Exoskeleton Shoulder Joint Structure for Motion Synchronization
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Solution Overview
Problem
Existing exo-skeleton robots cause discomfort due to mismatched motions between the user's shoulder joint and the robot's links, leading to a poor sense of wearing.
Innovation Solution
A joint structure with interconnected links that mimic the 3-dimensional motion of the shoulder joint, featuring first to fourth connection links with intersecting rotation axes, allowing for a more ergonomic fit and smooth motion synchronization with the user's shoulder joint.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Reliability
If the exo-skeleton robot is mounted on both the shoulder and upper arm to provide assistant force, then the assistive function is improved, but the sense of wearing deteriorates due to mismatched motions between the robot's links and the user's shoulder joint
Solution Approach 1:
The patent transitions from a planar two-link mechanism to a three-dimensional four-link mechanism with rotation axes extending in multiple directions. The first and second rotation axes are spaced apart in one direction, while the third and fourth rotation axes are spaced apart in another direction, creating a spatial configuration that replicates the complex 3D motion of the shoulder joint, thereby resolving the motion mismatch issue
Solution Approach 2:
The patent employs four rotatable connection links with intersecting rotation axes that dynamically adapt to the user's shoulder joint motion. The mechanism allows for dynamic adjustment of link positions and orientations through the intersecting rotation axes, enabling the robot to synchronize with the natural dynamics of the shoulder joint while providing assistive force
2Device complexity
If simple link mechanisms are used in the exo-skeleton robot, then the device complexity is reduced, but the motion synchronization with the user's shoulder joint is insufficient
Solution Approach 1:
The patent adds spatial dimensionality to the link mechanism by configuring rotation axes in three-dimensional space rather than in a single plane. The first and second rotation axes are spaced apart in one direction, and the third and fourth rotation axes are spaced apart in another direction, creating a 3D configuration that accurately captures the complex motion patterns of the shoulder joint without excessive complexity
Solution Approach 2:
The patent combines multiple rotation axes (first, second, third, and fourth axes) into a unified four-link mechanism where all axes intersect in a common area. This merging of rotational degrees of freedom into an integrated structure enables accurate motion synchronization while maintaining relative structural simplicity through the coordinated interaction of the links
Data Source
AI summary
An embodiment joint structure includes a first connection link configured to be fixed to one side of a wearer, a second connection link coupled to the first connection link to be rotatable about a first rotation axis, a third connection link coupled to the first connection link to be rotatable about a second rotation axis spaced apart from the first rotation axis, and a fourth connection link, a first side of which is coupled to the second connection link to be rotatable about a third rotation axis and a second side of which is coupled to the third connection link to be rotatable about a fourth rotation axis spaced apart from the third rotation axis, wherein an imaginary first extension axis, an imaginary second extension axis, an imaginary third extension axis, and an imaginary fourth extension axis intersect each other in an intersection area.