Non-Exoskeletal Rehab Robot With 3D Motion and Modular Support
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Solution Overview
Problem
Current robotic rehabilitation systems, whether low-DOF or high-DOF exoskeletal, face limitations such as restricted motion range, mechanical complexity, high cost, and discomfort for patients, failing to provide effective and accessible 2D and 3D rehabilitation exercises.
Innovation Solution
A novel multi-active-axis non-exoskeletal robotic device with three degrees of freedom, utilizing a pitch-yaw-yaw configuration and cabled differential transmission, offering a simplified design that reduces cost and bulk while providing a wide range of rehabilitative services, including 3D therapies, with modular endpoint attachments for varied therapeutic modalities.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Adaptability or versatility
If high-DOF exoskeletal systems are used to provide comprehensive rehabilitative services, then the range of motion and therapeutic capability are improved, but the device complexity, cost, and bulk increase significantly
Solution Approach 1:
The robotic system is divided into modular components: a base unit with core actuation mechanisms and separate endpoint attachments that can be configured for different therapeutic modalities. This segmentation allows the system to provide comprehensive rehabilitative services through simple combinations of modular parts rather than requiring a complex monolithic exoskeletal structure.
Solution Approach 2:
The base robotic unit is designed with universal interfaces and configurable endpoint attachments that can perform multiple therapeutic functions. A single base unit can support various cradle configurations, grip types, and positioning arrangements to deliver diverse rehabilitative exercises without requiring separate specialized equipment for each therapy type.
2Strength
If exoskeletal systems wrap around the patient's limb to provide support, then the mechanical support and motion guidance are improved, but the patient comfort and ease of operation deteriorate
Solution Approach 1:
The system employs dynamic, adjustable support structures rather than rigid exoskeletal wraps. The endpoint attachments can be positioned and configured to provide mechanical support where needed while allowing natural limb movement and patient comfort. The support level and positioning can be adjusted during therapy sessions to accommodate changing patient needs and comfort requirements.
3Device complexity
If low-DOF systems are used to reduce device complexity and cost, then the affordability and simplicity are improved, but the range of motion and therapeutic effectiveness are limited
Solution Approach 1:
The system achieves enhanced therapeutic range of motion by adding configurability in the attachment dimension rather than increasing the DOF of the core robotic mechanism. Through various endpoint attachments and positioning arrangements, the simple base unit can accommodate diverse therapeutic exercises and motion patterns that would otherwise require complex multi-DOF exoskeletal systems.
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AI summary
A robotic device for operation in association with an appendage of a user, wherein the appendage of the user has an endpoint, the robotic device comprising: a base; and a robotic arm attached to the base and having an endpoint, the robotic arm having at least two active degrees of freedom relative to the base and being configured so that when the base is appropriately positioned relative to a user, the reference frame of the robotic device is oriented generally similarly to the reference frame of the user and motions of the endpoint of the appendage of the user are mimicked by motions of the endpoint of the robotic arm.