Mechanical Hip Joint With Virtual Transverse Pivot for Exoskeleton Motion
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Solution Overview
Problem
Existing exoskeletons, such as the Atalante exoskeleton, suffer from limitations in movement range and ergonomic design, particularly in the transverse plane, leading to unwanted user movements and potential injury risks due to the relocation of the transverse pivot joint.
Innovation Solution
A mechanical hip joint design with concurrent sagittal and frontal pivot axes and a virtual transverse pivot joint composed of multiple pivot joints connected by rods, allowing for enhanced movement in all planes while minimizing user discomfort and injury risk, featuring independent actuators and mechanical stops for safety.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Device complexity
If the transverse pivot joint is relocated to the rear of the exoskeleton, then the exoskeleton structure can be simplified, but unwanted user movements occur and the range of motion is limited
Solution Approach 1:
The patent introduces a virtual pivot joint formed by multiple physical pivot joints (first, second, third pivot joints) arranged in a specific three-dimensional configuration. This virtual joint creates a transverse rotation axis that intersects the volume delimited by the sagittal plane, the plane normal to the frontal pivot axis, the hip structure, and the leg structure, enabling transverse plane movement without requiring a physical joint at the traditional location.
Solution Approach 2:
The transverse pivot joint is segmented into multiple independent pivot joints (first, second, third pivot joints) connected by connecting rods. Each pivot joint has its own axis (first transverse axis, second transverse axis, third transverse axis) that collectively form the virtual transverse rotation axis, allowing the system to achieve complex movement capabilities through coordinated action of simpler components.
2Ease of manufacture
If the transverse pivot joint is relocated to the rear, then manufacturing becomes easier, but user safety is compromised due to potential injury risks
Solution Approach 1:
The patent introduces a virtual pivot joint as an intermediary concept that mediates between the physical pivot joints and the user's hip joint. This virtual joint, formed by the coordinated action of multiple physical joints with connecting rods, acts as a buffer that distributes and controls forces, preventing direct transmission of harmful forces to the user while maintaining manufacturing simplicity.
Solution Approach 2:
The multi-pivot joint configuration with connecting rods provides inherent mechanical cushioning before forces reach the user. The complex kinematic chain of the virtual pivot joint system absorbs and distributes impact forces, preventing sudden or excessive forces from being transmitted to the user's hip joint, thereby providing prior protection against injury.
3Device complexity
If a single transverse pivot joint is used, then the device is simpler, but ergonomic performance and anthropomorphic movement are reduced
Solution Approach 1:
The transverse rotation capability is segmented into multiple pivot joints (first, second, third pivot joints) with connecting rods, each contributing to the overall movement. This segmentation allows each joint to operate within optimized ranges while collectively achieving full anthropomorphic hip movement patterns including flexion/extension, abduction/adduction, and internal/external rotation.
Solution Approach 2:
The patent uses a three-dimensional arrangement of multiple pivot joints to create a virtual joint that replicates the complex spherical movement of the human hip joint. The virtual pivot axis intersects the volume defined by the sagittal plane, the plane normal to the frontal pivot axis, the hip structure, and the leg structure, enabling naturalistic movement patterns that a single pivot joint cannot achieve.
Data Source
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AI summary
The present invention relates to an orthosis (1) comprising a mechanical hip connection (4) comprising a frontal pivot link (10), a sagittal pivot link (20) and a transverse pivot link (30) made up of a plurality of pivot links (31-37) connected in pairs by connecting rods (38-45) so as to form a virtual pivot link (30) such that the transverse pivot axis (X3) intersects the volume delimited by the sagittal plane (P1), by a plane (P4) normal to the frontal pivot axis (X2) and comprising the sagittal pivot axis (X1), by the hip structure (2) and by the leg structure (3).