Wearable Robot Cable Assembly With Retractable Slack Control
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Solution Overview
Problem
Managing connections between power components, fluidic systems, and control systems in mobile robots or exoskeleton systems that are not directly connected to output actuators poses challenges due to weight, packaging, and speed considerations, as well as the risk of damage from continuous movement and unpredictable accidents.
Innovation Solution
The use of integrated cables that combine electrical and pneumatic lines to transmit power and communication signals to actuation units, along with retractable and unified cable assemblies to secure and protect these connections, ensuring reliable operation.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Reliability
If separate electrical and pneumatic lines are used to connect power components and control systems to actuation units, then functional reliability is improved, but device complexity and weight increase
Solution Approach 1:
The patent combines separate electrical cables and pneumatic hoses into a single integrated cable assembly. The electrical conductors and pneumatic channels are bundled together within a common outer sheath, reducing the number of separate connections while maintaining all necessary functional links between the power pack and actuation units.
Solution Approach 2:
The integrated cable assembly serves multiple functions simultaneously: it transmits electrical power and control signals through embedded conductors, delivers pneumatic pressure through internal channels, and provides mechanical protection for all these elements. This multi-functional design reduces overall system complexity.
2Stability of the object's composition
If rigid cable connections are used between power components and actuation units, then connection stability is improved, but mobility and susceptibility to damage from movement decrease
Solution Approach 1:
The cable assembly incorporates flexible elements including a pliable outer sheath and articulation points that allow the cable to bend and flex dynamically as the exoskeleton moves. This dynamic flexibility maintains stable electrical and pneumatic connections while accommodating the full range of motion without rigid constraints.
Solution Approach 2:
The outer sheath of the cable assembly is constructed from flexible material that protects internal conductors and pneumatic channels while allowing the cable to flex and bend during movement. This flexible protective layer maintains connection integrity while enabling mobility.
3Ease of operation
If cables are routed externally for easy access and maintenance, then ease of operation is improved, but vulnerability to damage from accidents and environmental factors increases
Solution Approach 1:
The electrical conductors and pneumatic channels are nested within a protective outer sheath, creating a hierarchical structure where internal elements are shielded by external layers. This nested configuration protects vulnerable components from environmental damage while maintaining a compact, organized assembly that can be accessed when needed.
Solution Approach 2:
The cable assembly includes protective features such as reinforced outer sheathing and strain relief elements positioned before potential damage points. These protective measures are built into the cable structure in advance to prevent damage from accidents, snagging, or environmental exposure during exoskeleton operation.
Data Source
AI summary
An exoskeleton system comprising: one or more actuator units that comprise a fluidic actuator; an exoskeleton device; one or more cables, the one or more cables comprising a first cable extending from the exoskeleton device to a first actuator unit of the one or more actuator units; and a retractable cable assembly coupled to the first cable, with the retractable cable assembly configured to pull the first cable to reduce slack in the first cable.