Spring Actuator Limb Assist Robot
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Solution Overview
Problem
Current upper and lower limb assist robots face challenges in being lightweight, affordable, and capable of real-time movement assistance due to the weight and cost of electric-powered actuators, as well as systemic instability and delayed control responses.
Innovation Solution
The design incorporates a link and actuator system with an adjustment module that adjusts the force directions and magnitudes applied to joints using couplers and springs, allowing for real-time movement assistance while canceling gravitational forces and providing thrust, without the need for electric motors.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Force
If electric-powered actuators with motors and gears are used, then torque for movement can be directly applied to joints, but the device becomes heavy and expensive
Solution Approach 1:
The patent replaces electric-powered actuators with a passive mechanical spring system. The spring-based actuator uses elastic potential energy storage and release to provide the necessary torque for joint movement, eliminating the need for heavy motors and gear trains while maintaining the ability to generate required forces at the joints.
Solution Approach 2:
The patent changes the operating parameters by using spring stiffness and pre-load forces to replace motor torque. By adjusting spring characteristics and mechanical advantage ratios through the coupler mechanism, the system achieves the required joint forces without the weight of electric actuators.
2Force
If electric-powered actuators with motors and gears are used, then torque for movement can be directly applied to joints, but the device becomes expensive
Solution Approach 1:
The patent replaces expensive electric actuators with inexpensive passive mechanical springs. The spring-based system eliminates the need for motors, control electronics, and complex gear trains, significantly reducing manufacturing costs while maintaining the capability to provide necessary joint forces.
Solution Approach 2:
The patent uses simple, inexpensive spring elements that can be easily manufactured and replaced if needed, replacing expensive electric actuators. The mechanical spring system provides a cost-effective solution that maintains functional requirements without the high cost of motorized components.
3Ease of operation
If electric-powered actuators are used, then movement assistance can be provided, but real-time control response is delayed due to motor operation and gear train
Solution Approach 1:
The patent replaces electric actuators with a direct mechanical spring system that responds instantaneously to user movements. The spring-based actuator requires no electronic control, motor inertia, or gear train delays, enabling real-time adaptation to user movements through pure mechanical coupling.
Solution Approach 2:
The spring-based actuator system is self-regulating and automatically adjusts to user movements without requiring electronic control systems. The mechanical coupling directly transmits forces and movements, eliminating control delays and enabling instantaneous response to user intentions.
4Ease of operation
If electric-powered actuators are used, then movement assistance can be provided, but systematic instability occurs due to control difficulties
Solution Approach 1:
The patent replaces electric actuators with a passive mechanical spring system that inherently provides stable, predictable forces. The spring-based system eliminates electronic control uncertainties and motor inertia effects, resulting in more reliable and stable system behavior that better follows user movements.
Solution Approach 2:
The mechanical spring system automatically adapts to user movements without requiring active electronic control, providing inherently stable and reliable force delivery. The passive mechanical coupling ensures consistent and predictable system behavior that enhances reliability compared to electric actuator systems.
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
This configuration enables lightweight, cost-effective, and stable real-time movement assistance for upper and lower limbs, improving user experience by reducing the need for electric actuators and enhancing control precision.
Implementation Method 1
a spring (12) connected to the coupler (P1, P2)
Data Source
AI summary
The present invention provides a robot configured to assist movements of limbs of a user. The upper limb assist robot, as the limb assist robot, comprises: a first link extending from a shoulder of an upper limb toward an elbow and including a first joint pivotably connected to a predetermined accessory; a second link including a second joint pivotably connected to the first link, the second link being configured to support an upper arm of the upper limb along with the first link by extending from the first link to the elbow of the upper limb; a first actuator including a first coupler connected to the first link, and configured to apply a predetermined magnitude of a force to the first joint via the first coupler; a second actuator including a second coupler connected to the second link, and configured to apply a predetermined magnitude of a force to the second joint via the second coupler; and an adjustment module including third and fourth couplers connected to the first and second actuators, respectively, the adjustment module being configured to change directions of the forces applied to the first and second joints by the first and second actuators to generate a force in an intended direction while canceling an applied gravitational force.