Sensorized Upper Limb Exoskeleton with Passive Gravity Compensation
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Solution Overview
Problem
Current wearable exoskeletons lack a lightweight shoulder-elbow orthosis that provides anti-gravitational support and integrates with functional electrical stimulation (FES), digital twin technology, virtual reality (VR), and augmented reality (AR) systems, while also being intrinsically safe and adaptable to individual user needs.
Innovation Solution
A sensorized upper-limb exoskeleton system that combines a passive upper-limb exoskeleton with embedded sensors, providing lightweight and portable anti-gravitational support, integrating with FES and AR/VR systems, and featuring adjustable components to accommodate individual user dimensions and needs.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Weight of moving object
If a lightweight passive shoulder-elbow orthosis is designed, then portability and comfort are improved, but the ability to provide dynamic adaptability and anti-gravitational support is worsened
Solution Approach 1:
The patent replaces complex mechanical actuation systems with a passive mechanical design that uses gravity compensation through carefully positioned counterweights and linkages. This substitution allows the lightweight structure to provide adaptive support without active motors or sensors, resolving the contradiction between weight and adaptability.
Solution Approach 2:
The passive orthosis incorporates dynamic elements such as movable linkages and adjustable link lengths that automatically adapt to user movement and posture changes. This passive dynamics approach enables the lightweight device to provide context-appropriate support without active control systems.
2Adaptability or versatility
If integrated sensors and electronic systems are added, then functionality and monitoring capabilities are improved, but device complexity and weight are worsened
Solution Approach 1:
The patent integrates multiple functions into the passive mechanical structure itself, where the same linkages and joints that provide mechanical support also serve as sensor mounting points and data collection nodes. This multi-functionality reduces overall system complexity by eliminating dedicated sensor housings and wiring harnesses.
3Ease of manufacture
If fixed configuration components are used, then manufacturing simplicity is improved, but adaptability to different user dimensions is worsened
Solution Approach 1:
The patent divides the orthosis into modular segments with standardized interfaces, allowing individual link lengths and component positions to be adjusted or swapped based on user dimensions. This segmentation enables simple manufacturing of standard parts while providing customization capability through reconfiguration.
Solution Approach 2:
The patent incorporates adjustable and reconfigurable elements such as telescopic links, adjustable joint positions, and interchangeable components that allow the fixed-manufacturing parts to adapt dynamically to different user sizes and requirements.
Data Source
AI summary
An upper-body sensorized exoskeleton is configured to interface with external systems, such as FES, advanced cognitive systems, and VR/AR interaction programs, in order to facilitate rehabilitation and assistance of patients affected by upper-limb impairments. The sensorized upper limb exoskeleton delivers anti-gravitational support at the shoulder level, enables upper-limb configuration limits for shoulder and elbow ranges of motion, and reads kinematic data that may be analyzed by users and clinicians. The sensorized upper limb exoskeleton is equipped with electronic processing and communication means that support bidirectional communication between exoskeleton and external systems.