Exoskeleton Foot Module Spring Segments
Find Innovative SolutionsGenerate Solutions
Solution Overview
Problem
Exoskeleton structures that provide force assistance to users are cumbersome and limit mobility due to the need for users to carry the structure and its associated load, which can include external elements and their own weight, and often fail to provide comfortable contact with the ground, especially on uneven terrain.
Innovation Solution
A foot module for exoskeletons featuring an ankle joint, dual support plates, and spring-like segments that compress when in contact with the ground, allowing load transfer and assisting in foot lifting, enabling comfortable contact with various terrains without modifying existing boots.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Force
If the load is transferred to the ground via plates disposed under the feet of the user, then the user is relieved of the load, but the user's mobility is reduced and comfort is compromised due to lack of ground contact
Solution Approach 1:
The foot module is divided into two functional segments: a first support plate for load bearing (disposable of ground contact) and a second support plate for ground interaction (enables mobility). This segmentation allows each part to specialize in its function while working together to resolve the contradiction between load transfer and mobility.
Solution Approach 2:
The boot acts as an intermediary element between the two support plates and the ground. It transmits forces from the first support plate to the second support plate while maintaining contact with the ground, thus enabling both load transfer and ground contact simultaneously.
2Force
If the load is transferred to the ground via a structure supported on the ground next to the feet of the user, then some load relief is achieved, but support on sloped or uneven ground is not obtained in all walking phases
Solution Approach 1:
The foot module employs a dynamic spring mechanism (formed by first and second segments) that automatically adjusts to terrain variations and walking phases. The spring can compress and expand to maintain contact with uneven or sloped ground, providing continuous support throughout the walking cycle regardless of terrain conditions.
Solution Approach 2:
The spring mechanism changes its physical parameters (compression/expansion) in response to terrain conditions and walking phase. This allows the foot module to adapt its load transfer characteristics dynamically, maintaining effectiveness on various terrains including slopes and uneven surfaces.
3Extent of automation
If the user carries the exoskeleton structure and associated load, then the exoskeleton can provide force assistance, but the user's freedom of movement is limited and additional load is generated
Solution Approach 1:
The invention extracts the ground contact function from the main exoskeleton structure and relocates it to the foot module. By transferring the load to the ground through the foot module's second support plate, the exoskeleton structure itself no longer needs to be carried by the user, thus freeing movement while maintaining force assistance capability.
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
Enhances user mobility and comfort by transferring the exoskeleton's load to the ground through the foot module, allowing contact with any terrain and reducing the burden on the user, while maintaining compatibility with standard and heavy-duty boots.
Implementation Method 1
a first segment (731) connecting the ankle joint (72) to the first support plate (732) and a second segment (733) connecting the first support plate (732) to the second support plate (735), the first segment (731) and the second segment (733) forming a spring capable of being compressed when the boot (9) is in contact with the ground and being expanded when the boot (9) is not in contact with the ground
Implementation Method 2
the ankle joint (72) comprises a first frame (721), a second frame (722) capable of turning with respect to the first frame (721) during flexure or extension movement of the ankle of the user, and an elastic element (723) disposed between the frames (721, 722), the elastic element (723) being capable of exerting a return force opposing the relative rotation of the second frame (722) with respect to the first frame (721)
Implementation Method 3
the second support plate (735) has a lower surface, designed to be in contact with the ground, equipped with an anti-skid coating
Data Source
AI summary
The invention relates to a foot module (7) for an exoskeleton structure, comprising an ankle joint (72), a first support plate (732) designed to be supported on the top of a boot of the user, when the foot module (7) is attached to the foot of the user, a second support plate (735) capable of being disposed under the sole of the boot, a first segment (731) connecting the ankle joint (72) to the first support plate (732) and a second segment (733) connecting the first support plate (732) to the second support plate (735), the first segment (733) and the second segment (735) forming a spring capable of being compressed when the boot is in contact with the ground (S) and being expanded when the boot is not in contact with the ground (S).