Exoskeleton Shoulder Module Sliding Pivot Mechanism
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Solution Overview
Problem
Existing exoskeleton structures for force assistance lack the necessary flexibility and mobility to accommodate the complex six degrees of freedom in the shoulder joint, often being bulky and impeding user mobility, especially in tasks requiring abduction and adduction movements.
Innovation Solution
A shoulder module for an exoskeleton structure featuring a design with multiple pivots and sliding mechanisms that allow rotation around different axes, incorporating elastic return elements to assist in movements and compensate for the weight of the elbow module, enabling compact and lightweight operation, and a four-bar mechanism for deformable parallelogram formation.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Adaptability or versatility
If existing exoskeleton structures are designed to assist arm movements, then force assistance is provided, but the structures cannot adapt to all movements of the shoulder joint complex (especially abduction and adduction)
Solution Approach 1:
The shoulder module is divided into multiple connecting parts (first connecting part with two sliding parts, second connecting part, third connecting part) that can move independently. Each part handles specific degrees of freedom, allowing the system to achieve complex shoulder movement adaptation through coordinated simple components rather than a single complex mechanism.
Solution Approach 2:
The connecting parts incorporate sliding mechanisms with slideways that allow dynamic adjustment of distances between connection points. The parts can slide along guideways to adapt the module configuration in real-time during movement, enabling the structure to dynamically accommodate abduction, adduction, flexion, and rotation movements.
2Adaptability or versatility
If structures are proposed to better reproduce shoulder movements, then mobility is improved, but the structures have considerable bulk that impedes user mobility
Solution Approach 1:
The first connecting part comprises two parts that slide within each other along a guideway. The sliding parts are nested within the structure, allowing compact configuration when not in use while still providing the necessary range of motion when activated. This nesting reduces the overall volume compared to extending mechanisms.
Solution Approach 2:
The sliding mechanism operates along a guideway that is oriented perpendicular to the main rotation axis. This dimensional arrangement allows the connecting parts to achieve length variation for motion reproduction while maintaining a compact footprint in the primary direction, effectively using a different spatial dimension to solve the volume problem.
3Volume of moving object
If connecting parts are positioned close to the body of the user, then the module becomes compact, but the mechanism must still compensate for axis offset and assist movements
Solution Approach 1:
The elastic return element acts as an intermediary between the sliding parts. It automatically compensates for the offset between the rotation axis and the slideway axis by exerting a return force that maintains proper alignment and assists the sliding motion, eliminating the need for additional complex alignment mechanisms.
Solution Approach 2:
The elastic return element provides self-aligning and self-assisting functionality. As the connecting parts slide during movement, the elastic element automatically adjusts for axis offset and assists the motion without requiring external control systems or additional actuators, making the compact mechanism self-sufficient.
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 provides greater freedom of movement for the shoulder joint complex while maintaining a compact and lightweight design, effectively assisting users in various upper body tasks by allowing full range of motion including abduction, adduction, internal/external rotation, and flexion/extension.
Implementation Method 1
the first slideway comprises an elastic return element tending to oppose a separation of the parts with respect to one another leading to a lengthening of the first connecting part
Data Source
AI summary
A shoulder module (3) for an exoskeleton structure that connects to an elbow module (4) attached to an arm of a user to a back module (2) attached to the back of the user. The shoulder module (3) has a plurality of connecting parts (34, 36, 38, 310), and a first pivot (35) connecting two of the connecting parts (34, 36) while allowing rotation of one of the connecting parts with respect to the other connecting part (34) according to a first axis of rotation (X1), during a rotation of the elbow module (4) with respect to the back module (2) corresponding to an abduction or adduction movement of the shoulder of the user. The connecting parts (34, 36, 38, 310) include a connecting part (38) comprising two parts (381, 382) that slide to allow shortening or lengthening of the connecting part (38) of the elbow module (4).