Soft Wearable Actuator With Variable Rigidity for Gait Support
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Solution Overview
Problem
Current wearable robotic systems lack body-customized multi-degree-of-freedom exoskeletons that do not interfere with user movements, efficient power generation, and sensors that accurately recognize user movements, limiting their usability and performance.
Innovation Solution
A soft wearable driving system featuring a deformable flexible body part with a variable rigidity metastructure, integrated sensors to detect muscle activity, and a controller to adjust load voltage, enabling tensioning, compression, and bending deformations for muscle strength and gait support without conventional air or hydraulic pressure.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Strength
If a rigid exoskeleton structure is used for strength support, then mechanical strength is improved, but flexibility and usability deteriorate
Solution Approach 1:
The exoskeleton structure transitions from a static rigid form to a dynamic variable rigidity system. The metastructure's rigidity can be adjusted in real-time through electrode activation, allowing the system to adapt between rigid (for strength support) and flexible (for user movement) states, resolving the contradiction between mechanical strength and flexibility.
Solution Approach 2:
The physical parameter of rigidity is made variable through the metastructure design. By changing the activation state of electrodes within the metastructure, the rigidity parameter can be dynamically adjusted, enabling the exoskeleton to provide strength when needed while maintaining flexibility for natural user movement.
2Power
If conventional air or hydraulic pressure systems are used for actuation, then large power generation is achieved, but system weight and complexity increase
Solution Approach 1:
The patent replaces conventional mechanical actuation systems (air or hydraulic pressure systems) with an electroactive metastructure system. The metastructure generates actuation forces through electrode activation, eliminating the need for complex external pressure systems, heavy actuators, and associated control mechanisms, thereby reducing overall system weight and complexity while maintaining power generation capability.
Solution Approach 2:
The actuation mechanism transitions from external pneumatic/hydraulic pressure to internal electroactive deformation. By changing the physical state and properties of the metastructure through electrical activation, the system achieves power generation without requiring heavy conventional actuation systems.
3Stability of the object's composition
If the body part is made rigid for structural support, then stability is improved, but adaptability to user body shape deteriorates
Solution Approach 1:
The body part structure transitions from a fixed rigid form to a dynamic variable rigidity system. The metastructure's rigidity can be adjusted in real-time through electrode activation, allowing the system to adapt between rigid (for structural stability) and flexible (for body customization) states, resolving the contradiction between structural stability and adaptability to user body shape.
Solution Approach 2:
The rigidity parameter of the body part is made variable through the metastructure design. By changing the activation state of electrodes, the rigidity parameter can be dynamically adjusted, enabling the exoskeleton to provide structural stability when needed while maintaining flexibility for customization to different user body shapes.
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 system provides lightweight, flexible support for muscle strength and gait assistance, generating uniform power over long-term use, with integrated sensors and adjustable rigidity, enhancing usability and accessibility.
Implementation Method 1
a gel layer of a gel type charged inside the metastructure and deformed in response to a voltage
Implementation Method 2
a surface layer formed on both sides of the metastructure by plasma etching such that the voltage is applied thereto
Data Source
AI summary
Disclosed herein is a soft wearable driving system including a body part formed of a deformable flexible material and having a shape extending in a plane, the body part being deformed in a manner of at least one of tensioning, compression, or bending in response to a magnitude of a load voltage, a sensor arranged on one side of the body part of the flexible material to sense a level of muscle activity in an installation area of the body part on the human body, and a controller configured to control the load voltage of the body part based on information sensed by the sensor. In this configuration, a lightweight system that provides high power for long periods of use may be provided, thereby improving usability.