Upper Limb Exoskeleton with Modular Segments and Adjustable Lengths
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Solution Overview
Problem
Existing rehabilitation exoskeletons for the human upper limb are bulky, difficult to modify, and not suited for home use, limiting their effectiveness and accessibility for functional rehabilitation of shoulder and elbow joints.
Innovation Solution
A lightweight, modular exoskeleton with an open kinematic chain of serially arranged rigid segments connected in rotating pairs, equipped with sensors and adjustable segments, allowing for precise angular control and easy attachment to the limb, utilizing ring sliding guides and electric motors for efficient movement assistance.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Adaptability or versatility
If traditional rehabilitation exoskeletons are used, then joint rehabilitation function is provided, but the device is bulky and difficult to modify
Solution Approach 1:
The exoskeleton is divided into multiple modular segments (first segment with motor, second segment with sensor, third segment with adjustment mechanism) connected by rotating pairs. This segmentation allows individual segments to be modified, replaced, or adjusted independently, improving modifiability while keeping each segment compact to reduce overall bulkiness.
Solution Approach 2:
The exoskeleton employs adjustable segment lengths through extension mechanisms and variable stiffness through spring elements. This dynamic adaptability allows the device to be reconfigured for different user anatomies and rehabilitation stages without requiring a completely different device, enhancing modifiability while maintaining a compact base structure.
2Ease of operation
If traditional rehabilitation exoskeletons are used, then joint rehabilitation function is provided, but the device is not suited for home use
Solution Approach 1:
The exoskeleton places motors only at the first rotating pair (shoulder) and uses passive elastic elements for the elbow joint. This localized actuation reduces overall device weight while maintaining rehabilitation effectiveness, making the device more suitable for home use where portability and ease of operation are critical.
Solution Approach 2:
The patent replaces active motors at the elbow joint with passive elastic elements (springs) that provide rehabilitation resistance through elastic deformation. This substitution significantly reduces device weight and complexity, improving home usability while maintaining the rehabilitation function.
3Measurement precision
If sensors and motors are integrated in each rotating pair, then precise angular control is achieved, but device complexity increases
Solution Approach 1:
The exoskeleton implements sensors and motors selectively at specific rotating pairs based on rehabilitation needs. The first rotating pair has both motor and sensor for active control, the second has sensor for measurement, and the third uses passive elements. This localized instrumentation achieves precise angular control where needed while minimizing overall system complexity.
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 exoskeleton provides accurate and natural joint mobilization, is compact for use in small spaces, and adaptable to various anatomical needs, enabling effective rehabilitation both at home and in telemedicine settings, reducing recovery time and dependency on healthcare facilities.
Implementation Method 1
The sensor for the mutual angular position of the segments of the third and fifth rotating pairs is a ring section made of magnetic tape, mounted coaxially to the rotating slider of the corresponding guide, and a magnetic encoder attached to the body of said guide.
Data Source
Figure 1
Figure 2~3
Figure 4~5
AI summary
The exoskeleton (1) for the rehabilitation of the upper limb has a form of an open kinematic chain, which is made up by the zeroth (3), first (4), second (5), third (6), fourth (7) and fifth (8) segments connected rotationally in sequence, forming five consecutive rotating pairs (9, 10, 11, 12, 13). Axes of rotation (14 and 15) of the third (11) and fifth (13) rotating pairs of the exoskeleton (1) are on a single straight line (16) when the axis of the rehabilitated limb (2) attached to the exoskeleton (1) is parallel to the transverse axis of the rehabilitated person's body. The rotating connection of the first (9), the second (10) and the fourth (12) rotating pairs is made up by a separate rotating electric motor that includes an integrated sensor of the rotor position relative to the stator. The rotating connection of the third (11) and fifth (13) rotating pairs is made up by open ring sliding guides (20,22 and 27,28) with magnetic sensors (25,26 and 30,31) of the mutual angular position of the segments of a given rotating pair (11 and 13). The first segment (4) of the exoskeleton (1) has a mechanism for adjusting (33) its length (L1), measured along the axis of rotation (32) of the first rotating pair (9). The third segment (6) of the exoskeleton (1) has a mechanism for adjusting (35) its length (L2), measured along the axis of rotation (14) of the third rotating pair (11). The fifth segment (8) of the exoskeleton (1) has a mechanism for adjusting (36) its length (L3), measured along the axis of rotation (15) of the fifth rotating pair (13). The adjustment mechanisms (33, 35 and 36) of said lengths (L1, L2 and L3) of the first (4), third (6) and fifth (8) segments are equipped with a sensor (34) of the current value of said length.