Modular Exoskeleton Motor Units for Passive-Active Mode Switching
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Solution Overview
Problem
Existing exoskeleton systems lack the ability for users to seamlessly transition between passive and active modes, relying on motor assistance or relying solely on user strength, and often incorporate cumbersome and costly biometric sensors that complicate system assembly and use.
Innovation Solution
The development of modular exoskeleton systems with hybrid power clutch transmission and wireless biometric control systems, allowing users to detach and reattach motor units, enabling a passive mode for user-driven movement without assistance and an active mode with enhanced strength through electromagnetic clutches and IoT technology via Bluetooth Low Energy connections.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Adaptability or versatility
If motor units are permanently fixed to the exoskeleton, then the exoskeleton provides continuous motor assistance, but the user cannot move freely without assistance and the system lacks adaptability
Solution Approach 1:
The exoskeleton system implements dynamic reconfigurability through detachable motor units that can be selectively connected or disconnected from joint assemblies. This allows the system to transition between active (motor-assisted) and passive (user-driven) modes, enabling users to freely move without assistance when motors are detached while providing motor support when attached.
Solution Approach 2:
The motor units are designed as separable modules that can be independently attached to or removed from the exoskeleton frame at joint assemblies. This segmentation enables flexible configuration where motor units can be selectively positioned at different joints or completely removed, providing adaptability in assistance levels and locations.
2Adaptability or versatility
If motor units are permanently integrated into the exoskeleton, then the system provides consistent performance, but the device complexity increases and customization becomes difficult
Solution Approach 1:
The exoskeleton is divided into modular components: a base frame with joint assemblies and detachable motor units. Each motor unit is designed as a self-contained module with standardized attachment interfaces, reducing the complexity of integration while enabling easy customization of motor placement and configuration at different joints.
Solution Approach 2:
The motor units are designed with universal attachment capabilities that allow them to be installed at multiple different joint locations on the exoskeleton frame. The standardized interfaces enable the same motor unit to serve multiple functions at different joints, simplifying the overall system while increasing customization options.
3Measurement precision
If traditional biometric sensors are used for control, then measurement data can be obtained, but the sensors are costly, cumbersome, and contain many wires that complicate system assembly
Solution Approach 1:
The control system extracts the sensing function from traditional external biometric sensors and integrates it directly into the motor units. The motor units incorporate sensors, processors, and wireless transmitters, eliminating the need for separate wired sensor systems and reducing overall system complexity while maintaining measurement capabilities.
Solution Approach 2:
The motor units are merged with control electronics and sensing capabilities into integrated assemblies. Each motor unit contains embedded sensors for detecting user intent, processors for controlling motor operation, and wireless transmitters for communication, combining multiple functions into a single compact module that reduces wiring and simplifies assembly.
4Reliability
If motor assistance is always active, then the user receives continuous support, but energy consumption increases and motor wear accelerates
Solution Approach 1:
Instead of continuous motor operation, the system enables periodic or on-demand motor assistance based on user needs. Users can detach motor units when they want to move without assistance or conserve energy, and reattach them when support is needed, creating an intermittent usage pattern that reduces energy consumption and motor wear while maintaining reliability when required.
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
Enables users to freely move without motor assistance while providing strength augmentation when needed, reducing energy consumption and wear, and simplifying system assembly and customization, with improved safety and adaptability through modular design and wireless connectivity.
Implementation Method 1
hybrid power clutch transmission... electromagnetic clutches... The hybrid transmission and attendant control scheme is enabled via one or more electromagnetic clutches that engage and take up torque capacity when powered
Data Source
AI summary
A modular passive-to-active exoskeleton system utilizes motor unit modules, an electromagnetic clutch power transmission system, and biometric control. The passive exoskeleton has a stamina-increasing “chair less chair” function, and optional use of magnetic ball and socket joints and knee torsion springs. To convert the exoskeleton system into an active robotic wearable device, modular attachments allow for motor units to be securely connected to the exoskeletal unit. This exoskeleton contains a knee motor unit that has a transmission system with an electromagnetic clutch that enables a passive mode, active mode, and/or hybrid mode. The motor units are controlled via wireless biometric motion sensors that measure limb joint angle and muscle activity. These motor units also communicate via wireless transmission with a central processing units of the exoskeleton. This central processing unit serves as a gateway for user feedback from an Internet-of-Things (IoT) device, such as a smart phone, tablet, or computer.