Modular Exosuit With Flexible Actuators For Adaptive Support
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Solution Overview
Problem
Current wearable robotic systems, such as exoskeletons, are often rigid and limited in their application, primarily designed for individuals with severe disabilities, and lack the flexibility to provide assistive functionality for able-bodied individuals or those with milder impairments, as well as not being suitable for everyday activity augmentation.
Innovation Solution
The development of an exosuit system that includes a base layer for load distribution, a power layer with flexible linear actuators, and a sensor and controls layer, allowing for wearable assistance in various activities and communication, designed to be worn under or over clothing, providing muscle movement assistance and adaptive support.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Reliability
If a rigid exoskeleton frame is used to provide structural support and powered actuation, then the system can enable assisted ambulation for paraplegic patients, but the system becomes large, requires caregiver assistance, and is not suitable for people with less severe disabilities or able-bodied individuals
Solution Approach 1:
The exoskeleton is divided into modular segments (torso unit, leg units, arm units) that can be independently configured and attached to different body parts. This segmentation allows the system to be adapted for various users by selectively assembling and positioning modules according to individual needs, whether for paraplegic patients needing full body support or able-bodied individuals needing localized assistance.
Solution Approach 2:
The exoskeleton system incorporates universal interfaces and adjustable components that enable a single system to serve multiple functions and user types. The powered actuators can be configured for different joint support requirements, the frame can be adjusted for various body sizes, and the system can operate in different modes (full assistance, partial assistance, or augmentation) to accommodate paraplegic patients, people with mild disabilities, and able-bodied users.
2Ease of operation
If powered actuators are integrated into the exoskeleton to provide movement assistance, then the system can perform specific activities, but the system complexity and weight increase
Solution Approach 1:
Powered actuators are distributed as separate modules at specific joint locations rather than integrated into a single complex central system. Each actuator module is self-contained with its own control electronics and power management, allowing for independent maintenance, replacement, and configuration based on specific user needs without increasing overall system complexity.
Solution Approach 2:
The exoskeleton employs dynamic control systems that adjust actuator activation and force output in real-time based on user intent and task requirements. Sensors detect user movement intentions and the control system selectively engages only the necessary actuators at appropriate times, reducing the need for continuously active complex mechanisms and allowing simpler overall system design.
3Stability of the object's composition
If a rigid frame structure is used to provide structural support, then the system can maintain stability, but the system lacks flexibility for everyday activity augmentation
Solution Approach 1:
The exoskeleton incorporates flexible wearable elements (such as flexible frames, compliant connectors, and textile interfaces) that allow the rigid structural components to move relative to each other and to the user's body. This flexibility enables the system to adapt to various everyday activities including reaching, bending, and twisting while maintaining overall structural stability through the rigid frame segments.
Solution Approach 2:
The system transitions from a static rigid structure to a dynamic system where rigid frame segments are connected through movable joints and compliant elements. This allows the exoskeleton to dynamically adjust its configuration during movement, providing structural support when needed while accommodating the full range of motions required for everyday activities.
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
The exosuit system enhances the wearer's ability to perform daily activities with reduced fatigue and improved comfort, offering customizable assistance for a range of users, from those with disabilities to able-bodied individuals, by providing adaptive support and muscle assistance.
Implementation Method 1
at least one flexible linear actuator (FLA)... configured to selectively activate the at least one FLA to provide muscle movement assistance
Data Source
AI summary
Exosuit systems and methods according to various embodiments are described herein. The exosuit system can be a suit that is worn by a wearer on the outside of his or her body. It may be worn under the wearer's normal clothing, over their clothing, between layers of clothing, or may be the wearer's primary clothing itself. The exosuit may be assistive, as it physically assists the wearer in performing particular activities, or can provide other functionality such as communication to the wearer through physical expressions to the body, engagement of the environment, or capturing of information from the wearer. One or more patch assemblies may be removably coupled to the exosuit.