Exoskeleton Counterweight Balancing for Load Handling
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Solution Overview
Problem
Existing exoskeletons for load handling do not facilitate easy manipulation of loads and fail to address the issue of unequal weight distribution, leading to balancing problems for the wearer when stationary or walking.
Innovation Solution
An exoskeleton with a load handling system that includes leg supports, a rotatable trunk, hip joints, and a counterweight device, along with powered reel mechanisms and end-effectors, allowing the user to carry a load in front and automatically balance forces using a controller and sensors to reduce the effort required to handle heavy loads.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Ease of operation
If a fixed extension frame is used to hold the load, then the load can be supported, but the wearer cannot easily manipulate the load
Solution Approach 1:
The extension frame is made dynamically adjustable through a telescoping mechanism that allows the length to be changed while being worn. The frame can be extended to provide maximum support when needed and retracted to allow easier load manipulation, transforming a static structure into a dynamic one that adapts to different operational requirements.
Solution Approach 2:
The extension frame is divided into multiple telescoping sections that can be independently adjusted. This segmentation allows the frame to be modified in length to suit different load manipulation tasks, providing both structural support and operational flexibility without requiring a completely different device for each task.
2Ease of operation
If the load is attached to the front of the exoskeleton trunk, then load handling is enabled, but unequal weight distribution causes balancing problems
Solution Approach 1:
A counterweight device is attached to the back of the exoskeleton trunk to compensate for the front load. The counterweight can be adjusted to balance the moment created by the front load, thereby maintaining proper weight distribution and preventing balancing problems while still enabling effective load handling.
Solution Approach 2:
The counterweight device is positioned asymmetrically on the back of the trunk to create a balancing moment that counteracts the front load. This asymmetric placement allows the system to maintain stability while accommodating the front-mounted load, resolving the weight distribution issue without compromising load handling capability.
3Power
If a powered load manipulation device is attached to an overhead structure, then heavy loads can be manipulated, but the device is limited to a specific geographic area
Solution Approach 1:
The load manipulation capability is extracted from the fixed overhead structure and integrated into the wearable exoskeleton system. The powered reel mechanisms and end-effectors are mounted on the exoskeleton trunk, allowing the user to manipulate heavy loads anywhere without being constrained by overhead structures or a specific geographic area.
Solution Approach 2:
The exoskeleton system integrates multiple functions including load support, load manipulation, and weight distribution balancing into a single wearable device. This multi-functionality allows the user to handle heavy loads in various locations without requiring separate fixed infrastructure, thereby achieving both power and geographic versatility.
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 efficient and balanced load handling by amplifying human power and automatically adjusting the counterweight to maintain balance, reducing the effort needed to manipulate and carry heavy loads while ensuring stability during movement.
Implementation Method 1
an auxiliary mass of the counterweight device is shifted about a pivotal axis by a counterweight actuator in order to balance forces applied to the exoskeleton trunk by the counterweight device and a front load connected to the exoskeleton
Implementation Method 2
The human need only apply a force that is a reduced percentage of the overall load, and therefore the force applied by the human is effectively amplified
Data Source
AI summary
An exoskeleton, configurable to be coupled to a person, includes an exoskeleton trunk connected to first and second leg supports at respective hip joints, which allow for flexion and extension about respective hip axes. A counterweight device including an auxiliary mass is connected to the exoskeleton trunk through an actuator such that the auxiliary mass extends in a position behind the exoskeleton trunk. A front load is supported by the exoskeleton through a load bearing device including a load shifting device for selectively operating powered reel mechanisms to raise or lower the front load with respect to the exoskeleton trunk. The auxiliary mass can be selectively shifted with respect to the exoskeleton trunk to balance the moment created about the hip axes by the auxiliary mass and the moment created by a downward force of the load on the load bearing device.