Self-Aligning Coupler for Wearable Robotic Device
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Solution Overview
Problem
Current wearable robotic devices for individuals with paraplegia face challenges in ease of use, size compatibility, and safety due to complex attachment mechanisms and limited adjustability, requiring significant upper body strength and exertion for mobility assistance.
Innovation Solution
The development of a wearable robotic device featuring a self-aligning, self-drawing coupler for easy attachment and detachment, a removable actuator cassette for simplified maintenance, an infinitely adjustable ankle-foot orthotic system, and a manually removable hip-wing attachment mechanism to enhance safety and fit various user sizes.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Reliability
If complex attachment mechanisms are used to ensure secure connection, then reliability is improved, but ease of operation deteriorates
Solution Approach 1:
The attachment mechanism is divided into separate components: a coupler portion on the thigh assembly and a corresponding receptacle on the hip assembly. This segmentation allows each component to be optimized independently - the coupler provides secure mechanical engagement while the receptacle allows easy insertion and removal, resolving the contradiction between secure connection and ease of operation.
Solution Approach 2:
The self-aligning, self-drawing coupler design allows the attachment mechanism to automatically align and engage without requiring precise manual positioning or complex locking procedures. The coupler's geometry enables it to draw itself into the receptacle and lock automatically, providing both secure connection and ease of operation.
2Ease of manufacture
If fixed-size components are used to simplify manufacturing, then ease of manufacture is improved, but adaptability deteriorates
Solution Approach 1:
The ankle-foot orthotic system incorporates adjustable components that allow the size and configuration of the device to be dynamically modified to fit different users. This includes adjustable ankle joints and foot plates that can be customized without requiring completely different device sizes, thus maintaining manufacturing simplicity while achieving adaptability.
Solution Approach 2:
The hip assembly and thigh assemblies are designed with universal interfaces and adjustable components that can accommodate a range of user sizes and anatomical variations. The self-aligning coupler system provides a universal connection mechanism that works across different device configurations and user types.
3Device complexity
If integrated ankle-foot orthotic system is used to simplify structure, then device complexity is reduced, but ease of operation deteriorates
Solution Approach 1:
The ankle-foot orthotic system is segmented into removable components including the foot plate, ankle joint, and lower leg assembly. This segmentation allows users to easily don and doff the device by attaching or removing these modular components from the thigh assembly, reducing the operational complexity despite the integrated design.
Solution Approach 2:
The adjustable ankle-foot orthotic components are pre-configured with adjustment mechanisms that allow for quick size adjustments during donning. This preliminary preparation of adjustment mechanisms enables users to easily customize the fit without complex procedures during the actual donning process.
4Reliability
If non-removable actuator cassette is used to ensure structural integrity, then reliability is improved, but ease of repair deteriorates
Solution Approach 1:
The actuator cassette is designed as a removable, self-contained module that can be easily detached from the thigh assembly for maintenance or replacement. This segmentation maintains structural integrity during operation while enabling straightforward repair operations by allowing the entire actuator assembly to be replaced as a single unit without disassembling the rest of the device.
Solution Approach 2:
The actuator cassette incorporates pre-assembled components and pre-configured mounting interfaces that facilitate quick replacement. This preliminary preparation of the modular actuator unit enables rapid maintenance operations while ensuring proper structural integration when installed.
Data Source
AI summary
A self-aligning, self-drawing coupler for coupling body assemblies together improves usability of a wearable robotic device. A self-contained removable actuator cassette improves the ease of manufacture and of replacing parts in the field. A tensioning retention system designed for one handed operation makes donning and doffing a wearable robotic device easier. A two-stage attachment system increases the range of sizes a wearable robotic device will fit. A removable, integrated ankle-foot orthotic system makes donning and doffing a wearable robotic device easier. An infinitely adjustable, integrated ankle-foot orthotic system increases the range of sizes a wearable robotic device will fit. A manually-removable hip-wing attachment system makes field changes easier, and protecting such a system from inadvertent disengagement during operation increases safety.