Exoskeleton Foot Structure Pivot Mechanism
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Solution Overview
Problem
Existing exoskeletons fail to replicate human walking functions efficiently and naturally, leading to jerky movements and high energy consumption.
Innovation Solution
The exoskeleton features a foot structure with a pivot connection between front and rear platforms, allowing for a more fluid walking motion by enabling a controlled fall and energy storage through an elastically deformable member, along with an oblique ankle pivot axis for natural ankle movements, and a control device for intuitive operation.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Device complexity
If a single-part support plane is used in the exoskeleton foot structure, then the structure is simpler, but the walking movement becomes jerky and less natural
Solution Approach 1:
The support plane is divided into two separate platforms (front platform and rear platform) connected by a pivot link, allowing independent movement of each platform during walking. This segmentation enables the foot structure to replicate natural human gait patterns while maintaining structural simplicity through modular design
2Ease of manufacture
If a single-part support plane is used, then manufacturing is easier, but the walking speed and fluidity are reduced
Solution Approach 1:
The foot structure incorporates a pivot link that enables dynamic adjustment of the angle between front and rear platforms during the walking cycle. This dynamic mechanism allows the support plane to adapt to different phases of gait (heel strike, mid-stance, toe-off), thereby increasing walking speed and fluidity while maintaining ease of manufacture through simple rotational joints
3Device complexity
If the support plane leaves the ground parallel or with point/line support, then structural control is simpler, but the walking function reproduction becomes less faithful
Solution Approach 1:
By dividing the support plane into front and rear platforms connected by a pivot link, each platform can independently contact the ground at different times during the walking cycle. This segmentation allows faithful reproduction of natural gait phases (heel strike by rear platform, toe-off by front platform) while maintaining simple control through gravitational assistance and minimal actuation
4Stability of the object's composition
If a rigid support plane is used, then structural stability is higher, but energy efficiency during walking is reduced
Solution Approach 1:
The pivot link connecting front and rear platforms creates a dynamic mechanism that allows controlled rotation during the walking cycle. This dynamic design enables energy-efficient walking by leveraging gravitational potential energy changes and allowing the foot structure to adapt to terrain variations, thereby reducing overall energy consumption while maintaining adequate stability through the interconnected platform design
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
This design enhances the naturalness and efficiency of walking by reducing jerky movements, increasing step length, and lowering energy consumption, while providing a more comfortable and stable user experience.
Implementation Method 1
The foot pivot connection may include an elastically deformable member arranged to store energy when the front platform is folded relative to the rear platform. The elastically deformable member makes it possible to recover part of the potential energy which is released during a phase in a walking process which is characterized by a controlled forward fall.
Data Source
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AI summary
The invention relates to an exoskeleton in which a foot structure (308) includes a supporting plane (310) on which the foot of a person wearing the exoskeleton can rest when the foot is flat. The supporting plane comprises a front platform (903) and a rear platform (904). A foot pivot link (905) connects the front platform to the rear platform.