Modular Exoskeleton with Distributed Actuation for Biomechanical Adaptation
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Solution Overview
Problem
Current wearable exoskeletons face challenges in balancing a lightweight and compact structure with a physiologically complete biomechanical model, often requiring additional support and being non-transferable, which limits their use and adaptability for patients with varying mobility needs.
Innovation Solution
A modular exoskeleton design with up to 7 actuated degrees of movement per limb, adjustable in dimensions and tension, allowing for automatic or manual fitting from the front to back, featuring a mechanical structure with adjustable segments and joints that mimic human biomechanics, including a separate ankle actuator system to reduce weight and volume, and an on-board power system for independent module powering.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Adaptability or versatility
If the number of degrees of movement is increased to match human biomechanics (7-8 DOF per limb), then the physiological completeness and natural movement reproduction is improved, but the weight and volume of the robotic structure multiply due to additional actuators and transmission systems
Solution Approach 1:
The exoskeleton is divided into modular segments (thigh, shank, foot modules) that can be independently configured. Each segment contains specific actuators for particular degrees of freedom, allowing the system to achieve 7-8 DOF per limb through distributed actuation rather than a single heavy actuator system, thereby managing overall weight while maintaining biomechanical completeness
Solution Approach 2:
The exoskeleton employs dynamic adjustment capabilities where actuators can be selectively activated or deactivated based on the user's specific needs and movement phase. This dynamic configuration allows the system to provide full 7-8 DOF when needed while reducing effective actuator count during simpler tasks, effectively managing the weight-power tradeoff
2Manufacturing precision
If custom-made mechanical structures are manufactured to fit each patient, then the fitting precision and comfort are improved, but the device becomes non-transferable and lacks flexibility for other patients or disease evolution
Solution Approach 1:
The exoskeleton employs modular segments (thigh module, shank module, foot module) that can be independently adjusted and reconfigured. Each module contains adjustable components that can be customized to individual patient anatomy while maintaining standard interfaces, enabling both precise fitting and transferability between patients or during disease progression
Solution Approach 2:
The device incorporates multiple adjustable parameters including segment lengths, joint positions, and actuator configurations that can be modified to match different patient anatomies. These parameter adjustments allow the same base device to achieve precise fitting for various users while maintaining the ability to transfer between patients
3Stability of the object's composition
If the energy source and electronic gear are located in the back of the device, then the center of gravity and structural balance are improved, but it becomes an obstacle for sitting or lying down and significantly hinders recharging or replacement of batteries
Solution Approach 1:
The power system is segmented into distributed battery modules placed throughout the exoskeleton structure rather than a single large battery in the back. This segmentation allows the center of gravity to be balanced while keeping battery modules accessible from multiple locations, facilitating easier recharging and replacement without compromising structural stability
Solution Approach 2:
The energy source distribution transitions from a single-point location (back of device) to a multi-point distributed arrangement throughout the exoskeleton. This spatial redistribution maintains structural balance through proper positioning while simultaneously improving accessibility for recharging by placing battery modules in multiple accessible locations
Data Source
AI summary
The invention relates to an exoskeleton for assisting human movement, which can be fitted to the user in terms of dimensions, tension and ranges of joint motion, either manually or automatically. The exoskeleton can be fitted to the user in the anteroposterior direction in the sagittal plane, with the user in a horizontal or sitting position, without requiring a functional transfer. The exoskeleton has a modular design which is compatible with human biomechanics and reproduces a natural and physiological movement in the user, with up to 7 actuated and controlled degrees of movement per limb, ensuring that the user maintains equilibrium during locomotion.