Active Exoskeleton Boot Power Layout for Cable and Loss Reduction
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Solution Overview
Problem
Existing exoskeletons with waist-mounted batteries face issues such as snag hazards, increased mass, power losses, and radio interference due to long cables, which hinder their performance and user comfort.
Innovation Solution
A local battery system is integrated into the exoskeleton, positioned near the knee, eliminating the need for external cables and reducing mass, while using a battery management system to optimize power delivery and safety.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Use of energy by moving object
If a waist-mounted battery system is used in exoskeletons, then power supply is provided, but snag hazards and safety issues occur due to long cables
Solution Approach 1:
The battery is extracted from the waist-mounted position and relocated to a local position near the knee joint, eliminating the need for long cables and associated snag hazards. This extraction principle removes the harmful element (long cable) while preserving the power supply function.
Solution Approach 2:
A local battery system acts as an intermediary power source positioned between the waist control system and the knee joint actuator, providing power locally without requiring long cables to connect the waist battery to the knee motor.
2Power
If a waist-mounted battery system with long cables is used, then power is delivered to the motor, but power losses increase
Solution Approach 1:
The battery is extracted from the remote waist position and placed locally near the knee joint, eliminating long cable connections that cause power losses. This reduces electrical resistance and energy dissipation while maintaining adequate power delivery to the motor.
Solution Approach 2:
Power supply is localized to the knee joint area where it is needed, rather than being centrally mounted at the waist. This local quality approach places the power source in optimal proximity to the load, minimizing energy losses in transmission.
3Use of energy by moving object
If a waist-mounted battery system is used, then power supply is provided, but radio interference occurs
Solution Approach 1:
The battery and its associated high-current electrical components are extracted from the waist-mounted position and relocated to a local position near the knee joint, removing the source of radio interference from proximity to wireless communication antennas typically located in the waist or back area.
4Weight of moving object
If a local battery system is integrated near the knee, then mass is reduced and user comfort improved, but device complexity increases
Solution Approach 1:
The exoskeleton system is segmented into modular components: a waist-mounted control system and a locally-mounted battery-motor assembly near the knee joint. This segmentation allows the heavy battery to be positioned optimally for comfort while distributing system functions across separate modules.
Solution Approach 2:
The battery and motor are merged into a single integrated local assembly near the knee joint, combining power supply and actuation functions in one compact unit. This reduces overall system complexity compared to having separate battery, motor, and control components distributed throughout the exoskeleton.
Data Source
AI summary
A system to augment motion via a battery-powered active exoskeleton boot is provided. The system can include a controller and an electric motor that generates torque about an axis of rotation of an ankle joint of the user. The controller can receive sensor data associated with activity of the exoskeleton boot during a first time interval. The controller can determine, based on the sensor data input into a model trained via a machine learning technique associated with one or more users performing one or more physical activities, one or more commands for a second time interval. The controller can transmit the one or more commands generated based on the model to the electric motor to cause the electric motor to generate torque about the axis of rotation of the ankle joint of the user in the second time interval.