Multi-Joint Mechanism Mirror Balance for Energy Reduction
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Solution Overview
Problem
Current multi-joint mechanisms for human interaction, such as rehabilitation and assistive robotics, face challenges in generating variable interaction forces efficiently and safely, with active systems consuming high energy and requiring complex sensors, while passive systems lack flexibility and mobility due to cumbersome structures.
Innovation Solution
A multi-joint mechanism with a mirror mechanism and torque generation system that uses passive resilient elements to generate balance forces, allowing for variable force intensity and direction without manual adjustment, energy consumption, or increased bulkiness, by replicating kinematic segments and transmitting forces through pulleys and tendons.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Adaptability or versatility
If active systems with actuators are used to generate interaction forces, then flexibility and variable force generation are improved, but energy consumption increases and device complexity increases
Solution Approach 1:
The patent applies preliminary action by pre-configuring the passive mechanism structure (linkages, springs, counterweights) during design to enable automatic adaptation to different interaction force requirements. The mechanism is pre-designed with adjustable parameters that can be set before operation, allowing flexibility without requiring energy-consuming actuators during actual operation.
Solution Approach 2:
The patent replaces the active mechanical system (actuators, motors, sensors, controllers) with a passive mechanical system consisting of linkages, springs, and counterweights. This substitution eliminates the need for energy consumption while maintaining the ability to generate variable interaction forces through mechanical design rather than active control.
2Adaptability or versatility
If active systems with actuators are used to generate interaction forces, then flexibility and variable force generation are improved, but device complexity increases
Solution Approach 1:
The patent replaces the complex active mechanical system (actuators, sensors, controllers) with a simpler passive mechanical system using linkages, springs, and counterweights. This reduces device complexity while maintaining flexibility through clever mechanical design rather than electronic control systems.
Solution Approach 2:
The passive mechanism serves itself by automatically generating the required interaction forces through its mechanical structure without needing external control systems, sensors, or power sources. The system self-regulates based on its mechanical design, eliminating the complexity of active control architectures.
3Use of energy by moving object
If passive elements are used to generate interaction forces, then energy consumption is reduced and safety is improved, but adaptability and quick force change capability deteriorate
Solution Approach 1:
The patent applies dynamics by designing a passive mechanism with movable components (linkages, adjustable springs, reconfigurable linkages) that can change their configuration during operation. This allows the system to adapt to different interaction force requirements dynamically without consuming energy, as the adjustments are made through mechanical movement rather than active control.
Solution Approach 2:
The patent combines preliminary action with dynamics by pre-designing the mechanism with built-in adjustment capabilities that can be activated through simple mechanical inputs. The system is pre-configured with multiple stable states or configurations that can be switched between as needed, enabling quick adaptation without energy-consuming actuators.
4Use of energy by moving object
If passive elements are used to generate interaction forces, then energy consumption is reduced, but device complexity and encumbrance increase
Solution Approach 1:
The patent merges multiple functions into the passive mechanical components. The linkages serve both as structural elements and as force-generating elements through their geometry and configuration. Springs and counterweights are integrated into the existing mechanism structure rather than added as separate systems, reducing overall complexity while maintaining energy efficiency.
Solution Approach 2:
The passive mechanical components are designed to perform multiple functions simultaneously. The same linkages that provide structural support also generate interaction forces through their mechanical advantage. The mechanism can adapt to different force requirements using the same physical components, eliminating the need for dedicated actuators or complex control systems.
5Use of energy by moving object
If passive elements are used to generate interaction forces, then energy consumption is reduced, but mobility and joint flexibility deteriorate
Solution Approach 1:
The patent applies dynamics by designing the passive mechanism with movable joints and reconfigurable linkages that can adapt their geometry during operation. This allows the mechanism to maintain mobility and joint flexibility while still generating interaction forces passively, as the components can move and reconfigure without requiring energy input.
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 enables efficient, flexible, and safe generation of interaction forces with reduced energy consumption and weight, maintaining mobility and dynamic performance, while simplifying design and reducing encumbrance on the user's limbs.
Implementation Method 1
said actuating device comprises: a mirror mechanism comprising: one or more mirror joints integral to said base portion, of which one of said joints defines a second reference system integral to said base portion, a number of mirror movable portions and, respectively, of mirror kinematic segments
Implementation Method 2
transmitting said system of balance forces from said mirror mechanism to said multi-joint mechanism
Data Source
Figure 1A~1B
Figure 2~4A
Figure 4B~4C
AI summary
An actuating device for a multi-joint mechanism that comprises a base portion (S) and a base joint (O) integral to each other, an interaction portion (3) arranged to provide to a user's limb a contact point, at which an interaction force (F) is applied to said limb, a plurality of movable portions (1, 2, 3) that form respective kinematic segments and that are articulated in order to form a serial kinematic chain starting from the base joint (O) up to the contact point. The actuating device further comprises a mirror mechanism (30) comprising at least one mirror joint (Ο') integral to the base portion (S), a number of mirror movable portions and, respectively, of mirror kinematic segments (1', 2', 3') which is the same number as the movable portions and the same number as the kinematic segments of the multi-joint mechanism (10) articulated to the base portion (S), and have a length that is proportional to the length of the corresponding kinematic segment of the multi-joint mechanism (10), a balance force generation means (k'1, k'2, k'3) for generating a system of balance forces on the mirror kinematic segments (1\ 2', 3'), a transmission means (25) arranged between the multi-joint mechanism (10) and the mirror mechanism (30) configured for keeping the direction of each kinematic segments (1, 2, 3) of the multi-joint mechanism (10) substantially the same as the direction of each mirror kinematic segments (1', 2', 3') for any possible movements of the interaction portion (3) with respect to the base (S) and transmitting the system of balance forces from the mirror mechanism (30) to the multi-joint mechanism (10), in order to balance the interaction force (F).