Variable-Length Support Link for Joint Motion Assistance
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Solution Overview
Problem
Rapidly aging societies face challenges in walking assistance due to joint problems, with existing technologies failing to provide effective solutions for reducing effort and pain during walking.
Innovation Solution
A motion assistance apparatus featuring a proximal support, drive links, a support link that performs translational and rotational motions, and a distal support, which adjusts its length to change the position of a remote center of motion, allowing for customizable assistance to joints like the talocrural joint, enabling efficient plantar and dorsi flexion motions.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Adaptability or versatility
If a fixed-length support link is used, then the structure is simple, but it cannot adapt to different user joint positions and ranges of motion
Solution Approach 1:
The support link is designed with variable length capability through telescopic mechanisms or adjustable linkages, allowing the distance between proximal and distal supports to be dynamically changed. This enables the apparatus to adapt to different user anatomies and joint positions while maintaining a relatively simple overall structure.
Solution Approach 2:
The length parameter of the support link is made adjustable to match different user requirements. By changing the physical dimension of the support link, the apparatus can accommodate various joint positions and ranges of motion without requiring complete structural redesign.
2Reliability
If the support link performs only rotational motion, then the mechanism is simple, but it cannot achieve the remote center of motion (RCM) effect for natural joint movement
Solution Approach 1:
The support link is designed to perform both rotational motion and translational motion simultaneously, adding a translational dimension to the previously purely rotational mechanism. This combination enables the apparatus to achieve the remote center of motion (RCM) effect, where the distal support rotates about a point remote from the joint, mimicking natural joint movement patterns.
Solution Approach 2:
The support link is designed as a multi-functional component that simultaneously performs rotational motion, translational motion, and length adjustment. This universal component achieves multiple functions (RCM effect, adaptation to different positions, and natural joint movement simulation) without requiring separate mechanisms for each function.
3Adaptability or versatility
If the first and second drive links move at the same velocity, then the control is simple, but it cannot accommodate different anatomical requirements of users
Solution Approach 1:
The velocities of the first and second drive links are made dynamically adjustable rather than fixed. By independently controlling the velocity of each drive link, the apparatus can accommodate different anatomical requirements and movement patterns of users, while the control system maintains simplicity through independent actuation of each link.
Data Source
AI summary
A motion assistance apparatus including a proximal support configured to support a proximal part of a user, a first drive link and a second drive link configured to perform translational motions with respect to the proximal support at different velocities, a support link with both ends rotatably connected to the first drive link and the second drive link, respectively, the support link having a variable length, and a distal support connected to the support link, the distal support configured to support a distal part of the user is provided.