Whole-Body Haptic Exoskeleton Design for High-Fidelity Motion Feedback
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Solution Overview
Problem
Existing haptic devices fail to provide comprehensive whole-body feedback, lacking in degrees of freedom and accuracy to simulate complex environments and interactions, leading to suboptimal user experience.
Innovation Solution
A whole-body haptic system comprising a motion platform, lower-body and upper-body exoskeletons, and interface garments, with multiple actuated degrees of freedom and advanced actuation mechanisms to mimic natural movements and environmental interactions, including a Stewart-type motion platform and exoskeletons with belt-driven and cable-driven actuators, and haptic gloves for tactile feedback.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Adaptability or versatility
If existing haptic devices are used, then device complexity is reduced, but the degree of freedom and accuracy for simulating complex environments deteriorates
Solution Approach 1:
The haptic device is divided into multiple independent exoskeleton modules, each responsible for specific body segments (lower body, upper body, arms). This segmentation allows each module to provide targeted degrees of freedom without requiring the entire system to become overly complex, resolving the contradiction between adaptability and device complexity.
Solution Approach 2:
The exoskeleton modules are designed with universal interfaces and actuation mechanisms that can serve multiple functions. For example, the lower body exoskeleton can simultaneously support weight, enable ambulation, and provide haptic feedback, allowing a single complex component to address multiple requirements without proportionally increasing overall system complexity.
2Measurement precision
If multiple actuated degrees of freedom are added to simulate complex environments, then simulation accuracy is improved, but device complexity increases
Solution Approach 1:
The exoskeleton modules incorporate dynamic actuation mechanisms with multiple degrees of freedom that can be independently controlled. This allows the system to achieve high simulation accuracy by dynamically adjusting each degree of freedom based on real-time feedback, rather than requiring a static overly-complex mechanical structure.
Solution Approach 2:
The system employs feedback mechanisms where sensors detect user movement and environmental interactions, and this information is used to adjust the actuation of each degree of freedom in real-time. This feedback loop enables high simulation accuracy without requiring excessive mechanical complexity, as the control system compensates for simplifications in the mechanical design.
3Measurement precision
If advanced actuation mechanisms are implemented, then haptic feedback accuracy is improved, but ease of manufacture deteriorates
Solution Approach 1:
The exoskeleton modules replace complex mechanical transmission systems with direct-drive or simplified actuation mechanisms controlled by motors and sensors. This substitution maintains high haptic feedback accuracy through electronic control while significantly improving ease of manufacture compared to traditional mechanical linkages with multiple moving parts.
Solution Approach 2:
The system achieves high haptic feedback accuracy by dynamically changing operational parameters (force, position, velocity) through software control rather than through complex mechanical adjustments. This parameter-based control approach maintains precision while simplifying the manufacturing process, as it eliminates the need for precise mechanical tolerances in favor of programmable control.
Data Source
AI summary
A haptic device and system including: a motion platform having an actuated degree of freedom configured to permit rotation about a longitudinal axis of a user's body; a lower-body exoskeleton, having: two actuated platforms, each platform configured to substantially support a user's weight during ambulation; an upper-body exoskeleton, having: two manipulators, each manipulator including at least three actuated degrees of freedom; and an interface garment, including: a first haptic glove coupled to the first manipulator of the upper-body exoskeleton, and a second haptic glove coupled to the second manipulator of the upper-body exoskeleton.