Motorized-Wheel Exoskeleton for Walking-to-Rolling Mobility
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Solution Overview
Problem
There is a lack of universally usable exoskeletons that can meet the diverse movement and locomotion requirements of individuals with limited motor skills, such as those with paralysis, without requiring costly conversions or time-consuming changes.
Innovation Solution
An exoskeleton design with motorized joints and wheels that transitions between walking and rolling modes, featuring adjustable components and drive motors to support leg movements and enable upright walking or seated locomotion, utilizing connecting joints and wheels that are activated or deactivated based on the mode of operation.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Adaptability or versatility
If exoskeletons are designed for specific locomotion modes (walking or rolling), then they can provide specialized support for that mode, but they cannot meet diverse movement requirements without costly conversions or time-consuming changes
Solution Approach 1:
The exoskeleton is designed with a universal structure that can perform both walking and rolling locomotion modes using the same mechanical components. The drive wheels are integrated into the lower leg sections and can be positioned in different configurations, allowing the device to function as both a walking exoskeleton and a rolling wheelchair without requiring structural conversions or additional machine changes.
Solution Approach 2:
The exoskeleton employs dynamic reconfiguration of its components during operation. The drive wheels can be selectively engaged or disengaged, and the lower leg sections can be positioned in different orientations (vertical for walking, horizontal for rolling). This dynamic adaptability allows the same physical structure to serve multiple locomotion functions without permanent modifications.
2Adaptability or versatility
If drive wheels are integrated into the exoskeleton structure, then rolling locomotion is enabled, but the wheels must be inactive and positioned away from the ground during walking mode
Solution Approach 1:
The drive wheels are mounted on the lower leg sections with the capability to be dynamically repositioned between active (ground contact) and inactive (elevated) states. During mode transitions, the wheels are smoothly repositioned to their appropriate configurations, enabling efficient switching between walking and rolling modes without mechanical interference or operational delays.
Data Source
AI summary
The invention discloses an exoskeleton (10) for a human person (8) for assisting and/or extending the range of motion and locomotion of the subject, and a method for operating and handling such an exoskeleton (10). The exoskeleton (10) is provided with a plurality of sections (12, 14, 16) and associated connecting joints (20, 24, 28) and can be operated in a walking mode and in a rolling mode. The lower leg sections (16) and/or the knee or second connecting joints (24) are associated with motor-driven wheels (32), which are inactive in a walking mode of the exoskeleton (10) when the person (8) is standing on the ground or moving by means of walking and/or stepping and/or climbing and/or running movements and are in a position at a distance from the ground and/or from the foot section (18) of the exoskeleton (10), and which are activated and/or motor-driven in a rolling mode of the exoskeleton (10) and are in contact with the ground.