Motion Assistance Apparatus with Selective 4-Bar Linkage
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Solution Overview
Problem
Rapidly aging societies face challenges with joint problems, leading to increased inconvenience and pain, necessitating effective walking assistance solutions for the elderly and patients with joint issues.
Innovation Solution
A motion assistance apparatus featuring a support link attached to the waist, thigh, and knee links, along with a connecting link and actuator, which performs a 4-bar linkage motion to assist hip and knee joint movements, and includes a calf supporting frame to provide additional support, allowing the apparatus to selectively assist either the hip or knee joint based on user needs.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Adaptability or versatility
If the connecting link is connected to the support link to assist hip joint motion through 4-bar linkage, then hip joint assistance is improved, but the ability to assist knee joint motion is reduced
Solution Approach 1:
The connecting link is designed to be selectively connectable or disconnectable from the support link, allowing the system to dynamically change its configuration. When connected, it forms a 4-bar linkage for hip joint assistance; when disconnected, it allows knee joint assistance through the calf supporting frame. This dynamic reconfiguration resolves the contradiction by enabling multiple functions without permanent structural complexity.
Solution Approach 2:
The motion assistance apparatus is designed to provide universal assistance for both hip and knee joints through a single system. The connecting link and calf supporting frame can serve different functions depending on connection state, making the device multi-functional and adaptable to different user needs without requiring separate devices.
2Adaptability or versatility
If the calf supporting frame is provided to support the calf when connecting link is disconnected, then knee joint assistance is improved, but structural simplicity is reduced
Solution Approach 1:
The calf supporting frame is rotatably connected to the connecting link and can be selectively positioned. When the connecting link is disconnected from the support link, the calf supporting frame rotates to support the user's calf for knee joint assistance. This dynamic positioning allows the structure to adapt its configuration based on operational mode without adding permanent complexity.
3Adaptability or versatility
If the apparatus is designed to selectively assist hip or knee joint based on user needs, then adaptability is improved, but control complexity increases
Solution Approach 1:
The apparatus is segmented into distinct functional modules: the support link for hip assistance, the connecting link as a transitional element, and the calf supporting frame for knee assistance. This segmentation allows each module to be independently controlled and connected/disconnected as needed, simplifying the overall control logic compared to a fully integrated system.
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 apparatus effectively reduces the effort required for walking by providing targeted assistance to either the hip or knee joint, depending on the user's needs, enhancing mobility and comfort for individuals with joint problems.
Implementation Method 1
an actuator configured to rotate the knee link with respect to the thigh link
Implementation Method 2
assist a hip joint motion of the user by performing a 4-bar linkage motion together with the thigh link, the knee link, and the support link
Implementation Method 3
a stopper configured to restrict a rotation range of the calf supporting frame
Data Source
AI summary
A motion assistance apparatus including a support link to be attached to a waist of a user, a thigh link connected to a first end of the support link, a knee link connected to a first end of the thigh link, a connecting link connected to a first end of the knee link, and selectively connected to a second end of the support link, and an actuator configured to rotate the knee link with respect to the thigh link is provided.