Wearable Exoskeleton Collision Protection via Adaptive Height Control
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Solution Overview
Problem
Conventional wearable exoskeletons are heavy, difficult to don, and prone to durability issues due to frequent collisions with the ground during transportation and adjustment, requiring multiple assistants and increasing the risk of injury and damage to the device.
Innovation Solution
A wearable assistive device with an adaptive assistive and rehabilitative system that includes a main controller and actuated joints, allowing for controlled posture adjustments to prevent collisions with the ground during transportation and donning, using a combination of motors and sensors to adjust the exoskeleton's configuration based on height and shape changes.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Power
If the exoskeleton is made with a multi-joint structure and metal frame to provide assistive force, then the assistive capability is improved, but the weight increases to tens of kilograms or more
Solution Approach 1:
The exoskeleton is divided into multiple modular components including a main body, at least one leg, and a seat. Each component can be independently adjusted and positioned. The leg includes segmented elements (thigh, shin, foot) that can be independently controlled, allowing the system to reduce weight in non-load-bearing areas while maintaining structural integrity where needed.
Solution Approach 2:
The exoskeleton employs dynamic height adjustment capability through actuators that move the leg relative to the main body. The system transitions between extended and retracted states, allowing the weight distribution and center of gravity to be dynamically optimized. This dynamic adjustment reduces the effective weight that assistants must manage during transportation.
2Ease of operation
If the exoskeleton is transported and adjusted manually by assistants, then the device can be moved and configured, but the risk of injury to assistants and damage to the device increases
Solution Approach 1:
Before transportation or donning, the control unit automatically executes a protection routine that adjusts the leg to a safe position and activates collision detection. The system prepares protective measures in advance by positioning the leg to minimize collision risk and enabling sensors to detect potential harmful contacts before they occur.
Solution Approach 2:
The exoskeleton incorporates collision detection sensors that provide real-time feedback during transportation and adjustment operations. When a collision is detected, the control unit receives this feedback and automatically adjusts the leg position to prevent further damage. This closed-loop feedback system protects both the device and assistants by enabling responsive protective actions.
3Adaptability or versatility
If the height of the walking assistive shafts is adjusted manually during user wearing, then the device can be customized to fit the user, but the shafts may collide with the ground reducing durability
Solution Approach 1:
The exoskeleton performs self-protection during height adjustment operations. The control unit automatically monitors the leg position and ground proximity using collision detection sensors, and autonomously adjusts the leg to prevent collisions without requiring external intervention. This self-service protection mechanism maintains adaptability while preserving drive system durability.
Solution Approach 2:
The patent replaces manual mechanical adjustment with automated motor-driven actuation controlled by electronic sensors and a control unit. Instead of manual operation that may cause ground collision, the system uses electronic control with collision detection to automatically adjust heights, substituting mechanical manual adjustment with an intelligent automated system that prevents damage.
4Ease of operation
If multiple assistants are required to wear the exoskeleton on a sitting user, then the device can be properly positioned, but the complexity and time required increases
Solution Approach 1:
The exoskeleton automatically adjusts its configuration before and during the donning process. The control unit pre-positions the leg and seat to facilitate easy user transfer, and activates protection routines to prevent collisions during the donning operation. This preliminary preparation reduces the number of assistants needed while maintaining proper positioning.
Solution Approach 2:
The exoskeleton performs self-adjustment during the donning process, automatically positioning components and detecting collisions without requiring multiple assistants for manual adjustment. The system serves itself by autonomously managing its configuration and protection, reducing the human resources needed for donning.
Data Source
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AI summary
A wearable assistive device may perform a control operation to protect a drive system in a state in which it is supported on an adaptive assistive and/or rehabilitation device. The wearable assistive device may include an actuated hip joint providing a first assistive force depending on a height of the wearable assistive device and an actuated joint to generate a second assistive force. It may be possible to control the wearable assistive device in a way that prevents collisions or sudden impacts with the ground.