Self-Aligning Exoskeleton Mechanisms for Anatomical Joint Alignment
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Solution Overview
Problem
Existing exoskeletons face challenges in aligning artificial joints with anatomical joints, leading to spurious forces and torques that reduce user comfort and safety due to high variability in human anatomical measurements and limb shape changes.
Innovation Solution
Self-aligning mechanisms using prismatic and revolute passive degrees of freedom and elastic elements dynamically align anatomical and artificial joints, reducing undesired loads on the user's limb.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Adaptability or versatility
If fixed alignment mechanisms are used in exoskeletons, then manufacturing precision can be maintained, but adaptability to different user anatomies deteriorates
Solution Approach 1:
The patent applies the dynamics principle by replacing fixed alignment mechanisms with dynamic self-aligning mechanisms that can adapt their configuration in real-time. The self-aligning mechanism includes passive degrees of freedom that allow it to dynamically adjust to different user anatomies and limb positions, resolving the contradiction between maintaining manufacturing precision and adapting to individual user variations.
Solution Approach 2:
The self-aligning mechanism embodies the self-service principle by automatically adjusting its alignment without requiring active control or customization for each user. The mechanism uses passive degrees of freedom and elastic elements to self-adjust to the user's anatomy, eliminating the need for complex customization procedures while maintaining adaptability.
2Manufacturing precision
If custom化的 exoskeletons are manufactured for each user, then alignment precision is improved, but productivity and ease of manufacture deteriorate
Solution Approach 1:
The patent applies the universality principle by designing a self-aligning mechanism that can serve multiple users with different anatomies using a single standardized design. The mechanism's passive degrees of freedom allow it to universally adapt to various user configurations without requiring custom manufacturing, thereby improving productivity while maintaining alignment precision.
Solution Approach 2:
The self-aligning mechanism utilizes parameter changes in its passive degrees of freedom to adapt to different user anatomies. By allowing changes in position and orientation parameters through passive motion, the mechanism achieves precise alignment for each user without requiring custom manufacturing, thus resolving the contradiction between manufacturing precision and productivity.
3Strength
If rigid frame members are used, then structural strength is improved, but adaptability to limb shape changes deteriorates
Solution Approach 1:
The patent applies the flexible shells and thin films principle by incorporating elastic elements into the frame structure. These elastic elements allow the rigid frame members to flexibly adapt to limb shape changes while maintaining overall structural strength, resolving the contradiction between strength and adaptability.
Solution Approach 2:
The self-aligning mechanism introduces dynamic capabilities to the previously static rigid frame. Through passive degrees of freedom, the mechanism can dynamically adjust to limb shape changes during movement, maintaining both structural strength and adaptability to varying anatomical configurations.
Data Source
AI summary
An exoskeleton device that includes an artificial joint and a frame member extending from the artificial joint. The frame member is configured for extension over a limb of a user. The exoskeleton device also includes a self-aligning mechanism connected to the frame member. The self-aligning mechanism includes three passive degrees of freedom (pDOF) provided in a prismatic-revolute-revolute (PRR) configuration. The self-aligning mechanism also includes a limb attachment member configured for mechanically coupling to a portion of the limb of the user.