Lambda-Frame Lower Limb Exoskeleton for Adjustable Rehabilitation
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Solution Overview
Problem
Existing powered orthoses for lower limb rehabilitation are limited by their serial exoskeleton structure, which restricts dynamic performance, requires large motors that are cumbersome, and lacks adjustability for anatomical variations, making them unsuitable for a wide range of users including children and individuals with partial musculoskeletal function.
Innovation Solution
A motorized device with a pair of articulated systems featuring a lambda-framework structure, comprising a base, foot support assembly, and transmission assembly, where each articulated system includes a Tool Operation Center pivotally connected to carts on rail tracks, driven by independent motors, allowing for adjustable and efficient movement of the foot support assembly.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Strength
If serial exoskeleton-based structures are used for powered orthoses, then the device can provide structured support for lower limb rehabilitation, but the device becomes too big, heavy and requires large motors with limited strength
Solution Approach 1:
The device is divided into two independent articulated systems instead of a single serial exoskeleton structure. Each system can be independently adjusted and positioned, allowing the use of smaller, more compact motors while maintaining overall device functionality and reducing total weight.
Solution Approach 2:
The articulated systems incorporate adjustable linkages and movable components that allow dynamic reconfiguration of the device geometry. This enables the system to adapt to different user sizes and anatomical variations without requiring oversized motors, as the mechanical advantage can be optimized through geometric adjustment.
2Speed
If serial exoskeleton-based structures are used for powered orthoses, then the device can provide structured support for lower limb rehabilitation, but the dynamic performance is restricted
Solution Approach 1:
By separating the rehabilitation function into two independent articulated systems rather than one complex serial chain, each system can be optimized for specific movement patterns. This segmentation allows for faster, more agile individual actuation while the overall complexity is distributed and managed more efficiently.
Solution Approach 2:
The articulated systems are designed with universal joints and adjustable linkages that can accommodate multiple movement patterns and rehabilitation exercises. This multi-functionality allows the same basic structure to achieve various dynamic performance requirements without increasing complexity.
3Adaptability or versatility
If serial exoskeleton-based structures are used for powered orthoses, then the device can provide structured support for lower limb rehabilitation, but adjustment to anatomical particulars is limited to narrow ranges
Solution Approach 1:
The articulated systems incorporate adjustable linkages and movable components that allow dynamic reconfiguration of the device geometry. This enables the system to adapt to different user sizes and anatomical variations without requiring oversized motors, as the mechanical advantage can be optimized through geometric adjustment.
Solution Approach 2:
The device allows continuous adjustment of key geometric parameters such as link lengths, joint positions, and articulation angles. By enabling parameter changes rather than discrete size adjustments, the system can precisely match a wide range of anatomical particulars while maintaining structural integrity and performance.
4Reliability
If prior art parallel powered orthoses with lambda-structure are used, then the device can provide rehabilitation support, but the device is too big, heavy and built from too many parts
Solution Approach 1:
The two articulated systems share common components such as the base structure, control system, and power supply. By merging these functional elements rather than duplicating them completely, the device achieves the reliability of having redundant systems while reducing the total number of parts and overall weight.
Solution Approach 2:
The articulated systems are designed with universal joints and adjustable linkages that can accommodate multiple movement patterns and rehabilitation exercises. This multi-functionality allows the same basic structure to achieve various dynamic performance requirements without increasing complexity.
Data Source
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AI summary
The present invention relates to devices and methods for exercising the lower limbs, in particular for exercising lower limbs. The devices are suitable for training the lower limbs of persons suffering from paraplegia or hemiplegia or musculoskeletal disorders in general. In some aspects, the present invention relates to powered articulated systems (ASs) and to the rehabilitation by aid of said ASs. The parallel or hybrid ASs of the invention are based on a parallel or hybrid, lambda-type framework and are controlled by a data processing unit. The ASs are preferably controlled by a closed-loop, real time control system.