Modular Foot Controller for Cable-Actuated Prosthetic Tools
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Solution Overview
Problem
Current orthopedic rehabilitation tools are limited in their ability to assist individuals with physical disabilities in performing tasks that require enhanced functionality beyond natural human capabilities, lacking modularity and intuitive operation.
Innovation Solution
A modular system comprising a body-part operated controller coupled to a prosthesis end-effector, utilizing omnidirectional wheels, pulleys, and Bowden cables to provide mechanical advantage and intuitive feedback, allowing for interchangeable components and degrees of freedom to optimize task performance.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Adaptability or versatility
If a prosthesis system is designed to provide enhanced functionality beyond natural human capabilities, then human augmentation capability is improved, but device complexity increases
Solution Approach 1:
The prosthesis system is divided into modular components including interchangeable end-effectors, a controller, and cable-actuated mechanisms. This segmentation allows different tool modules to be attached and detached as needed, providing enhanced functionality without permanently increasing overall system complexity.
Solution Approach 2:
The controller and cable-actuation mechanism serve multiple functions by controlling different end-effector tools through a unified interface. The same actuation system can operate various tools (grippers, manipulators, etc.), reducing the need for separate control systems for each function.
2Ease of operation
If a foot controller is designed with multiple degrees of freedom and interchangeable components, then ease of operation is improved, but device complexity increases
Solution Approach 1:
The foot controller utilizes the user's own foot movements and biomechanics to operate the prosthesis. The system converts natural foot pressing and positioning actions into control signals, making the interface intuitive and easy to operate without requiring complex manual controls.
Solution Approach 2:
The foot controller acts as an intermediary between the user's intent and the prosthesis execution. It translates simple foot pressing actions into complex coordinated movements of the end-effector through cable-actuated mechanisms and pulley systems.
3Force
If pulleys with different radii are introduced to optimize mechanical advantage, then force transmission efficiency is improved, but device complexity increases
Solution Approach 1:
Pulleys with different radii are strategically placed at specific locations in the cable-actuation system where particular mechanical advantages are needed. This localized optimization of force transmission allows the system to handle different load requirements without uniformly increasing complexity throughout the entire mechanism.
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 restore capabilities, improve productivity, and enhance quality of life by providing modular human augmentation beyond ordinary body part functions, with optimized mechanical advantage and intuitive operation.
Implementation Method 1
the gear ratio between the end-effector and the omni wheels can be optimized by introducing pulleys with different radii, which enables the possibility of an optimized mechanical advantage for the specific application of various tools
Data Source
AI summary
Modular systems including a foot controller, cable(s), and prosthetic tool is provided herein. The foot controller can include two sets of wheels that are perpendicularly mounted. Both sets can be coupled to a pulley with a specific gear ratio designed to handle degrees-of-freedom of the tool and having two open loops of cable wrapped around. The cables can be mounted to the pulley and the prosthetic tool on each end. The cables can be Bowden cables that transmit motion and are threaded through a hollow Teflon cable with an outer steel casing. The user can swap cables of different lengths according to the specific task or application of the tool. The prosthetic tool can be mounted to the human body via a socket or brace, which are connected to the cable(s). Either one or both set of cables can be attached to the tool to achieve the intended degrees-of-freedom.