Sensorized Soft Exoskeleton Interface for Rehabilitation
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Solution Overview
Problem
Current rehabilitation robots face challenges such as skin injuries, inadequate controllability, limited range of motion, lack of versatility, and high setup times due to issues with physical interfaces, which hinder effective and safe therapy delivery.
Innovation Solution
A sensorized physical interface device with soft components and integrated force and pressure sensors that can detect user intentions and provide data for improved therapy monitoring and adaptation, reducing setup time and enhancing safety and comfort.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Ease of operation
If exoskeleton robots with multiple joints are used to align with patient joints, then individual joint control and force/torque measurement capability are improved, but setup time increases and device complexity increases
Solution Approach 1:
The exoskeleton is divided into modular segments (connecting links with joints) that can be independently adjusted and configured. Each joint module can be individually positioned to match patient anatomy, enabling rapid setup while maintaining individual joint control capability
Solution Approach 2:
The exoskeleton design incorporates universal joint interfaces and adjustable connecting links that can adapt to different patient anatomies and rehabilitation needs. This multi-functionality allows the same device to serve multiple patients with different requirements without requiring complete reconfiguration
2Measurement precision
If exoskeleton robots with multiple connections are used, then force/torque measurement on each body connection is improved, but device complexity and customization requirements increase
Solution Approach 1:
Multiple sensing functions (force, torque, position) are merged into integrated sensors located at the joint connections. This consolidation reduces the number of separate components while maintaining comprehensive measurement capability across all body connections
Solution Approach 2:
Force/torque sensors are placed as intermediary elements at the connection points between the exoskeleton and patient body. These intermediary sensors measure interaction forces without adding significant structural complexity to the overall system
3Power
If physical interface attaches robot to human body, then power transmission is improved, but skin injuries occur due to excessive pressure
Solution Approach 1:
The physical interface uses flexible, compliant materials and soft tissue-friendly designs at the contact points. This allows effective power transmission while distributing pressure to prevent skin injuries and discomfort during prolonged use
Solution Approach 2:
Pressure sensors are integrated into the physical interface to provide real-time feedback on contact pressure. This feedback enables the control system to adjust applied forces to remain within safe limits, preventing skin injuries while maintaining effective power transmission
4Loss of time
If end-effector robots with single attachment are used, then setup time is reduced and device complexity is lowered, but range of motion and functional training capability are limited
Solution Approach 1:
The end-effector robot incorporates dynamic adjustment capabilities that allow the attachment point and orientation to be modified during operation. This enables the system to adapt to different exercises and patient needs without requiring complete reconfiguration, expanding functional training capability while maintaining quick setup
Applied Scientific Principles
This section explains which scientific principles are used to turn an abstract innovation direction into a practical engineering solution.
Function Achieved in This Case
The device allows for more accurate intention detection, reduced skin injuries, increased therapy intensity, and easier setup, enabling more efficient and personalized rehabilitation with reduced therapist workload.
Implementation Method 1
at least one sensor integrated in or on the physical interface device, wherein at least one of the sensors is configured for sensing a force inside the physical interface device
Implementation Method 2
The challenge relates to the pressure distributed on the skin tissues. When attaching a robot to a human body, excessive pressure can lead to skin injuries
Data Source
AI summary
The present invention relates to a physical interface device for providing a physical interface between a user and rigid components of a machine, e.g. a cuff. The physical interface device comprises a soft component for providing a soft contact to the user, and one or more sensors which are integrated in the physical interface device, wherein at least one of the sensors is configured for sensing a force inside the physical interface device. The present invention also relates to a machine comprising a physical interface device.