Adjustable Hip Joint Axis for Motion Assistance Apparatus
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Solution Overview
Problem
Existing motion assistance apparatuses fail to effectively support hip joint movements, particularly in elderly individuals and those with joint problems, by not adequately adjusting the axes of motion to match natural hip joint rotations, leading to inefficiency and discomfort.
Innovation Solution
A motion assistance apparatus with a side frame and joint assembly that adjusts the joint rotation axis and first rotational axis to intersect at the hip joint, allowing for three-degree-of-freedom rotational motion, including adduction/abduction, extension/flexion, and medial/lateral rotation, using a sliding and rotating mechanism powered by an actuator to align with the user's natural hip joint movements.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Adaptability or versatility
If the joint assembly and side frame use fixed axes, then the structure is simple, but the apparatus cannot adapt to different body shapes and sizes
Solution Approach 1:
The side frame is configured to rotate relative to the first support, allowing the first rotational axis to be adjusted dynamically. The joint assembly can also adjust its joint rotation axis position. This dynamic adjustability enables the apparatus to adapt to different body shapes and sizes while maintaining a relatively simple overall structure through controlled movement rather than multiple fixed configurations.
Solution Approach 2:
The apparatus allows changing of key parameters including the position of the joint rotation axis and the orientation of the first rotational axis. By adjusting these parameters, the system can accommodate various body types. The rotation mechanism between the side frame and first support enables parameter changes without requiring complete structural redesign.
2Loss of energy
If the axes do not intersect at the hip joint, then the structure is simpler, but the apparatus causes twisting and increases torque consumption
Solution Approach 1:
The system is designed so that the joint rotation axis and first rotational axis intersect at the hip joint, creating a feedback mechanism where the geometry of the mechanism itself ensures proper alignment. This geometric constraint provides natural feedback that prevents twisting and reduces torque consumption without requiring additional active control systems.
Solution Approach 2:
The rotatable connection between the side frame and first support allows the first rotational axis to be positioned such that it intersects with the joint rotation axis at the hip joint. This dynamic positioning capability ensures proper mechanical alignment that minimizes energy loss and prevents apparatus twisting during user movement.
3Ease of operation
If the sliding direction angle is not optimized, then the structure is simpler, but the apparatus does not match natural hip joint movements
Solution Approach 1:
The sliding direction of the joint assembly is configured at a specific angle relative to the ground when the user is in an upright state. This parameter optimization ensures that the apparatus matches natural hip joint movements during gait. The angled sliding mechanism translates user movement more naturally, improving ease of operation while maintaining a relatively simple sliding connection structure.
Data Source
AI summary
A motion assistance apparatus including a first support configured to support a waist of a user, a side frame connected to the first support and configured to cover at least a portion of a side of the waist, and a joint assembly connected to the side frame such that a location of the joint assembly is adjustable in a longitudinal direction of the side frame, and configured to be located at a part of a hip joint of the user is disclosed.