Joint Exoskeleton Drive Mechanism for Compact Multi-DOF Motion
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Solution Overview
Problem
Conventional joint auxiliary driving mechanisms are limited in satisfying joint space motion requirements, incur high manufacturing costs, and are bulky, making them unsuitable for effective joint rehabilitation and robotic applications.
Innovation Solution
A joint exoskeleton auxiliary driving mechanism with a modular design incorporating gear members, rotating and linear drivers, and motion assemblies, allowing for two or three degrees of freedom motion, featuring a compact configuration, precise strength control, and integration of sensors for enhanced performance.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Reliability
If a conventional joint auxiliary driving mechanism is used, then the joint rehabilitation function is provided, but the manufacturing cost, weight, and occupied space are increased
Solution Approach 1:
The patent divides the joint auxiliary driving mechanism into modular components: a driving module containing a motor assembly, a transmission module with gear structures, and a connecting module. This segmentation allows each component to be optimized independently, reducing overall weight while maintaining functionality.
Solution Approach 2:
The patent employs nested structural design where the linear driving assembly is integrated within the rotating driver structure, and the gear members are positioned concentrically. This nesting reduces the occupied space and minimizes the overall weight of the mechanism.
2Reliability
If a conventional joint auxiliary driving mechanism is used, then the joint rehabilitation function is provided, but the occupied space is increased
Solution Approach 1:
The patent transitions from conventional planar mechanism layouts to a three-dimensional spatial configuration. The linear driving assembly operates in an axial direction perpendicular to the rotating driver's rotation plane, effectively utilizing vertical space and reducing the horizontal footprint.
Solution Approach 2:
The patent employs nested structural design where the linear driving assembly is integrated within the rotating driver structure, and the gear members are positioned concentrically. This nesting reduces the occupied space and minimizes the overall weight of the mechanism.
3Reliability
If a conventional joint auxiliary driving mechanism is used, then the joint rehabilitation function is provided, but the manufacturing cost is increased
Solution Approach 1:
The patent designs the driving module to perform multiple functions: the motor assembly provides both rotational and linear driving capabilities, and the gear structures serve both transmission and structural support roles. This multi-functionality reduces the total component count and simplifies manufacturing.
Solution Approach 2:
The patent combines the rotating driver and linear driving assembly into an integrated module, where the first driving rod of the rotating driver serves as part of the linear driving mechanism. This merging eliminates the need for separate components and reduces manufacturing complexity.
4Reliability
If a conventional joint auxiliary driving mechanism is used, then the joint rehabilitation function is provided, but the action flexibility is limited
Solution Approach 1:
The patent implements dynamic adjustment capabilities through the linear driving assembly that can modify the position and orientation of the motion assembly in real-time. This allows the mechanism to adapt to different joint rehabilitation requirements and provide flexible motion control.
Solution Approach 2:
The patent designs the driving module to perform multiple functions: the motor assembly provides both rotational and linear driving capabilities, and the gear structures serve both transmission and structural support roles. This multi-functionality reduces the total component count and simplifies manufacturing.
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
The mechanism achieves structural simplification, weight reduction, and increased action flexibility, enabling effective rehabilitation of human and robotic joints while ensuring cost-effectiveness and secure operation.
Implementation Method 1
The first gear member engages with the first rotating driver
Implementation Method 2
The first linear driving assembly has a first power output axial direction and a first power output element. The first power output element is able to move along the first power output axial direction.
Data Source
AI summary
A joint exoskeleton auxiliary driving mechanism has a first driving module. The first driving module has a first gear member, a first connecting member, a first rotating driver, a first linear driver, and a first motion element. The first connecting member is disposed on a side of the first gear member. The first rotating driver is disposed on the first connecting member and engages with the first gear member. The first linear driver is disposed on the first connecting member. The first motion assembly is connected to a first power output element of the first linear driver. The joint exoskeleton auxiliary driving mechanism has two degrees of freedom motion function such as forward rotation, reverse rotation, and dorsiflexion or extension, and has the advantages of structural simplification, precise strength controlling, lightweight, and miniaturization.