Exoskeleton Cable Posture Adjustment for Mobility Control
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Solution Overview
Problem
Current exoskeleton systems require a walking aid and offer limited user control, restricting mobility and range of movement for individuals using them.
Innovation Solution
A bipedal, powered ambulatory robot with a cable posture adjustment system that connects frame members and responds to muscular functions, utilizing bead-filled, air-tight compartments for rigidity control, allowing for dynamic ambulation, balance control, and interaction with static and moving objects without the need for handheld aids.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Ease of operation
If current exoskeleton systems are used, then structural support is provided, but user mobility and control are restricted
Solution Approach 1:
The exoskeleton employs dynamic rigidity control where frame member rigidity is adjusted in real-time based on user movement phase and environmental conditions. The system transitions between rigid and compliant states to either support the user or allow natural movement, resolving the contradiction between structural support and mobility freedom.
Solution Approach 2:
The system incorporates sensors that continuously monitor user movement, position, and environmental factors, feeding this information back to control algorithms that automatically adjust exoskeleton stiffness and assistance levels. This closed-loop feedback enables the system to adapt to user needs without manual intervention.
2Stability of the object's composition
If frame member rigidity is increased, then structural stability is improved, but adaptability to movement is reduced
Solution Approach 1:
The frame members incorporate controllable rigidity elements that can dynamically adjust their stiffness properties. During static phases, the frame maintains high rigidity for stability; during movement phases, rigidity is reduced to allow natural motion, thus adapting to different operational requirements.
Solution Approach 2:
The system changes the rigidity parameter of frame members based on operational state. By varying the stiffness parameter in response to sensor input, the frame transitions between stable and compliant states, simultaneously achieving structural integrity and movement adaptability.
3Adaptability or versatility
If vacuum chambers are used for rigidity control, then frame member stiffness is adjustable, but device complexity increases
Solution Approach 1:
The exoskeleton uses pneumatic vacuum chambers filled with beads to control frame member rigidity. By applying vacuum pressure, the beads pack together to stiffen the frame; by releasing vacuum, the beads expand to reduce stiffness. This pneumatic mechanism provides simple, reliable rigidity control without complex mechanical linkages.
Solution Approach 2:
The vacuum chamber system controls rigidity by changing pressure parameters. The vacuum pressure level directly determines the stiffness of the frame member, providing a straightforward parameter-based control mechanism that simplifies the overall system architecture despite the added complexity of vacuum maintenance.
4Use of energy by moving object
If powered ambulation is implemented, then energy efficiency is improved, but control precision requirements increase
Solution Approach 1:
The powered ambulation system uses sensor feedback to continuously monitor user movement intent and environmental conditions, adjusting motor assistance in real-time. This feedback control enables energy-efficient movement by providing assistance only when needed and maintaining precise control through adaptive response to changing conditions.
Solution Approach 2:
The system incorporates user input mechanisms that allow the user to naturally control the ambulation rhythm and intensity. The exoskeleton responds to user initiation and adjusts its own operation accordingly, reducing the burden of precise external control while maintaining energy efficiency through automated assistance.
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
Enables consistent, energy-efficient mobility assistance with fall prevention and interference avoidance, allowing users to walk without external support by calibrating and controlling movement through node control units and sensor systems.
Implementation Method 1
a rigidity control device structured as a bead-filled, air-tight compartment that is in communication with a gaseous vacuum source. When gas is removed from this air-tight compartment, the compartment collapses to modify the rigidity of the associated frame member
Data Source
AI summary
Robotic mobility assistant exoskeleton with frame members, which are attached adjacent to biological joints, supplements relative movement between skeletal members. Mechanical joint defines a center of relative rotation of frame members about three mutually perpendicular axes with the center of relative rotation of frame members being displaced from the outer surfaces of skeletal members to correspond in position with the center of biological joint. Actuation devices including powered cable springs rotate frame members. Control system executes calibrated user specific posture sequences and activates power. Mechanical joint exhibits cylindrical guide surfaces defining a slidable or rotatable connection of frame members and has a radius intersecting the center of the biological joint. Node control network distributes computing load and reduces communications overhead. Map unit has object recognition system for monitoring environment. Standard posture data derived from rules of ambulation and posture provide positioning control, optimized by energy-timed margins for balance maintenance.