Shoe Blocking Device for Exoskeleton Rehabilitation
Find Innovative SolutionsGenerate Solutions
Solution Overview
Problem
Existing rehabilitation systems for walking, including exoskeletons and weight unburdening devices, often restrict natural foot movement by using rigid platforms, preventing the rotation of phalanges and direct shoe-ground contact, and are complex, heavy, and costly.
Innovation Solution
A device for blocking a shoe that stably connects to an exoskeleton, allowing natural foot movement by using a structure that wraps the heel and includes adjustable bands to secure the shoe, enabling direct contact with the ground and rotation of phalanges, combined with a weight supporting system using double electric and pneumatic actuation for comfortable and constant weight unburdening.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Stability of the object's composition
If rigid platforms or plates are used to connect the shoe to the exoskeleton, then the structural stability is improved, but the natural movement of the foot is prevented and phalange rotation is restricted
Solution Approach 1:
The patent employs flexible bands instead of rigid platforms to connect the shoe to the exoskeleton. These bands can elastically deform to accommodate natural foot movements and phalange rotation while maintaining sufficient connection stability. The flexible material allows the foot to move naturally during the gait cycle without being constrained by rigid structures.
Solution Approach 2:
The connection system transitions from static rigid platforms to dynamic flexible bands that can adapt their shape and stiffness in real-time. The flexible bands provide a dynamic connection that responds to the natural movements of the foot, allowing phalange rotation and natural gait patterns while maintaining adequate structural support.
2Stability of the object's composition
If rigid platforms are used to secure the shoe, then the connection stability is improved, but direct shoe-ground contact is prevented
Solution Approach 1:
The flexible bands maintain a stable connection between the shoe and exoskeleton while allowing the shoe to contact the ground naturally. The flexibility of the bands ensures that the shoe can move independently to achieve proper ground contact during the gait cycle, unlike rigid platforms that would prevent this natural interaction.
3Force
If complex weight unburdening systems with multiple actuators are used, then the weight support capability is improved, but the device complexity and cost increase
Solution Approach 1:
The patent extracts and isolates the weight unburdening function from the complex multi-actuator system. By using a single pneumatic actuator specifically for weight support, the system achieves effective weight unburdening while reducing overall system complexity. The pneumatic actuator is dedicated to this single function, separating it from the motorized gait generation functions.
Solution Approach 2:
The patent employs a pneumatic actuator for weight unburdening, which provides smooth and controllable force adjustment. The pneumatic system offers inherent compliance and softness, allowing gradual weight support adjustment without the harshness of purely mechanical or electrical actuation systems, thereby reducing overall system complexity.
4Object-generated harmful factors
If spring-based weight compensation is used, then the oscillation compensation is improved, but the force regulation precision deteriorates
Solution Approach 1:
The pneumatic actuator provides superior force regulation precision compared to spring-based systems. It can precisely control the magnitude of the unburdening force through pneumatic pressure adjustment, allowing accurate force modulation during the gait cycle. The pneumatic system maintains constant force output despite variations in body weight and gait dynamics, achieving both oscillation compensation and precise force regulation.
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
Enables natural walking with correct phalange bending and improved rehabilitation by allowing direct shoe-ground contact and providing comfortable, constant weight unburdening, enhancing rehabilitation effectiveness and patient comfort.
Implementation Method 1
a pneumatic actuator (36) connected to a moving pulley (37), moved by a shaft (40) connected to a shaft (41) of the pneumatic actuator, to be then rotated, through two further returning pulleys (39), from an horizontal to a vertical direction
Data Source
Figure 1
Figure 2
Figure 3
AI summary
A device (10) is described, for blocking a shoe (15) for an exoskeleton (102) of a system (100) for rehabilitating the walk comprising a structure (11) designed to externally wrap the heel of a patient (101), allowing the contact between the sole of the shoe (15) and the ground, the structure (11) comprising a rear element (12) connectable to a bearing and moving structure of a foot (400); a band assembly (14) connected to the structure (11) to strap up and tighten the shoe (15) of the patient (101) in order to make it integral with the device (10); an exoskeleton and a system comprising such device are further described.