Exoskeleton Shoulder Support via Flexible Linkage
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Solution Overview
Problem
Existing exoskeleton designs struggle to replicate the complex movement patterns of the shoulder joint with minimal technical effort, particularly in providing unobstructed raising of the shoulder during arm movement.
Innovation Solution
A system utilizing a multi-link chain that transmits vertical forces to a support structure via a flexible structure over the shoulder, allowing the actuator to move in a horizontal plane while being guided by a deformable element that spans the shoulder, preventing vertical force transmission and maintaining a compact design.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Adaptability or versatility
If a hinge design with serially coupled elements is used to replicate shoulder movement, then the movement patterns can be replicated, but the device complexity increases due to the high complexity of the shoulder girdle
Solution Approach 1:
The system divides the shoulder support function into separate modular components: a pelvic element for lower body attachment, a spinal element for force transmission, and a shoulder element for upper body support. This segmentation allows each component to be optimized independently while collectively addressing the complex shoulder movement requirements without requiring a complete replication of the entire shoulder girdle structure.
Solution Approach 2:
The invention extracts the essential function of shoulder support from the complex shoulder girdle structure itself. Instead of attempting to replicate all movement patterns of the entire shoulder girdle, the system isolates and supports only the critical arm movement function, leaving the natural shoulder girdle movements unchanged and unobstructed.
2Manufacturing precision
If the actuated horizontal axis is aligned with the pivot point of the humerus and shoulder roof, then the movement replication is improved, but the device complexity and alignment precision requirements increase
Solution Approach 1:
The flexible structure acts as an intermediary element between the rigid link chain and the shoulder joint. This flexible component absorbs alignment imperfections and allows for natural shoulder movement without requiring precise alignment of the actuated axis with the humerus pivot point, thereby reducing manufacturing and alignment precision requirements.
3Ease of operation
If a rigid structure is used to guide the link chain movement, then the movement control is improved, but the device complexity increases and shoulder raising is obstructed
Solution Approach 1:
The system employs a flexible structure instead of a rigid guide mechanism. This flexible component dynamically adapts to the user's shoulder movements, allowing natural raising and positioning of the shoulder while still providing sufficient guidance to the link chain. The flexibility eliminates the need for complex rigid guiding structures that would obstruct shoulder movement.
4Force
If vertical forces are transmitted through the arm of the user, then the force transmission is improved, but the user fatigue and strain increase
Solution Approach 1:
The flexible structure serves as an intermediary that redirects vertical force transmission away from the user's arm. Instead of forces being transmitted through the arm bone, the flexible structure provides a alternative path that allows vertical forces to be managed by the support system itself, reducing strain on the user's arm while maintaining effective force transmission to the pelvic element.
Data Source
AI summary
A system having an arrangement for supporting an arm of a user is disclosed. The arrangement has an actuator, which is connected to a shoulder element by a joint chain. The joint chain is designed to extend along the shoulder blade of a shoulder of the user and to introduce vertically acting forces into the shoulder element. Moreover, the joint chain is guided by a flexible structure that extends over the shoulder of the user. By virtue of the deformability of the flexible structure, it is possible to ensure that a lifting of the shoulder, resulting from a lifting of a hand of the user, is not impeded.