Elbow Exoskeleton With Energy Storage and Self-Locking Support
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Solution Overview
Problem
Existing passive exoskeletons are limited in adapting to varying loads, unable to collect kinetic energy, cannot mechanically lock or unlock the arm joint, and have unsafe, non-compact structures.
Innovation Solution
A passive energy-storage exoskeleton for the elbow joint incorporating an anti-gravity mechanism, coil spring mechanism, and self-locking mechanism that utilizes the user's power and mechanical advantage to enhance lifting capability, store and release kinetic energy, and lock the arm at desired positions, featuring a compact and safe design.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Reliability
If passive exoskeletons use externally mounted elastic elements, then they can provide restoring moments to reduce muscle load, but the structure becomes non-compact and unsafe
Solution Approach 1:
The elastic elements are integrated into the hollow cylindrical tube structure of the exoskeleton, with the elastic elements nested within the tube rather than mounted externally. This nesting approach achieves a compact structure while maintaining safety through proper structural integration.
Solution Approach 2:
The elastic elements and the structural tube are merged into a single integrated component, where the tube serves both as the structural framework and as the container for the elastic elements. This combination eliminates the need for separate external mounting while achieving both compactness and safety.
2Reliability
If passive exoskeletons are designed for invariable weights, then they can well equilibrate the weight, but they cannot handle materials of different weights without offline adjustment
Solution Approach 1:
The exoskeleton employs a passive dynamic mechanism where the elastic elements automatically adapt to different load weights through their inherent elastic properties. The system dynamically adjusts to varying loads without requiring offline reconfiguration, maintaining weight equilibration across different material weights.
Solution Approach 2:
The elastic elements change their mechanical response parameters based on the applied load, allowing the exoskeleton to adapt to different weights. The elastic deformation and restoring force automatically adjust according to the load magnitude, providing versatility without requiring structural changes.
3Reliability
If passive exoskeletons do not use actuators, then they avoid power source and safety issues, but they cannot collect kinetic energy of human body motions
Solution Approach 1:
The exoskeleton converts the kinetic energy that would otherwise be lost during human motion into useful elastic potential energy stored in the elastic elements. By capturing this energy through elastic deformation during movement, the system transforms what would be energy loss into a beneficial energy storage mechanism that assists lifting.
4Reliability
If mechanical lifting devices are used, then they can reduce muscle load, but they work slower than human hands and are not readily available
Solution Approach 1:
The exoskeleton is designed as a passive self-service system that automatically provides mechanical assistance without requiring external control or power sources. The elastic elements self-generate restoring forces based on their deformation, enabling the device to assist lifting operations autonomously at human speeds without sacrificing muscle load reduction.
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 increases lifting capability, reduces muscle fatigue and damage by equilibrating arm and device weights, storing and releasing kinetic energy, and providing a secure, compact, and cost-effective solution for lifting and carrying loads.
Implementation Method 1
a coil spring mechanism (7), comprising an energy-storage ratchet wheel (71), a spindle (72), a coil spring (73), a pawl B (74) and a pawl C (75)... The coil spring is configured for storing/releasing kinetic energy generated by swing of the arm of the user
Implementation Method 2
The cardan's gear mechanism includes a big ring gear (61) fixed to the lower arm unit (4) and a pinion (62) hinged to the upper arm unit (3), and the pinion (62) is meshed with the big ring gear (61)
Implementation Method 3
The lower-arm-unit self-locking mechanism (8) includes a self-locking ratchet wheel (81) and a pawl A (85)... The self-locking ratchet wheel includes a ratchet teeth portion (82) and a protruding edge portion (83, 84) which are alternately arranged at an outer edge of the self-locking ratchet wheel
Data Source
AI summary
A passive energy-storage exoskeleton for assisting elbow joint is provided, which includes an upper arm unit, a lower arm unit, and an elbow joint unit located therebetween, the upper arm unit is rotatably connected with the lower arm unit. The elbow joint unit includes an anti-gravity mechanism, a coil spring mechanism, and a lower-arm-unit self-locking mechanism. The anti-gravity mechanism generates an equilibrant moment to eliminate the influence of the weight of the arm of the user and the weight of the device on the elbow joint. The lower-arm-unit self-locking mechanism is configured for locking/releasing the lower arm unit at any specified angle of rotation. The coil spring mechanism is configured for capturing and storing kinetic energy generated by rotation and swing of the arm of the user and releasing the energy as required.