Parallel-Actuated Hip Exoskeleton for Lightweight Multi-Plane Gait Aid
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Solution Overview
Problem
Existing exoskeletons that provide assistance in both the sagittal and frontal planes are too heavy and bulky for real-world use, limiting their effectiveness in improving medio-lateral balance and mobility for clinical populations.
Innovation Solution
A lightweight and compact powered exoskeleton with a parallel actuation system that includes a crank frame and thigh frame connected by linear actuators, allowing independent control of sagittal and frontal plane torques, with a slim profile that does not interfere with user movement.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Adaptability or versatility
If existing hip exoskeletons provide assistance in both sagittal and frontal planes, then gait assistance capability is improved, but device weight and bulk increase
Solution Approach 1:
The patent merges the sagittal and frontal plane assistance mechanisms into a single integrated exoskeleton system. The crank frame and thigh frame are restrained relative to one another such that actuation of linear actuators creates torque in both planes simultaneously, eliminating the need for separate heavy mechanisms for each plane.
Solution Approach 2:
The exoskeleton design provides multi-functionality by enabling a single device to assist in both sagittal plane movements (flexion/extension) and frontal plane movements (abduction/adduction). The parallel actuation system with two linear actuators per leg creates torque in both planes, making the device universally applicable to various gait assistance needs.
2Adaptability or versatility
If existing hip exoskeletons provide assistance in both sagittal and frontal planes, then gait assistance capability is improved, but device size and profile increase
Solution Approach 1:
The patent merges the sagittal and frontal plane assistance mechanisms into a single integrated exoskeleton system. The crank frame and thigh frame are restrained relative to one another such that actuation of linear actuators creates torque in both planes simultaneously, eliminating the need for separate heavy mechanisms for each plane.
Solution Approach 2:
The patent employs a parallel actuation system where linear actuators are positioned laterally to the user and aligned with the user's thigh. This dimensional arrangement allows the actuators to operate in a configuration that provides compact profile while delivering torque in both sagittal and frontal planes through the restrained frame geometry.
3Reliability
If exoskeleton provides high torque assistance in both planes, then gait stability is improved, but device complexity increases
Solution Approach 1:
The exoskeleton system is designed to be actuated by the user's own muscle forces. The linear actuators are positioned and restrained such that user muscle contraction directly drives the exoskeleton joints, eliminating the need for complex sensors, controllers, and power systems that would otherwise be required to detect and respond to user movements.
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 exoskeleton effectively assists in both sagittal and frontal plane movements, providing high torque assistance with a minimal added profile, improving gait stability and mobility without obstructing natural movements.
Implementation Method 1
A pair of linear actuators can each be independently and rotatably coupled between the crank frame and the thigh frame
Implementation Method 2
The crank frame and the thigh frame can be restrained relative to one another such that actuation of either of the linear actuators creates torque in both the sagittal and the frontal plane
Data Source
AI summary
A powered exoskeleton device for assisting a user's gait in both the sagittal plane and the frontal plane includes a crank frame securable to a user's pelvis and a thigh frame securable to the user's thigh. A pair of linear actuators is each independently and rotatably coupled between the crank frame and the thigh frame. The crank frame and the thigh frame are restrained relative to one another such that actuation of either of the linear actuators creates torque in both the sagittal and the frontal plane.