Reconfigurable Ankle Exoskeleton Parallel Mechanism
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Solution Overview
Problem
Traditional ankle rehabilitation devices lack the ability to provide quantitative measurements of patient progress, offer customized and interactive treatment protocols, and efficiently support range of motion and strengthening exercises, while also being cumbersome for therapists.
Innovation Solution
A reconfigurable, parallel mechanism-based force feedback exoskeleton device that supports the human ankle, allowing for range of motion and strengthening exercises, balance and proprioception training, and can be used as a clinical measurement tool, with a design that includes a joint member that can switch between universal and revolute joints, enabling multiple exercise modes and adjustable resistance levels.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Measurement precision
If traditional passive rehabilitation equipment is used, then the device is simple and cost-effective, but it cannot provide quantitative measurements of patient progress or customized interactive treatment protocols
Solution Approach 1:
The patent replaces traditional passive mechanical rehabilitation equipment with an active robotic system featuring a parallel mechanism and force feedback interface. This substitution enables quantitative measurement of patient progress through force sensors and actuators that measure interaction forces between the device and patient's foot, while also providing customized interactive treatment protocols through computer control.
2Adaptability or versatility
If robot-mediated rehabilitation therapy is implemented, then quantitative measurements and customized protocols are achieved, but the device complexity increases
Solution Approach 1:
The patent implements a reconfigurable parallel mechanism that can operate in multiple exercise modes (range of motion exercises, strengthening exercises, balance exercises) through a single unified device structure. The mechanism includes actuators and sensors that can be configured for different therapeutic purposes, providing customized interactive treatment protocols without requiring multiple separate devices.
Solution Approach 2:
The patent employs a dynamic control system that can adjust treatment parameters in real-time based on patient performance and therapeutic goals. The force feedback interface and computer-controlled actuators enable adaptive resistance levels and exercise intensities, allowing customized protocols that evolve during rehabilitation sessions.
3Adaptability or versatility
If a reconfigurable design is used to support multiple exercise modes, then the device becomes versatile, but the structural complexity increases
Solution Approach 1:
The patent divides the rehabilitation device into modular functional components: a parallel mechanism with multiple actuators, a force feedback interface, a base platform, and a control system. Each module can be independently configured for different exercise modes, enabling versatility while managing structural complexity through modular design.
Solution Approach 2:
The patent achieves reconfigurability by changing operational parameters of the parallel mechanism rather than physically reconfiguring the structure. The same mechanical framework can support different exercise modes by adjusting actuator commands, force feedback gains, and control parameters, thereby providing multiple exercise modes without increasing structural complexity.
Data Source
AI summary
The present invention relates to a ungrounded, reconfigurable, parallel mechanism based, force feedback exoskeleton device for the human ankle. The primary use for the device is aimed as a balance/proprioception trainer, while the exeskeleton device can also be employed to accommodate range of motion (RoM)/strengthening exercises. This device is also used for metatarsophalangeal joint exercises.