Segmented Exoskeleton Tibial Joint for Foot Rotation
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Solution Overview
Problem
Conventional exoskeletons that assist user movement limit freedom and cause fatigue due to the need for users to carry the structure, and they often restrict foot rotation and mobility, especially on uneven terrain.
Innovation Solution
The exoskeleton subassembly is designed with a tibial segment divided into two parts, allowing internal/external rotational movement through a joint between the knee and ankle, and additional joints for eversion/inversion, along with attachment mechanisms that allow flexible foot rotation and load distribution, enhancing comfort and mobility.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Reliability
If the user carries the exoskeleton structure on their body, then the exoskeleton provides support and assistance, but the user's freedom of movement is limited and additional load and fatigue are generated
Solution Approach 1:
The tibial segment is divided into two separate pieces (first tibial piece and second tibial piece) connected by a first joint. This segmentation allows the exoskeleton to adapt to foot rotation movements while maintaining structural support, resolving the contradiction between providing reliable support and allowing user freedom of movement.
Solution Approach 2:
The first joint between the two tibial pieces enables dynamic rotation to accommodate internal/external foot rotation, while the second joint at the ankle allows dynamic adaptation to eversion/inversion movements. This dynamic design maintains support reliability while preserving user mobility and freedom of movement.
2Weight of moving object
If plates are placed under the user's feet to transfer exoskeleton mass to the ground, then the user is relieved of some load, but the user's feet are not in contact with the ground reducing comfort and mobility
Solution Approach 1:
The ankle joint (second joint) provides dynamic rotation capability that allows the user's foot to remain in contact with the ground while the exoskeleton mass is transferred to the ground through the foot part. This resolves the contradiction by enabling both load transfer and ground contact for comfort and mobility.
3Weight of moving object
If the exoskeleton structure includes ground contact plates, then load transfer is enabled, but the user's mobility is reduced and foot rotation is restricted
Solution Approach 1:
The tibial segment is segmented into two pieces with a first joint between them, allowing internal/external rotation of the foot while maintaining ground contact capability for mass transfer.
Solution Approach 2:
The combination of the first joint (for internal/external rotation) and the second ankle joint (for eversion/inversion) creates a dynamic system that enables full foot rotation capability while maintaining ground contact for load transfer, resolving the contradiction between mass transfer and adaptability.
4Reliability
If the exoskeleton does not allow full foot rotation, then ground support is provided on stable terrain, but the structure does not provide support on sloping or uneven ground
Solution Approach 1:
The first joint between the tibial pieces and the second ankle joint create a dynamic system that adapts to various terrain conditions. The joints allow the exoskeleton to maintain ground support on stable terrain while adapting to sloping or uneven ground through foot rotation, resolving the contradiction between stability and terrain adaptability.
Data Source
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AI summary
The invention relates to an exoskeleton sub-assembly (30) comprising: - a leg part (32) to be attached to a leg of a user, and - a foot part (33) to be attached to a shoe of the user; the leg part (32) comprises a tibial segment (321) extending below the knee, along the tibia of the user, when the leg part (32) is attached to the leg, and the tibial segment (321) comprises a first component (325), a second component (326) connected to the foot part (33), and a first joint (327) connecting the second component (326) to the first component (325), the first joint (327) permitting a rotation of the second component (326) with respect to the first component (325) caused by an internal or external rotation of the user's foot with respect to the leg.