Wearable Robot Control With Synchronized Mobile Platform
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Solution Overview
Problem
Conventional wearable robots are limited by their divided upper and lower limb structure, which complicates the system and restricts the operator's motion, necessitating an improvement in upper limb structure and control methods for enhanced operability and mobility.
Innovation Solution
A wearable robot with an upper limb muscular power assist device that performs articulation motion with a predetermined degree of freedom, coupled with a mobile platform that adjusts movement speed and direction based on user input, featuring real-time and following modes of operation, allowing seamless synchronization with user movements.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Adaptability or versatility
If the wearable robot is divided into separate upper limb and lower limb devices, then each device can be specialized for specific functions, but the overall system complexity increases and operator motion is restricted
Solution Approach 1:
The patent combines the upper limb wearable device and lower limb wearable device into a single integrated wearable robot system. The mobile platform serves as a common base that supports both upper limb manipulation functions and lower limb locomotion functions, eliminating the need for separate control systems and reducing overall system complexity while maintaining functional versatility
2Ease of operation
If the wearable robot is divided into separate upper limb and lower limb devices, then each device can be independently controlled, but the operator's motion freedom is limited
Solution Approach 1:
The patent implements dynamic coordination between upper limb and lower limb movements through the mobile platform. The system automatically adjusts the coupling between manipulation tasks and locomotion based on real-time operational needs, allowing the operator to move freely while maintaining independent control capability when required
3Speed
If the mobile platform moves in real-time according to user movement information, then the system responds quickly to user needs, but energy consumption increases
Solution Approach 1:
The patent implements periodic motion patterns for the mobile platform where the platform moves in synchronization with the operator's natural movement rhythm. The system activates motor assistance periodically based on detected movement phases, providing support during high-energy consumption phases while reducing or stopping assistance during low-demand phases, thereby reducing overall energy consumption while maintaining responsive performance
Data Source
AI summary
Disclosed herein is a wearable robot with improved operability and mobility through improvement of the upper limb structure thereof. The wearable robot includes an upper limb muscular power assist device to perform an articulation motion with a predetermined degree of freedom, the upper limb muscular power assist device being wearable by a user, and a mobile platform connected to the upper limb muscular power assist device to move according to information regarding movement speed and movement direction of the user in a rolling fashion. Consequently, mobility of the wearable robot and operation efficiency of the user are improved.