Reconfigurable Exoskeleton with Modular Joints
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Solution Overview
Problem
Existing powered lower extremity exoskeletons are inadequate for individuals with hemiparetic or paraplegic injuries, as they often require locked out-of-plane axes, which is restrictive, and fail to accommodate varying degrees of impairment, leading to uneven weight distribution and limited usability for severely impaired individuals.
Innovation Solution
A reconfigurable lower extremity exoskeleton with asymmetrically constructed leg supports and a torso, featuring modular joint systems, software-adjustable actuation, and mechanically unlocking joints to allow for customizable joint control, enabling users to swap or adjust joints on the fly to optimize the device for individual needs.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Reliability
If locked out-of-plane axes are used in powered lower extremity exoskeletons, then stability is improved for completely paralyzed persons, but adaptability deteriorates for hemiplegic persons
Solution Approach 1:
The exoskeleton implements dynamic configuration of joint axes, allowing them to transition between locked and unlocked states based on user needs. The hip joint includes a mechanism to selectively lock or unlock the out-of-plane axis, enabling the system to adapt between stable locked configuration for paraplegic users and flexible unlocked configuration for hemiplegic users.
2Adaptability or versatility
If asymmetrically constructed leg supports are used, then adaptability is improved for hemiparetic injuries, but device complexity increases
Solution Approach 1:
The exoskeleton employs asymmetric construction where the right and left leg supports differ in configuration to match the asymmetric nature of hemiparetic injuries. One leg support is designed with full actuation while the other may have reduced or no actuation, allowing tailored rehabilitation for the more impaired side while preserving natural movement on the less impaired side.
3Ease of operation
If modular joint systems with software-adjustable actuation are implemented, then ease of operation is improved for customization, but device complexity increases
Solution Approach 1:
The system incorporates software-controlled dynamic adjustment of joint actuation characteristics. The control system allows real-time modification of torque modifiers and actuation parameters through a user interface, enabling therapists to customize the device behavior without mechanical reconfiguration. This software-based adaptability simplifies operation while managing complexity through electronic control rather than mechanical switches.
Data Source
AI summary
An exoskeleton can be reconfigured, adjusted and/or controlled on the fly utilizing devices which fall into three categories, particularly including a swappable unactuated leg, lockable transverse and coronal hip rotations, and software controlled free joints. More specifically, the first device allows for the creation of a modular joint system in which individual exoskeleton joints or limbs can be changed or swapped to optimize an exoskeleton for a particular user. The second device is concerned with mechanically controlling, such as locking and unlocking, joints thereby allowing, for example, an exoskeleton leg to pivot or not pivot in an axis that is not actuated. The third device allows an actuated exoskeleton joint to be adjusted on the fly using software to simulate a freely rotating joint. The various devices can be used either alone or in combination to enable any given exoskeleton to be appropriately reconfigured, such as when a patient advances during therapy.