Tensegrity Joints for Human Exoskeletons
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Solution Overview
Problem
Current exoskeleton designs face limitations due to restricted range of motion in joints, which reduces mobility and maneuverability, especially on uneven terrain and during dynamic activities, and are often heavy due to rigid components.
Innovation Solution
Incorporation of tensegrity joints that utilize tensile members to connect compression members, allowing for increased flexibility and weight transfer while maintaining weight-bearing capacity, using pulleys and guides to enhance rotational and translational freedom in exoskeleton joints.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Strength
If rigid compression members and fixed-distance rotating joints are used to support exoskeleton weight, then weight-bearing capacity is improved, but range of motion and flexibility are limited
Solution Approach 1:
The patent applies dynamics by replacing fixed-distance rotating joints with tensegrity joints that allow variable distances between connected members. The tensile member enables the joint to adapt its configuration dynamically, allowing rotation in multiple planes and translation while maintaining weight-bearing capacity through the continuous tension-compression system.
Solution Approach 2:
The invention changes the fundamental parameter of joint connectivity from fixed distance to variable distance through the tensile member. This parameter change allows the joint to accommodate different positions and orientations of compression members while maintaining structural integrity and weight transfer capability.
2Force
If rigid joints are used to transfer weight to the ground, then weight transfer is improved, but mobility and maneuverability are reduced
Solution Approach 1:
The tensegrity joint provides dynamic adaptability allowing the exoskeleton to maintain stable weight transfer while accommodating natural movements of the wearer. The joint can rotate in multiple planes and translate as needed, improving mobility without compromising the force transmission path to the ground.
3Device complexity
If fixed-distance rotating joints are used, then structural simplicity is maintained, but flexibility in multiple planes is limited
Solution Approach 1:
The tensegrity joint structure enables dynamic movement in multiple planes through the action of the tensile member connecting compression members at variable distances. This allows rotation about multiple axes and translational movement while maintaining a relatively simple overall structure compared to traditional multi-degree-of-freedom mechanical joints.
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 tensegrity joint design improves exoskeleton mobility on various terrains and in dynamic environments by increasing joint flexibility and reducing weight, enabling more efficient weight transfer and improved fitting without compromising stability or weight-bearing ability.
Implementation Method 1
a tensile member having a first end and a second end. The first end is coupled to the first compression member on a first side of the joint, and the second end is coupled to the first compression member on a second side of the joint opposite the first side
Implementation Method 2
the joint further includes a first pulley on the first side of the joint and a second pulley on the second side of the joint. Each of the first and second pulleys is connected to the second compression member
Data Source
Figure 1A
Figure 1B
Figure 1C
AI summary
An exoskeleton (305; 405) includes first and second compression members (105; 105'; 110; 110') configured to be coupled to a wearer (205) of the exoskeleton (305; 405). A tensegrity joint (100; 170; 171; 200; 300; 400) connects the first compression member (105; 105') to the second compression member (110; 110'), the joint (100; 170; 171; 200; 300; 400) including a tensile member (140; 235; 330; 445) having a first end and a second end. The first end is coupled to the first compression member (105; 105') on a first side of the joint (100; 170; 171; 200; 300; 400), and the second end is coupled to the first compression member (105; 105') on a second side of the joint (100; 170; 171; 200; 300; 400) opposite the first side.