Powered Ankle Exoskeleton Using Phase-Specific Torque Bursts
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Solution Overview
Problem
Individuals with muscle control disorders, such as cerebral palsy, face significant challenges in maintaining ambulatory ability due to reduced muscle strength and increased metabolic cost of transport, leading to secondary health issues like metabolic dysfunction, cardiovascular disease, and chronic pain, as they experience a decline in physical activity and gait function.
Innovation Solution
A wearable powered exoskeleton system that provides dynamic assistance through robotic ankle actuation, using a motor, force-transmitting linkage, and sensor feedback to enhance walking economy by applying bursts of assistive torque during specific phases of the gait cycle, thereby reducing the metabolic cost of walking and encouraging volitional muscle activity.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Strength
If individuals with muscle control disorders engage in physical activity to maintain muscle strength, then muscle strength and coordination improve, but metabolic cost increases and energy expenditure rises
Solution Approach 1:
The patent introduces an external powered exoskeleton system as an intermediary that provides mechanical assistance to the user's lower limb movements. The motorized device acts as a mediator between the user's limited muscle output and the required movement demands, reducing the metabolic burden while maintaining or improving muscle strength through assisted physical activity
2Use of energy by moving object
If powered exoskeleton provides continuous assistance to reduce metabolic cost, then walking economy improves, but device complexity and energy consumption increase
Solution Approach 1:
The exoskeleton employs periodic, phase-specific assistance rather than continuous operation. The motor provides targeted torque bursts during critical phases of the gait cycle (such as stance and swing phases) based on sensor-detected user intent and gait phase, reducing overall energy consumption while maintaining effectiveness
Solution Approach 2:
The system incorporates sensors that detect user gait phase, intent, and movement dynamics, providing real-time feedback to the controller. This feedback mechanism enables the exoskeleton to adapt its assistance profile dynamically, providing help only when and where needed, thereby reducing device energy consumption and improving walking economy
3Productivity
If exoskeleton system uses sensor feedback and real-time control to provide precise assistance, then walking efficiency improves, but device complexity and control system requirements increase
Solution Approach 1:
The system utilizes multiple sensors (such as torque sensors, pressure sensors, or inertial measurement units) to detect user gait phase, intent, and movement characteristics in real-time. This feedback is processed by a controller that adjusts motor torque delivery dynamically, optimizing walking efficiency while maintaining manageable control system complexity through algorithmic strategies
4Use of energy by moving object
If motor provides bursts of assistive torque during gait cycle to improve walking economy, then metabolic cost reduces, but precision in timing and force application increases difficulty
Solution Approach 1:
Real-time sensor feedback on gait phase and user intent enables the control system to precisely determine the optimal timing for torque application. The controller continuously monitors user movements and adjusts motor output accordingly, achieving precise timing and force application without excessive system complexity
Solution Approach 2:
The exoskeleton delivers assistive torque in periodic bursts synchronized with the user's gait cycle phases. By timing motor activation to coincide with critical moments in walking (such as push-off or swing initiation), the system reduces metabolic cost while maintaining natural gait patterns
Applied Scientific Principles
This section explains which scientific principles are used to turn an abstract innovation direction into a practical engineering solution.
Function Achieved in This Case
The exoskeleton system improves walking efficiency and maintains or augments muscle strength, leading to increased physical activity, reduced metabolic cost, and prolonged ambulatory ability, with potential benefits for rehabilitation and overall health.
Implementation Method 1
a motor, electrically coupled to the battery... The motor may be configured to receive power from the battery and provide physical assistance to the user
Implementation Method 2
The sensor may be coupled to the rotational bearing or the second arm, and the sensor may be configured to measure a torque applied to the sensor or a pressure applied to the sensor
Implementation Method 3
The rotational bearing may rotationally couple the first arm to the second arm
Data Source
AI summary
A powered exoskeleton is designed to provide assistance to a user, where the powered exoskeleton may have power-generating elements in one location and power-applying elements in another location, so that a user can easily wear the powered exoskeleton.