Force Sensing Handle for Exoskeleton Trajectory Control
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Solution Overview
Problem
Current exoskeleton control systems are complex and difficult for physical therapists to modify intuitively, especially in real-time, to accommodate the specific rehabilitation needs of patients with impaired muscular function, requiring a more intuitive and flexible interface for modifying exoskeleton positions and forces.
Innovation Solution
The integration of force sensing handles with sensors and a control system that allows physical therapists to modify exoskeleton trajectories in real-time, using measured forces to adjust and refine movements, enabling intuitive and flexible input for optimizing rehabilitative benefits.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Adaptability or versatility
If traditional exoskeleton control systems are used with multiple input methods, then the system can provide full range of modifications for rehabilitation, but the interface becomes complex and difficult for physical therapists to operate intuitively
Solution Approach 1:
The patent extracts and eliminates unnecessary input devices and interface elements from the exoskeleton control system. By removing redundant controls and keeping only the essential force-based input mechanism, the system maintains full rehabilitation modification capability while dramatically simplifying the user interface for physical therapists
Solution Approach 2:
The force input mechanism serves multiple functions simultaneously: it detects user intent, quantifies desired trajectory modifications, and provides intuitive control across different rehabilitation scenarios. This single multi-functional interface replaces what would otherwise require multiple specialized input devices
2Manufacturing precision
If exoskeleton trajectories are modified through complex control interfaces, then precise adjustments can be made, but the physical therapist cannot make real-time modifications during rehabilitation sessions
Solution Approach 1:
The patent replaces complex computational control interfaces with a direct force-based mechanical input system. The force sensor directly translates physical therapist's manual forces on the handle into trajectory modifications, eliminating layers of complex software interfaces and enabling immediate real-time adjustments during rehabilitation
Solution Approach 2:
The system automatically interprets the physical therapist's force inputs and generates appropriate trajectory modifications without requiring the therapist to navigate menus or configure parameters. The force magnitude and direction directly self-determine the modification characteristics, enabling real-time control
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
This solution provides a highly intuitive and flexible method for physical therapists to modify exoskeleton trajectories, allowing for real-time adjustments and optimization of rehabilitative benefits, enhancing the ability to tailor treatments to individual patient needs.
Implementation Method 1
a force sensor configured to measure forces applied to the force sensing handle
Data Source
AI summary
A lower extremity orthosis, including at least one actuator configured to control a motion of at least one joint of a person wearing the orthosis, is provided with a handle including a force sensor configured to produce a signal representing a force applied to the handle. A controller, which is in communication with the force sensor and the at least one actuator, is configured to modify the motion based on the signal from the force sensor. The system can be particularly employed to enable a physical therapist to have input in controlling and modifying the positions and/or forces prescribed by the lower extremity orthosis during rehabilitation of the person.