Exoskeleton Actuator Fall Control and Shock Damping
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Solution Overview
Problem
Robotic exoskeletons are prone to causing injuries during uncontrolled movements, such as falls, due to their rigid structure, which fails to absorb or dissipate energy effectively, leading to impact forces being communicated to the user.
Innovation Solution
The exoskeleton is equipped with a control system and sensors that detect uncontrolled acceleration, causing motion actuators to transition from a motive state to a shock-damping state during falls, dissipating energy and minimizing impact forces on the user.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Strength
If the exoskeleton uses a rigid structure to provide strength and support, then structural strength is improved, but the ability to absorb or dissipate energy during falls deteriorates
Solution Approach 1:
The exoskeleton structure transitions from a static rigid configuration to a dynamic configurable structure. The rigid members are connected through adjustable joints that can change their degrees of freedom based on operational mode. During normal operation, the structure maintains rigidity for strength, but during detected falls, the joints reconfigure to introduce compliance and energy dissipation pathways, resolving the contradiction between structural strength and impact absorption.
Solution Approach 2:
The system changes physical parameters of the structural members by modifying their rigidity characteristics. Through active control of joint configurations and actuator states, the exoskeleton transitions between high-rigidity states (for strength during normal use) and low-rigidity states (for energy absorption during falls). This parameter change allows the same structure to satisfy both contradictory requirements under different operating conditions.
2Ease of operation
If the exoskeleton uses motive elements to provide controlled movement, then mobility is improved, but the risk of injury during uncontrolled movements deteriorates
Solution Approach 1:
The exoskeleton incorporates sensors that continuously monitor operational status, acceleration, and movement control. This feedback system detects uncontrolled movements or falls and triggers automatic protective responses. The control system processes sensor data in real-time and activates safety mechanisms, creating a closed-loop system that reduces injury risk while maintaining mobility during normal operation.
Solution Approach 2:
The system prepares protective measures in advance by maintaining actuators in a ready state and continuously monitoring for fall conditions. When a fall is detected, the actuators automatically transition to damping mode before impact occurs, creating a preliminary protective action that counteracts the harmful effects of uncontrolled movement and reduces injury risk.
3Force
If the exoskeleton uses actuators to exert forces exceeding human strength, then user strength enhancement is improved, but the ability to function as energy dampers during falls deteriorates
Solution Approach 1:
The actuators are designed with multi-functionality, serving dual purposes: providing motive force during normal operation and functioning as energy dampers during falls. The same actuator components (motors, hydraulic systems, or pneumatic elements) can operate in propulsion mode to enhance user strength or switch to damping mode to dissipate impact energy, eliminating the need for separate systems and resolving the contradiction between force provision and energy dissipation.
Solution Approach 2:
The actuators dynamically change their operational characteristics based on system state. During normal operation, they provide controlled motive force with high output. Upon detecting a fall, they rapidly transition to a damping configuration where they absorb and dissipate energy through controlled resistance. This dynamic reconfiguration allows the same actuator to satisfy both contradictory requirements under different conditions.
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
This solution effectively reduces the risk of injury by automatically transitioning actuators to a damping state during falls, absorbing shock loads and preventing impact forces from being transmitted to the user, thereby enhancing user safety.
Implementation Method 1
In the second operational state, the one or more motion actuators are configured to function as energy dampers which dissipate a shock load exerted upon the exoskeleton
Data Source
Figure 1
Figure 2A~2C
Figure 3
AI summary
Method for controlling an exoskeleton (100) involves detecting an occurrence of an uncontrolled acceleration of at least a portion of the exoskeleton, as might occur during a fall. In response, the exoskeleton is caused to automatically transition at least one motion actuator (104a, 104b) from a first operational state to a second operational state. In the first operational state, the one or more motion actuators are configured to provide a motive force for controlled movement of the exoskeleton. In the second operational state, the one or more motion actuators are configured to function as energy dampers which dissipate a shock load exerted upon the exoskeleton.