Modular Limb Joint With Torque Sensing Torsion Member
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Solution Overview
Problem
Current prosthetic and robotic limbs lack the ability to control joints effectively, particularly in prosthetic arms, which are not fully articulated and cannot replicate the complex movements of a human arm, and require complex wiring and mechanical connections that are not versatile for multiple joints, lacking torque and pressure sensing capabilities.
Innovation Solution
A modular limb joint assembly with a male and female connector system that provides a resilient, releasable connection with integral torque sensing, using strain gages and a torsion member to reduce torsional stiffness and allow for weather-sealed electrical connections, enabling robust mechanical and electrical attachment between limb segments.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Strength
If custom bolted and screwed mechanical connections are used for each joint, then the connection strength is improved, but the device complexity increases and versatility decreases
Solution Approach 1:
The connector is divided into separate male and female components with distinct functional elements (load bearing projection, socket, locking member, torsion member) that can be independently manufactured and assembled, simplifying production while maintaining connection strength
Solution Approach 2:
The connector design integrates multiple functions into a single standardized interface: mechanical load bearing, electrical connection, weather sealing, and torque sensing, allowing the same connector to be used across multiple joint types in both prosthetic and robotic applications
2Reliability
If complex wiring harnesses with bulky electrical connectors are used, then the electrical connection reliability is improved, but the device complexity increases and ease of operation worsens
Solution Approach 1:
The electrical connector is merged with the mechanical connector into a single integrated assembly, where electrical contacts are positioned within the connector body itself, eliminating the need for separate wiring harnesses and bulky external connectors
Solution Approach 2:
The same connector interface simultaneously provides both mechanical attachment and electrical connection functions, creating a universal interface that simplifies assembly operations across different joint configurations
3Stability of the object's composition
If rigid mechanical connections are used, then the structural stability is improved, but the ability to sense torque and provide bio-feedback decreases
Solution Approach 1:
A torsion member made of resilient material is introduced as an intermediary element between the load bearing projection and the connector body, allowing the rigid structural components to remain stable while the resilient torsion member deforms elastically under torque to enable precise torque sensing through strain gages
4Ease of operation
If modular connectors are used for easy attachment and detachment, then the ease of operation is improved, but the connection strength and reliability may worsen
Solution Approach 1:
The locking member is designed to automatically engage with the load bearing projection when the connector is assembled, providing immediate mechanical interlocking and strength without requiring additional fastening operations, while still allowing simple manual release for detachment
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 precise control of limb motion, prevents damage by sensing torque and load, and allows for bio-feedback control, enhancing the stability and functionality of prosthetic and robotic limbs by providing a modular, easily attachable and detachable system with improved mechanical and electrical interfaces.
Implementation Method 1
a torsion member made of a resilient material for reducing a torsional stiffness of the joint assembly
Implementation Method 2
a toothed outer periphery for engaging knurling formed on housing of a male connector assembly of the male connector when the connector includes the torsion member
Data Source
Figure 1A~1B
Figure 2
Figure 3A
AI summary
A joint assembly for releasably securing a first and a second segment of an associated modular limb is provided. The joint assembly includes a male connector including a base and a load bearing blade secured to the base of the male connector protruding therefrom. The male connector is adapted to be secured to one of the first and second segments of the associated modular limb. A female connector is provided and includes a base and a load bearing socket secured to the base of the female connector. The socket is configured to selectively receive the blade of the male connector. The female connector is adapted to be secured to the other of the first and second segments of the associated modular lim. A locking member selectively retains the blade of the male connector in the socket of the female connector. The male connector, the female connector, and the locking member cooperate to form a resilient and selectively releasable modular limb joint.