Wearable Upper Limb Robot Using Modular Driving Units
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Solution Overview
Problem
Current wearable robotic systems for upper limb rehabilitation are limited in their ability to replicate human motion, are bulky, and often restrict movement, failing to provide adequate assistance for patients with weak muscular strength or those who are elderly or handicapped, as they primarily focus on restraining joint angles and lack versatility in supporting multiple degrees of freedom.
Innovation Solution
A wearable robotic system with a modular structure that includes multiple joint driving units, a sensing unit using load cells to detect motion intent, and a control unit that allows for both voluntary and continuous passive motion modes, enabling smooth and comfortable movement by replicating the complex motion of the human upper limb through a network of connecting links and motors, while minimizing device volume.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Adaptability or versatility
If a robot with five to seven degrees of freedom is used to integrally rehabilitate all joints, then rehabilitation coverage is improved, but device volume increases and installation space is limited
Solution Approach 1:
The robot is divided into multiple independent driving units, each responsible for specific joint movements. The shoulder joint has multiple driving units (first, second, third, and fourth driving units) that can operate independently, allowing the system to achieve comprehensive rehabilitation coverage while maintaining a compact form factor through modular architecture.
2Adaptability or versatility
If the end of a robot link is fixed to the part that needs rehabilitation, then rehabilitation function is improved, but comfort of wear decreases
Solution Approach 1:
A wearable unit serves as an intermediary between the robot driving units and the human body. This wearable unit includes a support portion that contacts the body and a connection portion that links to the robot links, distributing the mechanical load and improving comfort while maintaining effective rehabilitation function.
3Device complexity
If simple auxiliary devices are used to restrain joint angles, then device simplicity is improved, but rehabilitation effectiveness deteriorates
Solution Approach 1:
The robot employs dynamic control capabilities with multiple degrees of freedom and adjustable motion parameters. The control unit can dynamically adjust the motion of each driving unit based on real-time feedback, enabling the device to adapt to different patient needs and provide effective rehabilitation while maintaining manageable system complexity through software-based control.
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 system effectively assists in rehabilitation by allowing users to select between voluntary and continuous passive motion modes, providing four degrees of freedom and reducing interference with the human body, thus enhancing rehabilitation outcomes for patients with weak muscular strength or mobility issues.
Implementation Method 1
a first load cell that detects movement of the elbow joint using a one-axial detection method and outputs a motion intent signal corresponding to the movement; and a second load cell that is spaced apart from the first load cell, detects movement of the elbow joint using a two-axial detection method
Data Source
AI summary
The present invention relates to a wearable robot system for rehabilitation training of the upper limbs that has an improved structure to reproduce in detail motion of a human body by selecting a wearing type structure such that robot links move correspondingly to the motion of the upper limbs while decreasing the volume of a rehabilitation and assistance device based on a robot for rehabilitation training of the upper limbs. According the present invention, it is possible to decrease the volume and increase the available space, in addition to creating smooth motion without interfering with the human body by creating a plurality of robot motion paths and selecting the best path from them, because an operation of four degrees of freedom can be achieved by an operation procedure using redundant.