Exoskeleton Upper Limb Sensor Control for Natural Gait
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Solution Overview
Problem
Existing exoskeletons for individuals with paraplegia or paraparesis lack movement autonomy, requiring external assistance or crutches and are primarily designed for military or healthy individuals, failing to provide comprehensive ankle and hip movements essential for a natural gait.
Innovation Solution
An exoskeleton system with motor-driven ankle, hip, and spine articulations that mimic natural movements, including flexion-extension, abduction-adduction, and rotational movements, controlled by sensors from the upper limbs, and an outsole with pressure sensors to maintain balance, allowing users to walk autonomously.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Strength
If exoskeletons are designed for military or healthy individuals, then strength and resistance are improved, but adaptability to paraplegic patients is worsened
Solution Approach 1:
The exoskeleton is designed with differentiated functional zones: military-oriented strength enhancement in upper body versus medical-oriented gait assistance in lower body, allowing each region to optimize for its specific purpose
Solution Approach 2:
The system integrates multiple functions into a single platform, combining military strength augmentation capabilities with medical rehabilitation functions for paraplegic patients, enabling one exoskeleton to serve dual purposes
2Ease of operation
If exoskeletons use pre-programmed movements, then ease of operation is improved, but movement autonomy is worsened
Solution Approach 1:
The exoskeleton incorporates sensors that detect user intent and provide real-time feedback to the control system, enabling the system to adapt pre-programmed movements to actual user needs while maintaining ease of operation
Solution Approach 2:
The system transitions from static pre-programmed movements to dynamic adaptive movements that respond to real-time sensor input, allowing users to initiate and control movements autonomously while benefiting from automated assistance
3Stability of the object's composition
If exoskeletons require external assistance or crutches, then stability is improved, but ease of operation is worsened
Solution Approach 1:
The exoskeleton incorporates balance compensation mechanisms that automatically adjust to maintain user stability without requiring external assistance or crutches, enabling users to walk independently
Data Source
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AI summary
System to assist a person in walking, consisting of an exoskeleton to be fitted to the person comprising a plurality of articulated structures for the flexion of the lower extremities and a plurality of sensors. The plurality of sensors measures the flexion performed in the joints of the upper extremities and applies a movement that is transmitted to the lower extremities by the articulated structures depending on the measured flexion. Advantageously, the movement is generated by the individual himself or herself as he or she walks and does not require being pre-programmed.