Self-Supported Exoskeleton Hip Actuation for 3D Motion
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Solution Overview
Problem
Current powered lower-body exoskeletons have a limited range of motion about the hip and ankle joints, leading to bulkier devices and instability, requiring additional mobility aids like crutches or walkers for balance, which discourages potential users due to inconvenience and effort.
Innovation Solution
A self-supported device with a base structure, motion generator, motion transfer system, and load bearing system that allows for adjustable positioning of a target joint, enabling three-dimensional orientation without stressing the target body, and can be used in series with additional active joints for more complex systems.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Device complexity
If current exoskeleton technologies actively guide one degree-of-freedom (DOF) hip-centered movements with absent or only passive allowance for one or both of the other DOFs, then the device structure is simplified, but the payload-to-weight ratio decreases and device size increases
Solution Approach 1:
The hip joint is segmented into three independent DOFs (flexion/extension, abduction/adduction, internal/external rotation), with dedicated actuators for each DOF. This segmentation allows parallel actuation architecture where each actuator independently controls one rotational degree of freedom, enabling full 3-DOF hip movement while maintaining manageable device weight through distributed actuation.
2Device complexity
If kinematic restrictions are imposed on human joint capabilities to simplify device design, then device complexity is reduced, but stability decreases and additional mobility aids are required
Solution Approach 1:
The exoskeleton device is designed with universal 3-DOF hip actuation capability that can accommodate various gait patterns and movement requirements. The parallel actuation architecture provides multi-functional support for different DOFs simultaneously, enabling the device to maintain user stability without requiring additional mobility aids like crutches or walkers.
3Stability of the object's composition
If additional mobility aids like crutches or walkers are used to maintain balance, then user stability is improved, but ease of operation decreases and user effort increases
Solution Approach 1:
The exoskeleton merges the functions of mobility support and balance maintenance into a single integrated device. The parallel actuation system combines support for all three hip DOFs in one unified structure, eliminating the need for separate mobility aids and thereby improving ease of operation while maintaining user stability.
Data Source
AI summary
Examples of a self-supported device for guiding motions of a target joint of a target body are disclosed. The device comprises a motion generator, a motion transfer system, a target body interfacing system, a load bearing system and a controller. The load bearing system comprises a plate connected to the motion transfer system and a network of joints and links configured to constrain the plate to rotate in three dimensions about a center of rotation of the load bearing system. A position of the center of rotation of the load bearing system being adjustable by adjusting a connection point between the links. The plate of the load bearing system is connected to an adjustable target body interfacing system that is configured to be mounted to the target body. The center of rotation of the load bearing system coincides (or nearly coincides) with a center of rotation of the target joint of the target body.