Spherical Linkage Exoskeleton Reducing Hip Load
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Solution Overview
Problem
Existing exoskeleton robots for human knee joints face issues such as high load on the hip joint due to motor placement, backlash from gear structures, and complex, bulky designs, which affect wearing comfort and efficiency.
Innovation Solution
A device with a power generating member and interconnected links forming a spherical linkage structure, where rotary shafts and extension axes intersect, reducing load on the hip joint and improving comfort by distributing the assistive force effectively and compactly.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Power
If the motor is disposed at the lateral side of the knee, then the assistive power can be provided directly to the knee joint, but a large load is applied to the human hip joint due to the weight of the motor
Solution Approach 1:
The patent transitions from a linear arrangement (motor at knee lateral side) to a spherical linkage structure where multiple rotary shafts (A1-A4) and connection links are arranged in three-dimensional space with their extension axes intersecting at a common point. This spatial reconfiguration redistributes the motor weight load across multiple support points including the hip joint area, reducing the concentrated load on the hip while maintaining effective power transmission to the knee joint.
2Power
If a gear structure is used to transmit power from the motor, then the assistive power can be transmitted to the rotary shaft, but backlash is caused and wearing comfort deteriorates
Solution Approach 1:
The patent removes the gear transmission mechanism from the power transmission path. Instead of using a motor with gear reduction, the invention employs a spherical linkage structure with multiple rotary shafts (A1-A4) and connection links that directly transmit power through mechanical coupling. This extraction of the gear component eliminates backlash while maintaining effective power transmission from the motor to the knee joint.
3Power
If a linkage structure including links is used, then the assistive power can be transmitted through mechanical advantage, but the exoskeleton robot has a complicated structure and large volume
Solution Approach 1:
The patent merges multiple functional components into a unified spherical linkage structure. The connection links (first through fourth connection links) and rotary shafts (A1-A4) are integrated such that their extension axes intersect at a common point, creating a compact spherical mechanism. This merging reduces the overall volume and simplifies the structure compared to traditional linkage mechanisms while maintaining the mechanical advantage needed for effective power transmission.
Data Source
AI summary
Disclosed is a device including a first connection link coupled to be rotatable about a first rotary shaft, a second connection link coupled to be rotatable relative to the first connection link about a second rotary shaft, a third connection link coupled to be rotatable relative to the second connection link about a third rotary shaft, and a fourth connection link coupled to be rotatable relative to the third connection link about a fourth rotary shaft, in which first to fourth extension axes respectively defined by extending the first to fourth rotary shafts in longitudinal directions thereof intersect in an intersection region.