Exoskeleton Torque Adjustment via Elastic Mechanism
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Solution Overview
Problem
Existing exoskeleton systems face issues with discomfort, weight, anatomical alignment, detection of human intention for smooth movement, and adaptability to different operators' dimensions, strength, and tasks, leading to poor compliance and safety concerns.
Innovation Solution
A passive or pseudo-passive exoskeleton system with an active adjustment mechanism using an elastic mechanism that generates torque proportional to the elevational angle of a joint, featuring a garment with a compensation device and adjustable tension settings to optimize assistance based on operator input and sensor feedback.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Productivity
If existing exoskeleton systems provide assistive forces to support operator movements, then operator fatigue is reduced and productivity is improved, but the systems become complex requiring costly adjustment and control systems that reduce adaptability to different operators
Solution Approach 1:
The exoskeleton system automatically detects operator identity through biometric sensors (fingerprint, iris, or facial recognition) and autonomously retrieves pre-stored anthropometric data and optimal control parameters from a database, eliminating the need for manual adjustment by the operator. The system self-configures by comparing detected joint positions with stored reference data and automatically adjusts actuator parameters to match the current operator's characteristics.
Solution Approach 2:
The system continuously monitors operator movements through sensors detecting joint positions and angles, compares real-time data with stored reference profiles, and dynamically adjusts assistive forces through actuators. This closed-loop feedback ensures optimal performance adaptation as the operator moves through different task positions.
2Adaptability or versatility
If exoskeleton systems are designed to accommodate multiple operators with different dimensions and strengths, then adaptability is improved, but the systems require complex adjustment mechanisms that increase cost and reduce ease of use
Solution Approach 1:
The system performs automatic identification and configuration without operator intervention. When an operator puts on the exoskeleton, the biometric sensor captures their identity, the system retrieves their specific anthropometric data, and automatically configures all mechanical and control parameters, making the system as easy to use as putting on clothing.
Solution Approach 2:
Anthropometric data, control parameters, and optimal assistive force profiles for multiple operators are pre-measured, stored, and organized in a database before actual use. This preliminary preparation enables instant retrieval and automatic configuration when any operator uses the system, eliminating the need for manual adjustment during operation.
3Ease of operation
If exoskeleton systems provide strong assistive forces to reduce operator effort, then operator comfort is improved, but safety risks increase due to potential joint over-extension or over-flexion
Solution Approach 1:
The system pre-defines safe operational boundaries for each operator's joint ranges based on their anthropometric data and task requirements. Before assistive forces are applied, the control system establishes virtual limits that prevent joint over-extension or over-flexion, and actively constrains actuator output when approaching these boundaries, preventing injury before it can occur.
4Weight of moving object
If exoskeleton systems use passive elastic mechanisms to provide assistive torque, then device weight is reduced, but the ability to adapt to different operators and tasks is limited
Solution Approach 1:
The system combines passive elastic elements that provide baseline mechanical assistance with active controllable actuators that can dynamically adjust their output. The actuators receive real-time feedback from sensors and modify assistive forces based on the detected operator's characteristics and current task requirements, enabling adaptation without adding excessive weight.
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 system provides improved ergonomics and convenience by allowing adjustable and discrete torque assistance, enhancing operator comfort and productivity while reducing the risk of injury and system damage, enabling broader adoption in industrial settings.
Implementation Method 1
an elastic mechanism that generates torque proportional to the elevational angle of a joint
Data Source
AI summary
An exoskeleton system for assisting an operator in exerting efforts includes a frame having one or more degrees of freedom and supporting a compensation device arranged to provide assistive forces to a joint of the operator. The compensation device comprises a regulation device arranged to adjust a degree of tension in an elastic mechanism. The compensation device comprises a rotational stop assembly comprising both extension and flexion stops to define an allowed degree of motion of the compensation device, the rotational stop assembly provided with a safety lock for preventing movement in the compensation device.