Parallel-Actuated Hip Exoskeleton for Dual-Plane Gait Assistance
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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 gait stability for clinical populations.
Innovation Solution
A lightweight and compact powered exoskeleton with a parallel actuation system, featuring 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
1Reliability
If existing exoskeletons provide assistance in both sagittal and frontal planes, then gait stability and balance are improved, but the device becomes too heavy and bulky for real-world use
Solution Approach 1:
The exoskeleton is divided into separate functional modules: a lightweight crank frame for sagittal plane assistance, a thigh frame for frontal plane assistance, and independent actuation systems for each plane. This segmentation allows each component to be optimized independently, reducing overall weight while maintaining dual-plane functionality
Solution Approach 2:
The thigh frame serves multiple functions: it provides the attachment point for frontal plane actuators, supports the crank frame mechanism, and integrates with the thigh cuff. This multi-functionality reduces the number of separate components needed, thereby reducing overall device weight and complexity
2Reliability
If existing exoskeletons provide assistance in both sagittal and frontal planes, then medio-lateral balance is improved, but the device becomes too bulky for real-world use
Solution Approach 1:
The actuation system uses a spatial arrangement where linear actuators are positioned laterally and connected through a crank mechanism that converts linear motion into rotational torque in both sagittal and frontal planes. This dimensional transformation allows a single actuator to provide assistance in multiple planes without increasing lateral profile
Solution Approach 2:
The crank frame mechanism is nested within the thigh frame structure, with the crank arm rotating within the confines of the thigh frame. This nesting allows the sagittal plane assistance mechanism to be integrated within the overall device volume without adding external bulk
3Ease of operation
If a slim profile exoskeleton is designed, then user movement is not obstructed, but providing high torque assistance in both planes becomes difficult
Solution Approach 1:
The exoskeleton employs dynamic actuation where the crank frame rotates in response to user gait phase, allowing the actuator force vector to change direction dynamically. This dynamic adjustment enables high torque delivery during critical phases of gait while maintaining a compact, non-obstructive structure throughout the full range of motion
Solution Approach 2:
The patent combines sagittal and frontal plane assistance mechanisms into a single integrated actuation system where two linear actuators work together with the crank frame. This merging allows both torque components to be delivered through a unified compact structure rather than requiring separate bulky mechanisms for each plane
Data Source
Figure 1A~1B
Figure 2A~2C
Figure 3A~3E
AI summary
A powered exoskeleton device (10) for assisting a user's (200) gait in both the sagittal plane and the frontal plane includes a crank frame (18) securable to a user's pelvis and a thigh frame (22) securable to the user's thigh. A pair of linear actuators (24a, 24b) is each independently and rotatably coupled between the crank frame (18) and the thigh frame (22). The crank frame (18) and the thigh frame (22) are restrained relative to one another such that actuation of either of the linear actuators (24a, 24b) creates torque in both the sagittal and the frontal plane.