Wearable Robot Exoskeleton Torque Control via Pneumatic Actuators
Find Innovative SolutionsGenerate Solutions
Solution Overview
Problem
Current exoskeleton systems face challenges in providing efficient and adaptive support for users, particularly in terms of torque assistance, data collection, and integration with wearable technology, which limits their ability to enhance user mobility and monitor environmental conditions effectively.
Innovation Solution
The development of a wearable robot exoskeleton system that incorporates fluidic actuators, a power pack, and a control unit to provide real-time torque assistance and data collection, using sensors to gather information on user and environmental states, and communicate with external devices for enhanced functionality.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Force
If exoskeleton systems use traditional actuators and control mechanisms, then structural simplicity is maintained, but torque assistance efficiency and adaptability are insufficient
Solution Approach 1:
The patent employs a pneumatic artificial muscle actuator that uses pneumatic pressure to generate torque assistance. The actuator includes a pneumatic muscle, a first pulley, and a second pulley system that converts pneumatic force into rotational torque at the joint, providing efficient and adaptive torque support while maintaining relatively simple system architecture
Solution Approach 2:
The control unit receives data from sensors about user movement state and environmental conditions, processes this information, and adjusts pneumatic pressure to the actuator in real-time. This feedback mechanism enables adaptive torque assistance that responds to user needs while optimizing system performance
2Loss of information
If exoskeleton systems collect comprehensive user and environmental data, then monitoring capability is improved, but data processing complexity and communication requirements increase
Solution Approach 1:
The control unit serves multiple functions: it processes sensor data about user movement, collects environmental data from sensors, makes inferences about user state and environment, controls pneumatic actuator pressure, and communicates with external devices. This multi-functional design consolidates data processing capabilities into a single integrated unit, reducing overall system complexity while maintaining comprehensive monitoring
3Adaptability or versatility
If exoskeleton systems integrate multiple sensors and communication modules, then functionality and adaptability are enhanced, but device weight and power consumption increase
Solution Approach 1:
The patent integrates the control unit, power supply, pneumatic system components, and communication modules into a unified wearable system. The control unit consolidates data processing and control functions, while the pneumatic actuator combines multiple mechanical elements (pneumatic muscle, pulleys) into an integrated torque generation system, reducing overall weight compared to separate distributed components
Data Source
AI summary
A method of operating an exoskeleton system that includes obtaining at an exoskeleton device, sensor data from one or more sensors; and determining, by the exoskeleton device based at least in part on the sensor data, one or more states, including one or more of: at least one state of the exoskeleton system; at least one state of a user wearing the exoskeleton system; and at least one state of a location where the user and exoskeleton system are located. The method further includes determining, by the exoskeleton device, a response based at least in part on the determined one or more states; and generating the response by the exoskeleton device causing actuation of the exoskeleton system.