Exoskeleton Mechanism with Longitudinal Motors and Segmented Frames
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Solution Overview
Problem
Conventional exoskeleton mechanisms are bulky, difficult to wear and remove, and apply impractical forces due to their design, which includes a ring-type guide rail and protruding motors, disrupting movement and making them inconvenient for both humans and robots.
Innovation Solution
The exoskeleton mechanism features a dense design with motors mounted in the length direction of frames, eliminating side protrusions and using adaptive modules with strain gauges to measure applied forces, allowing for easy donning and doffing and preventing excessive force application, while maintaining stability and movement efficiency.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Reliability
If a ring-type guide rail is used in the exoskeleton mechanism, then the structure provides guidance and support, but the volume becomes great and it is not easily worn or taken off by the patient
Solution Approach 1:
The exoskeleton is divided into multiple separate frames (first frame, second frame, third frame) that can be independently positioned and connected. This segmentation allows the structure to provide support while reducing the volume of any single component and enabling easier donning and doffing.
Solution Approach 2:
The hinge unit enables dynamic rotation between frames, allowing the exoskeleton to adapt to movement while maintaining structural support. This dynamic capability replaces the static ring-type guide rail with a more compact, movable connection system.
2Power
If motors are formed to protrude to the side of the frame, then the motors can be mounted to drive the frames, but the exoskeleton mechanism has a great volume and designing is difficult
Solution Approach 1:
The motor's rotary shaft is oriented in the length direction of the frame rather than protruding sideways. This dimensional reorientation allows the motor to be integrated within the frame's longitudinal space, reducing lateral volume and simplifying the overall design while maintaining driving capability.
3Ease of operation
If the exoskeleton mechanism is configured to assist joint movement, then it provides movement assistance, but it may apply impractical force to the wearer if not precisely operated and detected
Solution Approach 1:
Strain gauges are mounted on the links to detect forces in real-time, providing feedback about the actual load conditions. This feedback enables precise control of the motor-driven frames, ensuring that assistance forces remain practical and safe for the wearer during movement.
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 solution enables convenient and safe operation by reducing bulk, allowing for precise force measurement and distribution, thus enhancing user mobility and protecting against excessive forces, while maintaining stability and efficient movement.
Implementation Method 1
an adaptive module, on which a strain gauge is mounted, may be mounted to the rotary shaft of the first motor
Data Source
AI summary
An exoskeleton mechanism according to the present disclosure includes: a fixed frame positioned to correspond to an upper physique; a rotatable frame positioned to correspond to a lower physique and coupled to the fixed frame by a hinge unit to be rotatable in the vertical direction; a support frame for supporting a terminal; a first motor mounted to the fixed frame and connected to the rotatable frame to drive the rotatable frame to rotate in the vertical direction; motors mounted to the rotatable frame and connected to the support frame to drive the support frame to rotate in the vertical direction and in the horizontal direction and rotate around an axis (roll axis) of the lower physique; links for connecting the first motor and the rotatable frame; and links for connecting the motors and the support frame.