Exoskeleton Body Interface with Adjustable Lumbar Support
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Solution Overview
Problem
Existing exoskeletons face challenges in providing adjustability and proper placement over the hip and back of users, leading to discomfort and potential skin wounds due to inadequate support and flexibility, especially in the lower back region, where forces and torques are not effectively managed.
Innovation Solution
A body interface with a lumbar support system that uses an anatomically-shaped non-stretch textile suspended relative to a rigid frame, providing tensioning capabilities to conform to the user's shape, reduce pressure points, and distribute forces evenly, combined with a belt tensioning system for easy donning and doffing, and modular extensions for enhanced support.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Strength
If a rigid frame is used to provide structural support for the exoskeleton, then the exoskeleton can effectively transmit forces and support actuators, but it causes discomfort and pressure points on the user's soft tissue
Solution Approach 1:
A compliant lumbar support interface is introduced as an intermediary element between the rigid exoskeleton frame and the user's lumbar region. This interface comprises a rigid backplate coupled to the frame and a compliant cover that contacts the user's back, allowing the rigid structure to transmit forces while the compliant material distributes pressure and prevents tissue damage
Solution Approach 2:
The lumbar support interface uses a compliant cover made of flexible material that conforms to the user's back contours. This flexible shell allows the rigid frame to maintain structural integrity for force transmission while the compliant surface adapts to soft tissue geometry, eliminating pressure points
2Stability of the object's composition
If the body interface is made rigid to provide stable support, then the exoskeleton can maintain proper placement, but it cannot adapt to dynamically changing user dimensions and contours
Solution Approach 1:
The lumbar support is divided into two functional segments: a rigid backplate that provides stable anchor points for force transmission and a compliant cover that adapts to user contours. This segmentation allows each part to perform its specialized function - stability and adaptability respectively
Solution Approach 2:
The compliant cover is designed to dynamically adapt to changes in user posture and dimensions during movement. The material's elasticity allows it to deform with the user's back while maintaining contact, providing continuous adaptation without sacrificing overall placement stability
3Productivity
If the exoskeleton components are positioned to assist skeletal motion, then the actuator can effectively drive movement, but the moving parts abut or rub against the user's soft tissue causing skin wounds
Solution Approach 1:
The compliant lumbar support interface acts as a mediator between the moving exoskeleton components and the user's back. It allows the actuators to effectively assist skeletal motion through the rigid frame while the compliant material prevents direct contact and friction between moving parts and soft tissue
Solution Approach 2:
The compliant cover provides preemptive protection by creating a cushioning layer between the exoskeleton components and the user's skin before any rubbing or abrasion can occur. This protective interface is in place throughout the range of motion, preventing skin wounds before they happen
Data Source
AI summary
A body interface comprises a panel, and a lumbar support and may be configured to attach to an exoskeleton such as a leg/hip assist mechanism. The body interface has an adjustable tension provided by either a tensioning device or by the properties of materials in the panel and the lumbar support. Tension in the body interface allows the lumbar support to comfortably and dynamically contact a user's body while the panel cooperates with the leg/hip assist mechanism. First and second arms may extend from lateral portions of the panel to define with first and second belt members a circumference around the user.