IIT

High reduction and backdrivability actuation system with minimal lateral encumbrance

This invention consists in a class of actuation systems which is specifically designed to minimize the lateral encumbrance of the exoskeletal system to maximize its practical usability.

Three solutions have been developed which in which the mechatronic actuation is placed frontally instead of laterally.

The designed anti-blockage system guarantees proper functioning of each mechanical component and high backdrivability of the overall system even for high overall gearing.

Patent Status

PENDING

Priority Number

IT102016000037121

Priority Date

11/04/2016

License

INTERNATIONAL

Market

The advanced prosthetics and exoskeletons market was valued at $2.11 billion in FY 2018, and is expected to reach $3.82 million by 2024, registering a CAGR of 10.42% during the forecast period of 2019 to 2024. (BIS Research)

Problem

In exoskeletal systems lateral encumbrance has to be minimized to avoid the structure getting stuck against obbstacles typically encountered during daily life (e.g. chairs, tables, narrow doors/corridors, seats etc.). In case the end-user is a paraplegic subject it is also important to guarantee the possibility to use the exoskeleton in combination with the wheelchair to enhance the autonomy of the user.

Current Technology Limitations

Typical actuation systems do not fit well with the requirements of compactness required by exoskeletal systems. As a consequence the usability of the exoskeletal systems in everyday life may be reduced.

Killer Application

The main application of this actuation system is in lower limb exoskeletons. Neverthless it can be used also in conventional robotic applications, or in upper limb exoskeletons.

Our Technology and Solution

This invention consists in a class of actuation systems which is specifically designed to minimize the lateral encumbrance of the exoskeletal system to maximize its practical usability. Its core components are a motor coupled to a leadscrew or ballscrew system and a further (arbitrary) transmission system to connect the nut of the screw based transmission to the output wheel.

Furthermore, this solution allows to displace the location of the screw with respect to the final transmission stage, allowing the adaptation of the location of the different stages of the system without influencing the overall behavior.

The designed anti-blockage system guarantees proper functioning of each mechanical component and high backdrivability of the overall system even for high overall gearing.

Advantages

Minimal lateral encumbrance
High gearing
Highly backdrivable
Torque estimation through current measurement
Capability of dislocating the screw from the point of application of force

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Team

Matteo Laffranchi

R&D Coordinator of the Rehab Technologies Lab

R&D Coordinator of the Rehab Technologies Lab. His expertise lies in the development of novel mechatronic systems in the robotics field. He received his Master’s Degree in Mechatronics Engineering at Polytechnic of Turin in 2006 and a PhD in Robotics from the University of Sheffield in 2011. After a brief experience in the automation industry at OSAI A.S., from 2008 to 2011 he was a research fellow at the Italian Institute of Technology and a postdoctoral researcher at the same institute from 2011 to 2014. Since then, he is actively involved into technology transfer and product development activities. During his PhD and Post-Doc, he spent 6 years developing compliant actuators and robots for safe human robot collaboration. Currently, he leads robotics research and product development activities at the Rehab Technologies Lab, with focus on prostheses and exoskeletons.

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