Modular Exoskeleton Clutching for Active-Passive Mode Switching
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Solution Overview
Problem
Existing exoskeletons lack the ability for users to seamlessly transition between active and passive modes, utilize costly and cumbersome biometric sensors, and do not allow for modular motor units or clutch mechanisms for enhanced user control and energy efficiency.
Innovation Solution
A hybrid exoskeleton system with modular motor units and electromagnetic clutches that enable users to switch between active and passive modes, utilizing wireless biometric sensors and IoT technology for control, and a modular design that allows for customizable motor unit attachments.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Ease of operation
If motor units are permanently integrated into the exoskeleton, then the system provides continuous motor assistance, but the user cannot move freely without motor assistance and the system complexity increases
Solution Approach 1:
The exoskeleton system is divided into separate modular components: a passive exoskeleton frame and detachable motor units. The motor units can be attached when assistance is needed and removed when freedom of movement is desired, avoiding permanent integration and reducing system complexity.
Solution Approach 2:
The system transitions from a static permanently-integrated design to a dynamic reconfigurable design where motor units can be attached and detached based on operational needs, providing both motor assistance and freedom of movement as required.
2Measurement precision
If costly biometric sensors are used for control, then the measurement precision improves, but the device complexity and cost increase
Solution Approach 1:
The exoskeleton structure itself provides the measurement capability through encoders on the motor units that automatically detect joint angles and movement, eliminating the need for separate costly biometric sensors and reducing system complexity.
3Force
If motor units are always connected, then the system provides continuous strength assistance, but the energy consumption increases and the user cannot rely on their own strength
Solution Approach 1:
The system dynamically switches between active mode (motor units attached providing strength assistance) and passive mode (motor units removed, user relies on own strength), allowing energy-efficient operation by using motor assistance only when needed.
Solution Approach 2:
The motor units are separated from the main exoskeleton structure, allowing selective attachment and detachment to provide strength assistance only during specific tasks, reducing overall energy consumption.
4Manufacturing precision
If a non-modular design is used, then the manufacturing precision can be maintained, but the adaptability and ease of repair decrease
Solution Approach 1:
The exoskeleton uses standardized modular interfaces that maintain manufacturing precision through precise mating features while enabling easy attachment and detachment of motor units, providing adaptability without sacrificing assembly precision.
Solution Approach 2:
The motor units are designed as universal modules that can be attached to different exoskeleton configurations, providing adaptability and customization capability while maintaining consistent manufacturing precision through standardized interfaces.
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 users to enhance their strength with motor assistance when needed and rely on their own strength when desired, reducing energy consumption and cost while providing enhanced freedom of movement and safety.
Implementation Method 1
an electromagnetic (EM) clutch assembly mounted to the motor support structure in serial power-flow communication between the electric motor and the motor attachment device
Data Source
AI summary
A modular passive-to-active exoskeleton system utilizes motor unit modules, an electromagnetic-clutch power transmission system, and biometric control. The passive exoskeleton has a stamina-increasing “chairless chair” function and optional use of magnetic ball-and-socket joints and knee torsion springs. To convert the exoskeleton system into an active robotic wearable device, modular attachments allow for motor units to be securely connected to the exoskeletal frame. An exoskeleton system may contain a knee motor unit that has a transmission system with an electromagnetic clutch that enables a passive mode, active mode, and/or hybrid mode. The motor units are controlled using wireless biometric motion sensors that measure limb joint angle and muscle activity. These motor units also communicate via wireless transmission with a central processing unit of the exoskeleton. This central processing unit serves as a gateway for user feedback from an Internet-of-Things (IoT) device, such as a smartphone, tablet, computer, etc.