Movable Leg Segments for Obstacle Traversal in Support Devices

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Solution Overview

Problem

Conventional support devices, such as wheelchairs and assistive robots, face challenges in traversing obstacles like curbs and stairs due to their fixed wheel configurations, which restrict their mobility and ability to navigate uneven surfaces.

Innovation Solution

The support devices incorporate legs with movable segments, including an upper segment, central segment, lower segment, and an engagement member that can pivotally engage with the surface, allowing the device to adapt to obstacles by positioning wheels and engagement members in optimal positions for stable traversal.

Engineering Contradictions & Design Principles

VSEngineering Contradiction Analysis

1Adaptability or versatility

If conventional support devices use fixed wheel configurations, then the device structure remains simple, but the device cannot traverse obstacles like curbs and stairs

Engineering Contradiction:

Improveability to traverse obstaclesVSAvoidleg structure complexity

Core Design Contradiction:

Adaptability or versatilityVSDevice complexity

Solution Approach 1:

The leg is divided into multiple movable segments (thigh segment, shin segment, foot segment) that can pivot relative to each other, allowing the leg to adapt its configuration for traversing obstacles of different heights and types while maintaining a relatively simple overall structure

Inventive Principle:

Principle #1Segmentation

Solution Approach 2:

The leg segments are made dynamically adjustable through pivotal joints, enabling the support device to change its leg geometry in real-time to match obstacle characteristics, transforming a static structure into an adaptive one

Inventive Principle:

Principle #15Dynamics

2Ease of operation

If the support device uses movable leg segments to navigate obstacles, then mobility on uneven surfaces improves, but the device complexity increases

Engineering Contradiction:

Improvemobility on uneven surfacesVSAvoidmovable segments and joints

Core Design Contradiction:

Ease of operationVSDevice complexity

Solution Approach 1:

The movable leg segments serve multiple functions: they act as structural support during normal operation and as adaptive traversal mechanisms when encountering obstacles, eliminating the need for separate specialized components

Inventive Principle:

Principle #6Universality (Multi-functionality)

Solution Approach 2:

The pivotal joints and movable segments are integrated within the existing leg structure, with each segment nested within the overall leg assembly, allowing complex motion capabilities without proportionally increasing external complexity

Inventive Principle:

Principle #7Nested doll (Nesting)

3Adaptability or versatility

If engagement members are positioned above the rear wheel, then the device can engage obstacles effectively, but stability during traversal decreases

Engineering Contradiction:

Improveobstacle engagement capabilityVSAvoidstability during traversal

Core Design Contradiction:

Adaptability or versatilityVSStability of the object's composition

Solution Approach 1:

The engagement member's position is dynamically adjusted relative to the rear wheel based on obstacle characteristics, allowing it to be positioned above the rear wheel for engagement and repositioned during traversal to maintain stability

Inventive Principle:

Principle #15Dynamics

Solution Approach 2:

The engagement member is positioned above the rear wheel in advance to prepare for obstacle engagement, then repositioned during the traversal process to maintain stability as the device moves over the obstacle

Inventive Principle:

Principle #10Preliminary action

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

This configuration enables support devices to effectively navigate obstacles by selectively engaging wheels and engagement members, enhancing mobility and stability on uneven surfaces, such as curbs and stairs, thereby improving user accessibility.

Implementation Method 1

a central segment pivotally coupled to the upper segment at the front wheel

Methodology Applied

Scientific EffectPivotal coupling: Hinge

Implementation Method 2

a lower segment pivotally coupled to the central segment

Methodology Applied

Scientific EffectPivotal coupling: Hinge

Implementation Method 3

a rotating bracket pivotally coupled to the upper segment and the lower segment at the lower joint

Methodology Applied

Scientific EffectPivotal coupling: Hinge

Data Source

PatentUS20240342022A1Support devices including movable segments and methods for operating the same

Publication Date: 2024.10.17 TOYOTA MOTOR NORTH AMERICA INC

AI summary

A support device includes a base portion, a leg coupled to the base portion, the leg including an upper segment, a central segment pivotally coupled to the upper segment at a front wheel, a lower segment pivotally coupled to the central segment, a rear wheel coupled to the lower segment, and an engagement member coupled to the lower segment, where the engagement member is positionable between a disengaged position, in which at least a portion of the engagement member is positioned above the rear wheel, and an engaged position, in which at least a portion of the engagement member is positioned at or below the rear wheel.