Cantilever Spring Force Balancing Support
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Solution Overview
Problem
Existing force-balancing supports for movable arms, such as in exoskeletons and orthoses, have limited freedom of movement, constraining complex movements like bending and torso torsion due to mechanical constraints and active actuators.
Innovation Solution
A force-balancing support using a cantilever spring mechanism that allows the center of rotation to move relative to the base, enabling complex movements by transferring forces directly to the base while bypassing the musculoskeletal structure, thus reducing musculoskeletal load and mechanical power requirements.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Force
If active actuators or rigid mechanical constraints are used to provide counterbalancing force, then force balancing is achieved, but freedom of movement is limited
Solution Approach 1:
The patent changes the mechanical parameters of the support system by replacing rigid connections with a flexible cantilever spring mechanism. This allows the center of rotation to move dynamically, providing both force balancing and freedom of movement for complex arm motions including bending and torso torsion.
Solution Approach 2:
The invention introduces dynamic adaptability by allowing the center of rotation to move relative to the base through the flexible cantilever spring mechanism. This dynamic structure adapts to various arm positions and movements, enabling complex movements while maintaining force balancing without the constraints of rigid mechanical structures or active actuators.
2Stability of the object's composition
If rigid frame structures with fixed pivot points are used, then structural stability is maintained, but complex movements are constrained
Solution Approach 1:
The patent replaces rigid frame structures with a flexible cantilever spring mechanism that can bend and deform elastically. This flexible structure maintains structural stability through its elastic properties while enabling complex movements of the arm, including bending and torso torsion, by allowing the center of rotation to move dynamically.
3Force
If active actuators are used to drive the force balancing support, then precise force control is achieved, but mechanical complexity increases
Solution Approach 1:
The invention employs a passive force balancing mechanism where the cantilever spring mechanism automatically provides the necessary counterbalancing force through its elastic deformation. The system self-adjusts to maintain force balance without requiring active actuators, sensors, or control systems, thereby reducing mechanical complexity while maintaining precise force control.
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 solution provides enhanced freedom of movement for movable arms, reducing musculoskeletal discomfort and mechanical power needs, making it suitable for both human and robotic applications.
Implementation Method 1
A force-balancing support using a cantilever spring mechanism that allows the center of rotation to move relative to the base
Data Source
AI summary
To support a movable arm attached to a base and rotatable around a movable rotation point relative to the base, a force-balancing support comprises an arm attachment connectable to the movable arm and at least rotatable around a center of rotation of which a position is movable relative to the base attachment. The support is attachable to the base with a base attachment at a distance from the arm attachment. The support has a cantilever mechanism which transfers force exerted on the arm attachment by the movable arm, when coupled thereto, to the base attachment. The cantilever mechanism has a fixed end attached to the base attachment and a free, arm-side, cantilever end movable, e.g. by suitable flexing. The arm attachment is suspended with respect to the base attachment at the free end.