Powered Exoskeleton Walker for Paraplegic Mobility

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Solution Overview

Problem

Paraplegic individuals lack the ability to walk, leading to complications such as muscle wastage, circulation issues, and skin problems due to prolonged sitting, which can be mitigated by limb movement and weight-bearing on bones.

Innovation Solution

A self-contained powered exoskeleton walker with a rigid pelvic support, adjustable leg structures, and actuators that mimic natural walking motion, allowing for multi-axis rotational movement and weight transfer, enabling paraplegic users to stand and walk while supporting their body weight.

Engineering Contradictions & Design Principles

VSEngineering Contradiction Analysis

1Ease of operation

If a paraplegic person remains seated in a wheelchair, then mobility is maintained, but muscle wastage, circulation problems, and skin complications occur

Engineering Contradiction:

ImprovemobilityVSAvoidmuscle wastage and circulation problems

Core Design Contradiction:

Ease of operationVSObject-affected harmful factors

Solution Approach 1:

The exoskeleton system enables the paraplegic user to perform weight-bearing and walking movements independently, substituting the disabled leg functions. The system uses sensors to detect user intent and actuators to execute the walking motion, allowing the user to benefit from physiological effects of standing and walking without requiring manual operation

Inventive Principle:

Principle #25Self-service

Solution Approach 2:

The patent replaces the failed biological mechanical system (paralyzed legs) with an artificial mechanical system (exoskeleton with actuators). The exoskeleton uses electric motors and mechanical linkages to replicate the walking gait, substituting the missing muscle power and joint movement capabilities

Inventive Principle:

Principle #28Mechanics substitution (Replace mechanical system)

2Adaptability or versatility

If the exoskeleton includes multi-axis hip actuators for natural walking motion, then walking functionality is improved, but device complexity increases

Engineering Contradiction:

Improvewalking motion capabilityVSAvoidactuator system complexity

Core Design Contradiction:

Adaptability or versatilityVSDevice complexity

Solution Approach 1:

The hip actuator is divided into two independent components: a main hip actuator for sagittal plane movement (flexion/extension) and a secondary hip actuator for coronal plane movement (abduction/adduction). This segmentation allows each actuator to handle a specific degree of freedom, making the overall system more manageable and controllable while achieving natural walking motion

Inventive Principle:

Principle #1Segmentation

Solution Approach 2:

The exoskeleton employs adjustable leg structure lengths that can be modified to match different user requirements and terrain conditions. The leg structures incorporate movable joints and adjustable components that allow dynamic adaptation of the mechanical parameters to optimize walking performance for different situations

Inventive Principle:

Principle #15Dynamics

Data Source

PatentUS11974958B2Self contained powered exoskeleton for a disabled user

Publication Date: 2024.05.07 REX BIONICS

AI summary

A walker for use by a mobility impaired disabled user. The walker supports the user while moving them through a set of movements correlating to a walking motion. The walker includes an exoskeleton, a power source in the form of a battery pack or other similar onboard power pack together with its associated power supply cables, and a control systemThe exoskeleton includes a rigid pelvic support member including a pelvic harness and a pair of leg structures Each of the leg structures comprise an upper leg structural member, a lower leg structural member, a foot member, a main hip actuator, a knee actuator and a main foot actuator.