Exoskeleton Follow-up Control via Mechanical Linkage and Micro Switches
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Solution Overview
Problem
Exoskeleton robots face challenges with poor coordination and lagged motion due to complex structures and low precision in existing control methods, particularly in manual and master-slave control systems.
Innovation Solution
A servo control device with an upper and lower arm connected by a rotatable joint, featuring an active lock block and micro switches that allow for precise detection of human motion to drive synchronized and coordinated movements, using an electric cylinder for power transmission and limit bars for protection and guidance.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Ease of operation
If master-slave control is used with angle sensors to detect angular deviation, then degree of freedom and coordination are improved, but device complexity and cost increase due to complicated driving structures and high-precision sensors
Solution Approach 1:
The patent replaces complex mechanical angle sensors and differential motion detection systems with a simplified mechanical linkage system. The connecting rod directly transmits human limb motion to the exoskeleton joint without requiring high-precision angular measurement, substituting mechanical advantage for sensor-based control.
Solution Approach 2:
The patent extracts and eliminates the angle sensor component from the control system. By using direct mechanical coupling through the connecting rod, the system removes the need for angular deviation detection and processing, simplifying the overall control architecture.
2Ease of operation
If master-slave control uses angle sensors to detect angular deviation, then coordination is improved, but motion lag occurs particularly when sensor precision is low
Solution Approach 1:
The patent replaces sensor-based detection with direct mechanical transmission. The connecting rod creates a rigid mechanical linkage that instantly transmits human limb motion to the exoskeleton, eliminating the time delay associated with sensor detection, signal processing, and actuator response.
Solution Approach 2:
The mechanical linkage is pre-configured to directly couple human motion with exoskeleton motion. The connecting rod is positioned and dimensioned to ensure immediate force transmission as soon as human movement begins, eliminating detection and processing delays.
3Device complexity
If direct manual control is used with operating buttons, then device complexity is reduced, but coordination and synchronism deteriorate
Solution Approach 1:
The patent introduces a connecting rod as a mechanical intermediary between human limb motion and exoskeleton joint actuation. This intermediary passively transmits and coordinates motion across multiple joints, achieving synchronized movement without complex electronic control systems or multiple operating buttons.
Solution Approach 2:
The exoskeleton system uses the user's own body motion to automatically control the device. The connecting rod converts human limb movement into coordinated joint actuation without requiring external control inputs, making the system self-regulating and inherently coordinated.
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 better synchronicity and mobility in exoskeleton robots by accurately actuating micro switches based on human motion trends, simplifying structures, reducing costs, and improving coordination and economy.
Implementation Method 1
a power device is provided between the upper arm and lower arm to drive rotation
Implementation Method 2
the upper arm or lower arm is provided with two micro switches with opposite actuating directions to correspond with the active lock block, which can only trigger one of the micro switches at the same time
Implementation Method 3
The lower end of upper arm is connected to the upper end of lower arm by a rotatable joint
Data Source
AI summary
A follow-up control device for an exoskeleton robot includes an upper arm and a lower arm, and the lower end of the upper arm and the upper end of the lower arm are connected via a rotatable joint. An active press block capable of sliding in a direction perpendicular to an axis is arranged on the upper arm or the lower arm, the active press block is bonded with a human body, two micro switches are arranged on the upper arm or the lower arm in correspondence to the active press block, a power device for driving the rotation is arranged between the upper arm and the lower arm, and the two micro switches respectively control the forward and backward motion of the power device.