Origami-Inspired Wearable Exo-Shell for Trunk Support
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Solution Overview
Problem
Existing wearable robotic exoskeletons face challenges in adjusting to human musculoskeletal systems, leading to increased metabolic cost and safety risks due to their rigidity and high-torque designs, and often lack versatility for multipurpose use, causing joint damage and fatigue from uneven force distribution.
Innovation Solution
A wearable 'exo-shell' device inspired by the human spine, featuring a serial chain of lockable joints with a braking system using laminar jamming concepts, made from lightweight materials and integrated sensors for predictive biomechanics, allowing for adjustable support and reduced metabolic cost.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Force
If rigid exoskeletons are used to provide high forces and torques, then mobility assistance is improved, but the complexity of joint alignment increases and metabolic cost increases
Solution Approach 1:
The patent employs flexible tendon elements routed through Bowden cables instead of rigid mechanical linkages. These tendons provide force transmission while accommodating the compliance and movement variability of the human musculoskeletal system, eliminating the need for precise joint alignment between human and robot components.
2Force
If high-torque rigid systems are used, then mobility assistance is improved, but safety risks increase when control fails or misalignment occurs
Solution Approach 1:
The patent replaces rigid, high-torque mechanical drive systems with a compliant tendon-based actuation system. The Bowden cable and tendon mechanism inherently provides mechanical compliance and fail-safe characteristics, where control failures result in loss of assistance rather than dangerous uncontrolled forces, significantly improving safety.
3Device complexity
If tendon-based soft robotic techniques are used, then joint alignment complexity is reduced, but forces across human joints increase leading to joint damage
Solution Approach 1:
The patent applies tendon forces selectively and partially, engaging assistance only when and where needed during the gait cycle rather than continuously applying maximum force. This partial action approach provides mobility assistance while distributing loads more evenly across joints, preventing the excessive forces that lead to joint damage.
4Productivity
If wearable robotic orthoses are designed for one purpose, then performance for that specific task is improved, but versatility for multipurpose use is reduced
Solution Approach 1:
The patent designs a universal exo-suit platform with adjustable tendon routing and controllable actuation that can be configured for multiple tasks including walking assistance, obstacle avoidance, carrying loads, and lifting. The system's versatility is achieved through software control and mechanical adjustability rather than task-specific hardware designs.
5Speed
If active sensing and feedback control are used, then response to wearer motion is improved, but control delays add perceptible loads and accelerate fatigue
Solution Approach 1:
The patent uses predictive biomechanics and machine learning algorithms to anticipate the wearer's motion requirements before they occur. By pre-calculating and preparing assistance forces based on predicted gait patterns and task requirements, the system reduces the need for reactive control corrections, thereby minimizing perceptible delays and associated metabolic costs.
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 device provides effective gait improvement during obstacle avoidance tasks by minimizing additional metabolic costs and weight, enabling versatile use while maintaining user transparency and safety through switchable, passive systems that stiffen on demand.
Implementation Method 1
a brake system configured to stiffen joints lockable joints of the plurality of triangle segments, including a belt engaged to each of the plurality of triangle segments, and a motorized clamp that applies forces to the belt
Data Source
AI summary
Systems and methods for a wearable “exo-shell” to improve the gait of elderly people during obstacle avoidance tasks are disclosed. With payload and energy expenditure as a main focus of this design, the present system leverages switchable, passive systems, in combination with lightweight materials that minimize additional metabolic costs, while remaining as “transparent” to the user as possible when inactive.