Dual-Wire Driving Module for Wearable Hip and Ankle Assistance
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Solution Overview
Problem
Existing walking assistance robots and devices are cumbersome and inefficient in providing targeted support for hip and ankle joints, limiting their ability to enhance walking abilities for users with reduced muscular strength or mobility issues.
Innovation Solution
A driving module with a dual-wire mechanism and a blocking device that selectively increases tensile force, allowing for coordinated rotation of hip and ankle joints to assist in walking by transmitting torque efficiently through a wearable structure.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Ease of operation
If a wearable portion is provided in a form of a belt or band to attach a frame connected to the driving source, then the device can be worn over clothing, but the structure becomes thick and externally exposed
Solution Approach 1:
The driving source is nested within a boot-like housing that encloses the motor and decelerator. This nesting approach allows the driving components to be integrated into the wearable structure without requiring external belt or band attachments, thereby reducing overall device thickness and eliminating external exposure while maintaining wearability.
2Power
If the driving source is disposed at a position corresponding to a rotation axis of the joint, then force and torque can be transmitted effectively, but the device structure becomes more complex and bulky
Solution Approach 1:
A wire acts as an intermediary element to transmit force and torque from the driving source to the joint. The wire allows the driving source to be positioned away from the joint rotation axis, simplifying the overall structure while maintaining effective power transmission. The wire functions as a flexible mediator that connects the motor assembly to the joint mechanism.
3Device complexity
If a single driving source is used to assist both hip and ankle joints, then device complexity is reduced, but the ability to provide targeted support for each joint is limited
Solution Approach 1:
The single driving source is functionally segmented through the use of two separate wires, each independently connected to control a specific joint (hip and ankle). This segmentation allows one motor to provide targeted support to multiple joints by distributing its output through separate transmission paths, thereby maintaining device simplicity while achieving versatile joint-specific assistance.
4Ease of operation
If the wire is allowed to rotate freely, then joint movement is natural, but the driving source cannot effectively control the rotation direction
Solution Approach 1:
The wire transmission system dynamically adapts to joint movement requirements. The wire is tensioned during the power transmission phase to control rotation direction, and can go slack during the return phase to allow natural joint movement. This dynamic tensioning and slackening mechanism enables both controlled movement during assistance phases and natural movement during unassisted phases.
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 enables more natural and efficient movement of the knee and ankle joints, improving walking assistance by providing adjustable support and reducing the burden on the user's muscles, thus enhancing mobility and reducing energy consumption.
Implementation Method 1
a spring configured to provide a restoring force in a direction opposite the tensile force
Implementation Method 2
a decelerating gear set connected to the driving motor
Implementation Method 3
The push bars are pulleys that are rotatably attached to the main body
Data Source
AI summary
A driving device including a driving source configured to rotate forward or reversely, a first wire and a second wire connected to the driving source, a first joint connected to the first wire to rotate in a moving direction of the first wire, and a second joint connected to the second wire to rotate in a moving direction of the second wire is disclosed.