Length-Adjustable Exoskeleton Limb Structure
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Solution Overview
Problem
Existing lower limb structures for exoskeleton robots either have fixed lengths, which are not adaptable to various patient heights, or are length-adjustable but with limited range and reduced strength due to multiple retraction sleeves.
Innovation Solution
A length-adjustable lower limb structure featuring a thigh rod offset from the line connecting hip and knee joint drivers, allowing adjustment of the thigh rod length by positioning the knee joint assembly, and utilizing a single regulator for a wider range of adjustment while maintaining strength through a sliding sleeve and locking nut mechanism.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Ease of manufacture
If a fixed-length lower limb structure is used, then the manufacturing method is simple, but the structure is not suitable for patients at various heights
Solution Approach 1:
The lower limb structure transitions from a fixed-length design to a dynamically adjustable length design. The thigh rod can be adjusted in length by sliding the knee joint assembly along the rod and securing it at different positions using a locking mechanism, allowing the exoskeleton to adapt to patients of various heights while maintaining structural integrity through a single continuous rod rather than multiple segmented components
2Adaptability or versatility
If a length-adjustable lower limb structure with multiple retraction sleeves is used, then the adaptability to various heights is improved, but the strength of the lower limb structure is reduced
Solution Approach 1:
The adjustment mechanism is segmented into functional components (sliding knee joint assembly, locking mechanism with limit post and holes) that work together on a single continuous thigh rod. This segmentation allows for length adjustment while maintaining the structural integrity of the rod itself, avoiding the weakness that would result from multiple disconnected retraction sleeves
Solution Approach 2:
The length parameter of the thigh rod is made variable through the sliding and locking mechanism. The rod can be adjusted to different lengths by positioning the knee joint assembly at various locations along the rod and securing it with the locking mechanism, thereby changing the effective length parameter while maintaining the rod's structural strength
3Adaptability or versatility
If a length-adjustable lower limb structure with multiple retraction sleeves is used, then the length can be adjusted, but the adjustment process consumes time and energy of the patients
Solution Approach 1:
The adjustment mechanism is designed to be operated by the patient themselves through a simple locking mechanism. The patient can slide the knee joint assembly along the thigh rod and secure it at the desired position using the limit post and locking holes, enabling self-adjustment without requiring external assistance or consuming excessive time and energy
Data Source
AI summary
The disclosure relates to a lower limb structure, comprising: a hip joint assembly comprising a hip joint support, a hip joint driver fixed to the hip joint support, and a hip joint transmission handle driven by the hip joint driver; a thigh rod connected to the hip joint transmission handle and driven by the hip joint driver; a knee joint assembly comprising a knee joint fixing base, a knee joint driver fixed on the knee joint fixing base, and a knee joint transmission handle driven by the knee joint driver, wherein the knee joint fixing base comprises a sleeve and a connector which is connected to the knee joint driver, and the sleeve is slidably fixed on the thigh rod along an extension direction of the thigh rod; and a lower leg rod connected to the knee joint transmission handle and driven by the knee joint driver, wherein the thigh rod does not coincide with a line connecting centers of the hip joint driver and the knee joint driver, such that a movement range of the knee joint on the thigh rod regulator is larger. The disclosure also relates to an exoskeleton robot having the lower limb structure.