Exoskeleton Leg Locking Mechanism for Squatting Support
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Solution Overview
Problem
Existing exoskeleton systems fail to provide effective support during knee flexion maneuvers like squatting and lunging while allowing free movement during other activities such as walking.
Innovation Solution
A leg support exoskeleton with a constraining mechanism that has two operational modes: a constrained mode for assisting knee flexion by providing a force support, and an unconstrained mode that allows free movement during other maneuvers.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Reliability
If the exoskeleton provides continuous force support during knee flexion, then support during squatting and lunging is improved, but movement freedom during walking and other activities is impeded
Solution Approach 1:
The constraining mechanism transitions between constrained and unconstrained modes dynamically based on the wearer's activity state. During squatting or lunging, the mechanism constrains the force generator to provide rotational support. During walking or other activities, the mechanism releases the constraint, allowing the force generator to move freely and not impede natural motion. This dynamic switching resolves the contradiction between providing reliable support when needed and maintaining movement freedom when the support is not required.
2Force
If the constraining mechanism is always in constrained mode, then support during knee flexion is maximized, but interference during other maneuvers increases
Solution Approach 1:
The constraining mechanism operates periodically, switching between constrained and unconstrained states based on the cyclic nature of human activities. During periods when squatting or lunging is detected, the mechanism applies constraint and support force. During periods when walking or other non-squatting activities occur, the mechanism releases the constraint. This periodic switching ensures maximum support force is applied only during the relevant activities while eliminating harmful interference during other movements.
3Stability of the object's composition
If the force generator is always constrained to rotational motion, then support during flexion is consistent, but freedom of motion during extension and other maneuvers is reduced
Solution Approach 1:
The constraining mechanism dynamically adjusts the degree of constraint on the force generator based on the detected activity state. During squatting or lunging, the mechanism maintains consistent rotational constraint to provide stable support. During walking, stair descent, or other maneuvers, the mechanism releases the rotational constraint, allowing the force generator to move freely in multiple directions. This dynamic adjustment resolves the contradiction between maintaining support consistency during relevant activities and ensuring motion freedom during other activities.
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
The exoskeleton effectively supports the wearer during squatting and lunging by resisting knee flexion in the constrained mode, while allowing unrestricted movement during walking and other activities in the unconstrained mode.
Implementation Method 1
each force generator is selected from a set consisting of a gas spring, compression spring, coil spring, leaf spring, air spring, tensile spring, torsion spring, clock spring and combinations thereof
Data Source
AI summary
An exoskeleton leg is wearable by a person. The exoskeleton includes a thigh link configured to move in unison with the thigh of the person, a shank link rotatably coupled to the thigh link and comprising at least one tooth, and a locking block coupled to the thigh link and comprising a locking face. Moreover, when the at least one tooth of the shank link contacts with the locking face, the shank link is prevented from flexion motion relative to the thigh link, but is allowed to extend relative to the thigh link.