Ankle-Assisting Exoskeleton Support with X-Shaped Bracket
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Solution Overview
Problem
Existing wearable exoskeleton devices for lower limbs face issues such as interference with biological joints due to misalignment, restricted joint movement, and increased energy consumption due to the weight and inertia of the device, making them cumbersome for daily use.
Innovation Solution
The ankle-assisting exoskeleton support features a lightweight, X-shaped upper bracket and a lower bracket designed to match the human body's anatomy, providing assistance for dorsiflexion and plantar flexion movements without relying on tangential forces applied to the skin, thus reducing discomfort and improving mobility.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Strength
If full-leg rigid exoskeleton structures are used to provide external support, then device strength and support capability are improved, but device weight increases and interferes with biological joint movement
Solution Approach 1:
The exoskeleton is divided into modular components: a pelvic support module, a thigh support module, and a calf support module. Each module can be independently adjusted and positioned, allowing the device to provide necessary support while reducing overall weight compared to a full rigid structure. The segmentation enables selective placement of support elements only where anatomically appropriate.
Solution Approach 2:
Different parts of the exoskeleton have different structural properties optimized for their specific functions. The pelvic support uses a rigid plate structure for stability, while the thigh and calf supports use adjustable linkages with varying degrees of freedom to match local anatomical requirements. This local optimization provides sufficient strength where needed while minimizing weight elsewhere.
2Strength
If rigid exoskeleton brackets are used to provide structural support, then device strength is improved, but device complexity and interference with biological joints increase
Solution Approach 1:
The exoskeleton employs dynamic adjustment mechanisms that allow the device to adapt to the user's movement patterns in real-time. The thigh and calf support modules have adjustable linkages that can modify their degrees of freedom during movement, enabling the rigid structure to accommodate biological joint dynamics rather than restricting them. This dynamic adaptability reduces complexity compared to fixed rigid structures.
Solution Approach 2:
The device allows adjustment of key parameters such as linkage lengths, joint angles, and support forces to match the user's specific anatomy and movement requirements. By making these parameters可调 (adjustable), the exoskeleton can provide structural support without requiring complex fixed alignment, simplifying the overall device design while maintaining effectiveness.
3Weight of moving object
If soft exoskeleton devices rely on tangential forces on skin surface to assist joints, then device weight is reduced, but user comfort decreases due to skin friction and squeezing
Solution Approach 1:
The exoskeleton introduces rigid support brackets as intermediary elements between the soft wearable components and the user's body. These brackets are positioned at anatomical landmarks (pelvis, thigh, calf) and provide mechanical support without direct skin contact, eliminating friction and squeezing issues. The soft components serve only for positioning and comfort, while the rigid brackets provide the actual assistive force.
4Reliability
If full-leg rigid exoskeleton devices are used to provide comprehensive support, then support capability is improved, but ease of operation and daily wearability deteriorate
Solution Approach 1:
The exoskeleton is segmented into separate modular components that can be independently adjusted and positioned on the user's body. This modularity allows the device to be customized for different users and activities, improving ease of operation. The segmented design also reduces the overall bulk and weight compared to a full rigid structure, enhancing daily wearability while maintaining support capability where needed.
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 support enhances user comfort and mobility by reducing the height of the overall structure, minimizing interference with biological joints, and providing balanced assistance through a symmetrical X-shaped structure, while also simplifying the structural design and improving wearability.
Implementation Method 1
a torsion spring, an inner bearing seat, a bearing and a bearing cover; the outer bearing seat is fixed to the outer side of the lower end of the upper bracket, and the torsion spring, inner bearing seat, bearing and bearing cover are installed in sequence between the inside of the lower end of the upper bracket and the lower bracket
Data Source
AI summary
An ankle-assisting exoskeleton support includes an upper bracket and a lower bracket. The lower end of the upper bracket is rotatably connected with the rear end of the lower bracket. The upper bracket is fixed to the lower leg by a connecting belt used for being arranged to wrap around the lower human leg. The upper end of the upper bracket is located on the outer side of the lower human leg and is located below the knee. The lower bracket is arranged to warp around the human foot and assist in dorsiflexion and plantarflexion of the human foot. The upper bracket comprises a body. The upper end of the body extends upwards and outwards to form a pair of upper inner and outer brackets with radians. The lower end of the body extends downwards and outwards to form a pair of lower inner and outer brackets with radians.