Elastic Exoskeleton Actuation via Wire Drive and Gear Switching
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Solution Overview
Problem
Existing wearable devices and exoskeleton robots require individual actuators, reducers, and batteries for each movement, leading to weight issues that affect cost, efficiency, and user convenience.
Innovation Solution
A device based on an elastic structure that supports human activities using a plurality of straps, elastic frames, wire actuators, and elastic wires, with a control module that predicts user movements and generates driving force profiles to control the wire actuators.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Reliability
If individual actuators, reducers, and batteries are linked to each movement in exoskeleton robots and soft suits, then specific movements can be supported, but the weight increases and impedes cost, efficiency, and user convenience
Solution Approach 1:
The patent merges multiple individual actuators, reducers, and batteries into a single integrated actuation system. Instead of having separate actuation units for each joint, the invention uses one actuator with a multi-gear transmission mechanism that can sequentially drive multiple joints (elbow, wrist, finger joints) through a single power source, thereby reducing overall weight while maintaining movement support capability
Solution Approach 2:
The patent creates a universal actuation system where a single actuator can perform multiple functions by sequentially driving different joints through gear mechanisms. The actuator serves as a multi-functional unit that can support various movements (flexion, extension, rotation) across multiple joints, eliminating the need for dedicated actuators for each movement
2Reliability
If individual actuators, reducers, and batteries are linked to each movement, then specific movements can be supported, but the device complexity increases
Solution Approach 1:
The patent combines multiple actuation components into a single integrated unit with a multi-gear transmission system. This merging reduces the number of separate components (actuators, batteries) while maintaining the ability to support specific movements through the gear-based sequential actuation mechanism
Solution Approach 2:
The patent employs a dynamic gear switching mechanism that allows the single actuator to sequentially engage different gears for different joints. This dynamic transmission system enables the actuator to adapt its output characteristics for different movement requirements, simplifying the overall system while maintaining movement-specific 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 device provides efficient and convenient support for human activities by reducing the weight and complexity of actuation systems, allowing users to perform physical tasks with enhanced safety and assistance.
Implementation Method 1
a first elastic wire connecting both end points where the first elastic frame is attached to the first strap; and a second elastic wire connecting both end points where the second elastic frame is attached to the second strap
Data Source
AI summary
Disclosed are devices, systems, and control methods based on elastic structures that support human activities. According to an embodiment of the present disclosure, a device based on an elastic structure that supports human activities may include a plurality of straps attached to a user's body; a first elastic frame coupled to the user's body through a first strap coupled to each of the user's left and right shoulder regions among the plurality of straps and a second strap coupled to the user's waist region; a second elastic frame attached to the user's body through the second strap among the plurality of straps and a third strap attached to the left and right knee areas of the user.