Modular Exoskeleton Quick Coupling Mechanism
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Solution Overview
Problem
Existing haptic exoskeletal devices have fixed connections between the actuation unit and the exoskeleton, making them difficult to put on and remove, especially for users with spasticity or limited range of motion, and they lack flexibility in adjusting to different anthropometric measurements without complex reconfiguration.
Innovation Solution
A modular exoskeletal system with quick coupling and release mechanisms using Bowden cables and locking devices, allowing easy attachment and detachment of the actuation unit to the exoskeleton, and enabling rapid size adjustments based on user anthropometry, while maintaining consistent tension and facilitating abduction and adduction movements.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Stability of the object's composition
If a fixed connection between actuation unit and exoskeleton is used, then structural stability is improved, but ease of operation deteriorates due to difficulty in putting on and removing
Solution Approach 1:
The system is divided into separate modular components: the actuation unit and the exoskeleton, connected through a quick coupling mechanism. This segmentation allows the exoskeleton to be easily attached and detached from the actuation unit without complex procedures, while maintaining structural stability during operation.
Solution Approach 2:
A quick coupling mechanism serves as an intermediary element between the actuation unit and the exoskeleton. This intermediary component enables rapid connection and disconnection while ensuring stable force transmission, resolving the contradiction between operational ease and structural stability.
2Stability of the object's composition
If a fixed connection between actuation unit and exoskeleton is used, then structural stability is improved, but device complexity increases due to need for replacement or reconnection
Solution Approach 1:
By segmenting the system into interchangeable modules with standardized connection interfaces, the patent eliminates the need for complex replacement or reconnection procedures. The modular design allows simple attachment and detachment while maintaining structural integrity.
Solution Approach 2:
The quick coupling mechanism provides universal connectivity between different exoskeleton sizes and the actuation unit. This multi-functional connection system maintains structural stability across various configurations without requiring complex reconnection procedures.
3Stability of the object's composition
If fixed connection is used, then structural stability is improved, but adaptability deteriorates due to inability to rapidly change size
Solution Approach 1:
The connection system transitions from a fixed, static connection to a dynamic quick coupling mechanism that allows rapid reconfiguration. This enables the exoskeleton size to be changed according to user anthropometric measurements while maintaining structural stability during operation.
Solution Approach 2:
The modular segmented design with standardized interfaces enables rapid size changes by simply attaching different exoskeleton modules to the actuation unit. The segmentation allows adaptability without compromising structural stability during use.
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
Enables quick and effortless donning and doffing of the exoskeleton, rapid size adjustments, and maintains consistent actuation torque transmission, improving usability for diverse user populations and enhancing rehabilitation effectiveness.
Implementation Method 1
A modular exoskeletal system with quick coupling and release mechanisms using Bowden cables and locking devices
Implementation Method 2
maintains consistent tension and facilitating abduction and adduction movements
Data Source
Figure 1
Figure 2A~2B
Figure 3A~3B
AI summary
A modular exoskeletal system (100) for handling at least one hand finger (10) of a user, said modular exoskeletal system (100) comprising at least one finger exoskeleton (120) comprising n ≥ 1 rotational joints (121) and m ≥ 1 link (125) arranged to rotate by means of respective rotational joints (121), said n ≥ 1 rotational joints (121) comprising a fastening rotational joint (121') arranged to allow the rotation of a fastening link (125') about a rotation axis x, said or each finger exoskeleton (120) arranged to transmit an actuation torque M from the fastening link (125') to the hand finger (10). The modular exoskeletal system (100) also comprises an actuation unit (110) comprising an actuator (111) adapted to generate said actuation torque M, at least one Bowden cable (112) comprising an inner cable (112a) and an outer coating (112b), said or each Bowden cable (112) arranged to transmit the actuation torque M to said or each finger exoskeleton (120), a locking device (113) having at least one opening (113') arranged to constrain the outer coating (112b) of the Bowden cable (112) and to allow the inner cable (112a) to slide. In particular, quick coupling means are also comprised arranged for causing the modular exoskeletal system (100) to reversibly pass between an actuated configuration, wherein the actuation unit (110) is connected to said or each finger exoskeleton (120), and a not actuated configuration, wherein the actuation unit (110) is disconnected by said or each finger exoskeleton (120).