Exoskeleton Joint Alignment for Gravity Moment Reduction
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Solution Overview
Problem
Exoskeleton and ambulatory robots face challenges in providing high force outputs for prolonged periods due to power limitations, leading to reduced force output capabilities as a typical solution to manage power consumption.
Innovation Solution
The exoskeleton system is designed with a structural configuration that minimizes gravity-induced moments by strategically locating joints and support members to reduce the need for actuators, particularly in degrees of freedom like hip medial/lateral rotation and ankle medial/lateral rotation, allowing for reduced power requirements and actuator size.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Force
If high-output power supply is used to meet force output demands, then force output capability is improved, but portability and practicality deteriorate
Solution Approach 1:
The patent positions support members and joints to create counterbalancing moments that offset gravity-induced loads on the user. By strategically locating joints and support members, the system generates opposing moments that reduce the net force required from actuators, thereby maintaining high force output capability while reducing power consumption and improving portability.
2Use of energy by moving object
If actuators are reduced in size to lower power consumption, then energy efficiency is improved, but force output capability deteriorates
Solution Approach 1:
The exoskeleton uses strategically positioned support members and joints to create counterbalancing moments that reduce the force burden on actuators. This allows smaller, more energy-efficient actuators to maintain adequate force output capability by offloading gravitational loads through passive structural design.
Solution Approach 2:
The patent introduces a new spatial dimension for joint and support member positioning, specifically locating them to minimize gravity-induced moments. This dimensional repositioning creates mechanical advantage that reduces actuator size requirements while maintaining force output capability.
3Use of energy by moving object
If joints are positioned to minimize gravity-induced moments, then power consumption is reduced, but structural complexity increases
Solution Approach 1:
The patent positions joints and support members in specific spatial locations that minimize gravity-induced moments. By optimizing the spatial arrangement of structural components rather than increasing component count or complexity, the system reduces power consumption while maintaining manageable structural complexity.
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 configuration enhances the exoskeleton's force output and endurance by minimizing power consumption, allowing for more efficient operation with less power, reducing the need for large actuators and improving user comfort by minimizing induced moments.
Implementation Method 1
One or more of the plurality of joints can be located such that one or more parasagittal planes through the human extremity can intersect at least one of the plurality of joints to minimize a gravity-induced moment on the at least one joint during operation of the exoskeleton
Data Source
AI summary
An exoskeleton is disclosed. The exoskeleton can include support members rotatably coupled together about a joint. The joint can define a degree of freedom, which can correspond to a degree of freedom of a human extremity, such as hip medial/lateral rotation, ankle medial/lateral rotation, shoulder medial/lateral rotation, or wrist pronation/supination rotation. One or more parasagittal planes through the human extremity can intersect the joint to minimize a gravity-induced moment on the first joint during operation of the exoskeleton.