Flexible Wearable Robot With Single-Driver Multi-Joint Assistance
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Solution Overview
Problem
Existing flexible wearable robots require multiple drivers to assist multiple joints, leading to increased size, weight, and battery consumption.
Innovation Solution
A flexible wearable robot design that uses a single driver to selectively control multiple driving wires through a controller, including a thigh strap, shank strap, and ankle-fixed portion, with a guide frame and wire manipulators to assist hip, knee, and ankle joints.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Adaptability or versatility
If multiple drivers are used to assist multiple joints, then the assistance function is improved, but the system size and weight increase
Solution Approach 1:
A single driver unit is designed to perform multiple functions by selectively assisting different joints (hip, knee, ankle) through a shared mechanical structure. The driver includes a rotating shaft that can drive multiple wire manipulators, allowing one device to replace what would traditionally require multiple separate drivers, thereby reducing system weight while maintaining multi-joint assistance capability.
Solution Approach 2:
Multiple wire manipulators are integrated into a single driver housing, with their pulleys arranged around a common rotating shaft. This merging of multiple functional components into one unified structure reduces the overall system size and weight compared to using separate driver units for each joint, while still providing independent control over multiple driving wires.
2Adaptability or versatility
If multiple drivers are used to assist multiple joints, then the assistance function is improved, but the device complexity increases
Solution Approach 1:
The driver is designed as a universal device that can assist multiple joints through a single integrated structure. The rotating shaft serves as a common drive element for multiple wire manipulators, and the controller selectively engages different wire manipulators based on which joint needs assistance, simplifying the overall system architecture compared to having independent drivers for each joint.
Solution Approach 2:
The driver is segmented into multiple independent wire manipulators that can be selectively engaged. Each wire manipulator includes a pulley and clutch gear that can independently receive or block rotational force from the common shaft. This segmentation allows the controller to activate only the necessary components for the current gait phase or terrain condition, reducing operational complexity while maintaining multi-joint capability.
3Adaptability or versatility
If multiple drivers are used to assist multiple joints, then the assistance function is improved, but the energy consumption increases
Solution Approach 1:
The controller selectively activates different wire manipulators based on the periodic phases of the user's gait cycle. During different phases of walking (e.g., swing phase, stance phase), different joints require assistance, and the controller switches between engaging different wire manipulators accordingly. This periodic selective activation ensures that energy is consumed only when and where needed, rather than continuously powering all drivers.
Solution Approach 2:
The system dynamically adjusts which wire manipulators are engaged based on real-time detection of the user's gait phase and terrain conditions. The clutch gears in each wire manipulator can dynamically connect or disconnect from the rotating shaft, allowing the system to adapt its energy consumption to the actual assistance requirements, thereby reducing overall battery consumption while maintaining versatile joint assistance.
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 design allows for a compact, lightweight system that efficiently assists multiple joints with reduced energy consumption by selectively applying tension to the appropriate driving wires based on the user's gait and terrain.
Implementation Method 1
a driving actuator for generating a rotational driving force, a rotating shaft connected to the driving actuator to be rotationally driven
Implementation Method 2
a first pulley rotatably installed with one side of the first driving wire hung thereon, and a first clutch gear installed on the rotating shaft to be connected to selectively engage with the first pulley when driven by the controller to transmit a rotational driving force
Implementation Method 3
a first clutch gear installed on the rotating shaft to be connected to selectively engage with the first pulley when driven by the controller to transmit a rotational driving force
Data Source
AI summary
A flexible wearable robot for assisting with a walking motion of a user may include a thigh strap to be worn to enclose a thigh portion of a user, a shank strap to be worn to enclose a shank portion of the user, a driver to be worn on a back or waist portion of the user to provide a driving force for assisting with a walking motion of the user, a first driving wire with one end connected to the thigh strap and the other end connected to the driver to receive tension, a second driving wire with one end connected to the shank strap and the other end connected to the driver to receive tension, and a controller to control a drive of the driver to selectively apply tension to at least one of the first driving wire and the second driving wire.