Exoskeleton Hip Joint Linkage for Aligned Motion and Single-Actuator Support
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Solution Overview
Problem
Conventional exoskeleton robots have misaligned rotation centers between the robot's hip joint mechanism and the wearer's hip joint, leading to discomfort and restricted motion, and require multiple actuators to support both flexion/extension and abduction/adduction moments, increasing weight and burden.
Innovation Solution
The exoskeleton robot employs a spherical four-bar mechanism for external/internal rotation joints and a four-bar mechanism for flexion/extension joints, aligning the rotation centers with the wearer's joints and using a single actuator to support both abduction/adduction and flexion/extension moments.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Ease of operation
If rotation joints are connected linearly in conventional exoskeleton robots, then the structure is simple, but the rotation center does not coincide with the wearer's hip joint center, deteriorating wearing comfort and restricting range of motion
Solution Approach 1:
The patent applies spherical four-bar mechanisms and curved surface links formed as parts of an imaginary sphere centered on the wearer's hip joint center. This spherical geometry enables the rotation center to coincide with the wearer's joint center, improving comfort and range of motion while maintaining structural feasibility through the curved link design.
2Device complexity
If only one actuator is used, then the device complexity is reduced, but only the flexion/extension moment is supported, making it impossible to support the abduction/adduction moment simultaneously
Solution Approach 1:
The patent designs a single actuator system that performs multiple functions by supporting both flexion/extension moments and abduction/adduction moments simultaneously. The four-bar mechanism configuration enables one actuator to generate the necessary moments for complete hip joint motion, eliminating the need for separate actuators for different motion planes.
Solution Approach 2:
The patent merges the functions of multiple actuators into a single actuator system. By combining the flexion/extension and abduction/adduction moment support capabilities into one actuator through the four-bar mechanism, the system reduces component count while maintaining the ability to support all necessary hip joint moments for walking.
3Adaptability or versatility
If an additional actuator is added to support abduction/adduction moment, then the moment support capability is improved, but the weight of the robot increases, deteriorating reactivity and imposing a heavy burden on the wearer
Solution Approach 1:
The single actuator is designed to provide multi-functional moment support, generating both flexion/extension and abduction/adduction moments through the four-bar mechanism. This eliminates the need for additional actuators that would increase weight, while still providing complete hip joint moment support necessary for natural walking.
Data Source
AI summary
The present disclosure provides an exoskeleton-type wearable robot. The exoskeleton-type wearable robot includes a first fixing unit configured to be worn on the body of the wearer, a first connection unit rotatably connected to the first fixing unit, a second connection unit spaced apart from the first connection unit and connected to the first connection unit via a first link assembly, and a second fixing unit connected to the arm or the leg of the wearer and connected to the second connection unit via a second link assembly.