the module facilitates smooth andcontrolled movement, minimizing the risk of singularities and ensuring optimal forcedistribution across the limb.BRIEF DESCRIPTION OF ACCOMPANYING DRAWINGS:Fig.101 - shows front view of arm brace attachmentFig 102 - shows front view of arm brace attachment with strap material path.Fig 103 - shows an isometric view of arm brace attachmentFig.104 - shows front view of arm brace attachment with human limb.Fig 105 - shows an isometric bottom view of arm brace attachment.Fig 106 - shows side view upside down of arm brace attachmentFig 107 - shows front view upside down of arm brace attachment.DETAILED DESCRIPTION OF A PREFERRED EMBODIMENT OF THEINVENTIONKEY FEATURES OF THE INVENTION- Adaptive Alignment: Leveraging the spring and spherical bearing mechanism, theattachment dynamically adjusts to individual variations in joint motion and epidermalpositions, ensuring precise alignment between the human limb and the robot interface inreal-time. This adaptive capability optimizes user comfort and therapeutic effectivenessduring human-robot interaction sessions.- Controlled Motion Dynamics: Through the integration of spring-loaded sphericalbearings, the attachment facilitates fluid and controlled movement across multiple axes,minimizing the occurrence of singularities and enhancing stability during interaction. Thiscontrolled motion dynamics mitigate the risk of abrupt movements or jerks, therebyimproving user experience and therapy outcomes.- Even Force Distribution: The mechanism ensures consistent force distribution across thelimb, mitigating the likelihood of discomfort, skin complications, and mechanical stressconcentrations. By maintaining uniform pressure, it promotes safer and more comfortableinteractions, reducing the potential for injury or discomfort during rehabilitation exercises.- Performance and Safety Optimization: By effectively addressing misalignment issues,the proposed attachment significantly enhances the overall performance and safety ofhuman-robot interaction attachments. This optimization not only enhances user comfortand efficiency but also ensures the usability and effectiveness of the attachment in variousrehabilitation settings, ultimately leading to improved patient outcomes and rehabilitationexperiences.Key Components of the Invention:- Solid Cuff Part: Featuring a pivoted attachment (FIG.107-521) with the top plate(FIG.101-503) of the Self-Aligning Attachment, accommodating human limb placementand allowing adjustment according to limb size.- Flexible Cuff Material Path: Beginning at the top plate position (FIG. 102-530), the cuffmaterial follows a unique path through the solid cuff part, Initially cuff material is takenthrough solid cuff part position FIG. 102 -1, the next position is FIG. 102-2 then next path positionis FIG. 102-3. The cuff material is then taken to the opposite side of solid cuff part position FIG.102-4, it is then taken through solid cuff part position FIG.102-5. The next position of cuff material pathfollows the FIG.102-6 and FIG.102-7 positions. FIG.104-9 and FIG.104-10 is position of cuffmaterial strap fixing male and female respectively. providing easy fixing of the human limbinside the Self-Aligning Attachment. Adjustment of the tightness is achieved bymanipulating the position of the attachment between the strap fixing male and female parts.- Top Plate and Bottom Plate: Connected via a sophisticated arrangement of four sphericalball mechanisms (FIG.101-513), providing two degrees of freedom to the top plate of theSelf-Aligning Attachment. The spring mechanism (FIG.101-508) restrains the freemovement of the top plate, ensuring rigidity while facilitating self-alignment to compensatefor misalignments between the human limb and the exoskeleton unit.- Spring Mechanism: Comprising two pairs of cross springs (FIG.106-508) and two pairsof springs (FIG.106-509), precisely positioned between the top and bottom plates of theSelf-Aligning Attachment. The cross springs are pivoted between specific positions(FIG.106-570, FIG.106-571, FIG.106-572, FIG.106-573) to provide controlled flexibility,while the springs offer additional support. This mechanism enables the storage of externalstress and strain forces, facilitating smooth and stress-free movement for the human limbduring interaction with the exoskeleton unit.The top plate(FIG.101-503) and bottom plate (FIG.101-502) of the self-aligning module areconnected via a sophisticated arrangement of four spherical bearing links, ensuring structuralintegrity and facilitating smooth movement. Concurrently, six springs, precisely positionedbetween the top and bottom plates, maintain the desired rigidity while allowing for controlledflexibility. The innovative design enables the top plate to move in response to misalignmentforces, defined by x and y axes on its surface and a z-axis perpendicular to it. Whenmisalignment forces are exerted on the bottom plate, they are distributed to the top plate. In thepresence of misalignment force vectors with x and y components, the top plate adjusts itsposition accordingly, effectively countering these forces. This dynamic response mitigatesmisalignment-related issues, preventing potential injuries that may arise from rigid structures.Solid cuff part (Fig 101 - 506,507) features a pivoted attachment (Fig 101-521) with the topplate (Fig 101 - 503) of the attachment. The human limb (Fig 101 - 590) is placed on the topplate, and the solid cuff part is adjusted according to the limb's size. The adjustment is possibledue to the pivoted arrangement between the solid cuff part and the top plate. The top plate andbottom plate (FIG.101-502) of the self-aligning attachment are connected using a spherical ballmechanism (FIG.101-513) and a spring mechanism (FIG.101-508). Four spherical ballmechanisms connect the top and bottom plates, providing two degrees of freedom to the topplate while maintaining a constant distance between the plates during motion.One end of cuff material is placed at top plate position as shown in FIG. 102 - 530. The flexiblecuff material path is in the order as explained below. Initially cuff material is taken throughsolid cuff part position FIG. 102 -1, the next position is FIG. 102-2 then next path position isFIG. 102-3. The cuff material is then taken to the opposite side of solid cuff part positionFIG.102-4, it is then taken through solid cuff part position FIG.102-5. The next position of cuffmaterial path follows the FIG.102-6 and FIG.102-7 positions. FIG.104-9 and FIG.104-10 isposition of cuff material strap fixing male and female respectively. This unique path of flexiblecuff material provides easy fixing of human limb inside this self-aligning attachment. Thetightness of human limb inside this self-aligning attachment is adjusted by adjusting theposition of attachment between strap fixing male and female part. In case of usual strapmechanism, the tightness is effective only in one direction, that is from top position of limbonly, but the unique path provides tightness from top and bottom side of the human limb.Positions FIG.104-9 (male) and FIG.104-10 (female) depict the strap fixing mechanism. Thisunique path of the flexible cuff material allows for easy securing of the human limb within theattachment. The tightness is adjustable by modifying the position between the strap fixing maleand female parts, providing balanced tightness from both the top and bottom sides of the limb.The spring mechanism includes two pairs of cross springs (FIG.106-508) and two pairs ofsprings (FIG.106-509), positioned on two sides of the self-aligning attachment. The crosssprings are pivoted between the top plate and bottom plate at positions FIG.106-570, FIG.106-571, FIG.106-572, and FIG.106-573. Additional spring pairs are arranged between positionsFIG.101-550, FIG.101-551, FIG.101-552, and FIG.101-553.The top plate and bottom plate (FIG.101-502) of self-aligning attachment is connected togetherwith the help of spherical ball mechanism (FIG.101-513) and spring mechanism (FIG.101-508). The one end of spherical ball mechanism is connected to top plate and other end isconnected to bottom plate. Total four such spherical ball mechanism connecting top plate andbottom plate. This arrangement of spherical ball mechanism is providing two degrees offreedom to the top plate of self-aligning attachment where the distance between top plate andbottom plate of the self-aligning attachment remains the same in each instant of two-degreemotion of the top plate. The free movement of the top plate is restricted using a springmechanism to give rigidity to the self-aligning attachment, it is provided to self-align the topplate to its home position once the external stress / strain force acted on the top plate is gone.The top plate adjusts such a way that it compensates any misalignments between human limband exoskeleton unit. The spring mechanism stores the external stress / strain acted on thehuman limb making smooth stress-free movement for human limb, the unique self-aligningmechanism is helping to achieve this. The spring mechanism comprises of two pair of crosssprings (FIG.106-508) on two side of the self-aligning attachment and other two side havingtwo pair of strings (FIG.106-509). The cross springs are pivoted between top plate and bottomplate of self-aligning attachment between positions FIG.106-570, FIG.106-571 and FIG.106-572, FIG.106-573. The other two pair of springs arranged between positions FIG.101-550,FIG.101-551 and FIG.101-552, FIG.101-553. The top plate of self-aligning attachment ishaving net zero force thus remains in the position until an external force is applied, the externalforce created disorientation of top plate is returned back to its neutral net zero force positionwhen that external force is removed. If this spring mechanism were not implemented, then theexternal unwanted forces to be carried by the human limb. Thus, this innovative arm bracemechanism provides a stress / strain free human limb robot symbiosis.

Claims

1. A self-aligning attachment to counter misalignment in Human Robot interaction, the said attachment comprising; - a solid cuff part (Fig 101 -506,507) pivotally attached (Fig 107 -521) to a top plate (Fig 101 - 503) of the arm brace mechanism, configured to accommodate human limb placement allowing adjustment according to limb size; - a flexible cuff material path follows a unique path starting at the top plate position, Fig 102 - 530 through the solid cuff part, Initially cuff material is taken through solid cuff part position FIG. 102 -1, the next position is FIG. 102-2 then next path position is FIG. 102-3. The cuff material is then taken to the opposite side of solid cuff part position FIG.102-4, it is then taken through solid cuff part position FIG.102-5. The next position of cuff material path follows the FIG.102-6 and FIG.102-7 positions. FIG.104-9 and FIG.104-10 is position of cuff material strap fixing male and female respectively. configured to provide easy fixing of the human limb inside the self- aligning attachment adjusting the tightness by manipulating the position of the attachment between the strap fixing male and female parts; - top plate and bottom plate connected through an arrangement of four spherical ball mechanism (Fig 101-513), providing two degrees of freedom to the top plate of the self- aligning attachment and a spring mechanism configured to restrain the free movement of the top plate, ensuring rigidity while facilitating self-alignment to compensate for misalignments between the human limb and the exoskeleton unit; - spring mechanism comprising two pairs of cross springs (FIG 106 - 508) and two pairs of strings (Fig 106- 509) positioned between the top and bottom plates of the self-aligning attachment; - characterized in that; leveraging the spring and spherical bearing mechanism, the attachment dynamically adjusts to individual variations in joint motion and epidermal positions, ensuring precise alignment between the human limb and the robot interface in real time, facilitating smooth and control movement, minimizing the risk of singularities ensuring optimal force distribution across the limb, wherein four spherical ball mechanisms connect the top and bottom plates to maintain a constant distance between the plates during motion, wherein the free movement of the top plate is restricted incorporating the spring mechanism to provide rigidity to the self-aligning attachment.

2. The self-aligning attachment as claimed in claim 1, wherein the spring mechanism comprising cross springs (Fig 106- 508) and springs (Fig 106 - 509) precisely positioned to store external stress / strains forces exerted on the human limb during interaction with the robot, wherein the attachment provides a dynamic adjustment of the top plate in response to misalignment forces, Characterized by X and Y axes on its surface and a perpendicular Z - axis (Fig 105 - axis) effectively distributing and countering misalignment force vectors((Fig 105 - Misalignment Vector) with X and Y components ensuring seamless adaption to varying misalignment scenarios, promoting stress / strain-free symbiosis between the human limb and the robot, enhancing overall interaction performance and user experience.

3. A method for facilitating stress / strain-free human-robot symbiosis using a self-aligning attachment, comprising the steps of: a. Adjusting the solid cuff part to accommodate the size of the human limb. b. Securing the human limb within the self-aligning attachment using a unique flexible cuff material path. c. Modifying the tightness of the human limb within the mechanism by adjusting the position of attachment between strap fixing male and female parts. d. Providing two degrees of freedom to the top plate while maintaining a consistent distance between the top and bottom plates using a spherical ball mechanism and a spring mechanism.