Exoskeleton Self-Propulsion Mode for Operator Relocation
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Solution Overview
Problem
Existing powered orthotic devices, such as exoskeletons, are ineffective in balancing or turning when not worn by a user, making it inconvenient for physical therapists or operators to relocate them due to their substantial weight and size.
Innovation Solution
An ambulatory exoskeleton with a control system that can switch between a worn and unworn propulsion mode, allowing the exoskeleton to be balanced and propelled by an operator using a handle or input surface, with parameters optimized for each mode to facilitate movement when not worn.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Strength
If the exoskeleton is designed with substantial weight and size for structural support and actuation, then it can provide sufficient strength and stability during operation, but it becomes difficult and inconvenient to relocate when not in use
Solution Approach 1:
The exoskeleton uses its own actuated braces and control system to propel itself during relocation, rather than requiring external lifting or carrying. The system activates its motors to take steps, allowing the device to transport itself with minimal human effort beyond initial positioning and balance maintenance.
Solution Approach 2:
The control system dynamically switches between different operational modes (worn mode and unworn propulsion mode) based on whether a user is present. This allows the exoskeleton to adapt its behavior and control parameters optimally for each scenario, enabling self-locomotion when unworn while maintaining structural integrity during operation.
2Productivity
If the exoskeleton uses actuated braces for locomotion, then it can effectively assist user movement during rehabilitation, but it cannot balance or turn itself when not worn by a user
Solution Approach 1:
The actuated braces are designed to serve dual functions: assisting user locomotion during rehabilitation when worn, and enabling self-propulsion when unworn. The same motors and mechanical structure that power user-assisted walking are utilized to propel the exoskeleton independently, eliminating the need for separate relocation mechanisms.
Solution Approach 2:
The control system modifies operational parameters based on the operational mode. When in unworn propulsion mode, the control system adjusts torque limits, step patterns, speed profiles, and balance control parameters to optimize for self-locomotion rather than user-assisted movement, enabling the system to adapt its behavior to the current operational context.
3Measurement precision
If the control system is designed for precise control during rehabilitation, then it can accurately execute therapeutic trajectories, but it lacks the capability to independently manage balance and steering during relocation
Solution Approach 1:
The control system dynamically adapts its functionality based on operational mode. During rehabilitation, it executes precise therapeutic trajectories with high measurement precision. During relocation, it transitions to a different control paradigm that prioritizes balance maintenance and navigation, utilizing the same hardware with different control algorithms and parameters.
Solution Approach 2:
The control system is designed to perform multiple functions: precise trajectory execution during rehabilitation and independent balance/steering management during relocation. The same sensors, processors, and actuators that enable accurate therapeutic movement are repurposed to manage self-locomotion, achieving versatility without adding separate dedicated systems.
Data Source
AI summary
An ambulatory exoskeleton can be selectively operated in at least two different modes, with one mode constituting an unworn propulsion mode, used when the exoskeleton is not worn by a user, and another mode constituting a default or worn propulsion mode, used when the exoskeleton is worn by a user. With this arrangement, a physical therapist, or other operator, wishing to move an unworn exoskeleton, can balance the unworn exoskeleton, while simultaneously utilizing a control system and actuators of the exoskeleton to propel the unworn exoskeleton. Therefore, the exoskeleton walks by taking steps forward, as commanded by the operator using any of a plurality of input arrangements, while the operator balances and steers the exoskeleton by physically guiding the exoskeleton using a handle or other interaction surface of the exoskeleton.