Upper Limb Exercise Apparatus with 5-Bar Link and Series Elastic Actuators
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Solution Overview
Problem
Existing upper limb rehabilitation apparatuses are limited in exercising arm muscles required for daily life tasks as they restrict arm movement to a horizontal plane, making it difficult for patients with nervous system damage to perform independent daily activities.
Innovation Solution
An upper limb exercise apparatus with a 5-bar link structure and series elastic actuators, allowing for adjustable tilting angles and resistance, enabling exercises in three-dimensional space and providing assistive movement to users with chronic stroke disorders.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Ease of operation
If the arm movement is restricted to a horizontal plane in existing rehabilitation apparatuses, then the device complexity is reduced and ease of operation is improved, but the adaptability for exercising various arm muscles required for daily life tasks deteriorates
Solution Approach 1:
The patent introduces a tilting mechanism that enables the exercise apparatus to move from a two-dimensional horizontal plane to a three-dimensional space. The frame can be tilted at variable angles, allowing users to perform exercises in multiple directions and planes, thereby enhancing muscle engagement for daily life tasks while maintaining operational simplicity through automated control.
2Reliability
If series elastic actuators are used to provide assistive movement, then the reliability is improved by preventing actuator breakage through reduced mechanical load, but the device complexity increases
Solution Approach 1:
The series elastic actuators incorporate elastic elements that act as cushioning components, absorbing mechanical shocks and reducing peak loads before they can cause damage to the actuator. This beforehand cushioning protects the actuator from breakage while the control system manages the complexity through automated assistance algorithms.
3Adaptability or versatility
If the frame is made movable with variable tilting angles, then the adaptability for three-dimensional exercises is improved, but the device complexity and manufacturing difficulty increase
Solution Approach 1:
The frame is designed with movable joints and actuation mechanisms that enable variable tilting angles. This dynamic structure allows the apparatus to adapt to different exercise requirements and user needs while the modular design and standardized components facilitate manufacturing and assembly, balancing adaptability with ease of manufacture.
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 users to perform exercises similar to those in three-dimensional space, reducing mechanical load and preventing actuator breakage, while allowing for resistive exercises and improved usability for patients with joint stiffness.
Implementation Method 1
series elastic actuators 60 each attached to one end of the 1-1 member 31 and one end of the 2-1 member 41, and providing torque
Implementation Method 2
an elastic spring S1 may be provided between the frame 10 and the 1-1 member 31 of the first link 30, and an elastic spring S2 may be provided between the frame 10 and the 2-1 member 41 of the second link 40
Implementation Method 3
a 1-1 member 31 of which one end is attached to the frame and is rotationally driven
Data Source
AI summary
An upper limb exercise apparatus comprises a base, a frame, and a display mounted on the frame. The apparatus further comprises 5-bar linkage-type movable parts positioned on the display and including a first link and a second link. The first link comprises a 1-1 member having one end attached to the frame and being rotationally driven, and a 1-2 member having one end rotatably attached to the other end of the 1-1 member, the other end having attached thereto a handle for gripping. The second link comprises a 2-1 member having one end attached to the frame and being rotationally driven, and a 2-2 member having one end rotatably attached to the other end of the 2-1 member, the other end having attached thereto the handle and the other end of the 1-2 member. Series elastic actuators attached to the 1-1 member and the 2-1 member provide torque.