Device and Method for Haptic Feedback Tracking in Wearable Exoskeleton Systems

Wearable Exoskeleton System with Haptic Feedback via Adjustable Elastic Member Reaction Force

This technology is a joint reaction force control mechanism for wearable exoskeleton systems. It uses a linear actuator to variably control the preload of an elastic member (compression coil spring) positioned between link chains, allowing the system to track a target haptic feedback level set by the user.

Existing wearable exoskeleton systems lack a mechanism for users to actively adjust joint haptic feedback, limiting their ability to provide optimized comfort and assistive performance tailored to individual gait characteristics or rehabilitation goals.

This technology features a feedback control system consisting of an elastic member, a load cell, and a linear actuator positioned between link chains. The control unit compares the user-defined target haptic feedback with real-time load cell measurements, adjusting the reaction force of the elastic member by driving the linear actuator (pushing/pulling).

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Key Features:

• A main frame for the upper body and two exoskeleton sections shaped like legs on the lower sides
• First and second joint drive units formed between the first and second U-shaped link chains, and between the foot link chains, to facilitate relative rotation
• An elastic member interposed between the first and second link chains, and a load cell to measure the load applied to the elastic member
• A linear actuator that adjusts the reaction force of the elastic member by linearly changing the displacement of the elastic member's connection point

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