NL2014927B1

NL2014927B1 - Gyroscope for balance assist.

Info

Publication number: NL2014927B1
Application number: NL2014927A
Authority: NL
Inventors: Santiago Lemus Perez Daniel; Vallery Heike
Original assignee: Univ Delft Tech
Priority date: 2015-06-05
Filing date: 2015-06-05
Publication date: 2017-02-03
Also published as: NL2014927A; WO2016195491A1

Abstract

Gyroscope comprising a flywheel (3) mounted in a first inner gimbal (4) having a first inner axle (4'), which first inner gimbal (4) is mounted in a second intermediate gimbal (5) having a second intermediate axle (5'), which second intermediate gimbal (5) is mounted in a third outer gimbal (6) having a third outer axle (6' ), wherein the second intermediate axle (5') is orthogonal with respect to the first inner axle (4') and with respect to the third outer axle (6'), and wherein one of the second intermediate axle 10 (5') and the third outer axle (6') comprises a releasable coupling (1, 2) which has a first status and a second status, wherein in the first status the gyroscope is in the normal operational mode and that in the second status the flywheel (3) can occupy an orientation which is independent of the third outer gimbal's (6) orientation.

Description

Gyroscope for balance assist

The invention relates to a gyroscope comprising a flywheel mounted in a first inner gimbal having a first inner axle, which first inner gimbal is mounted in a second intermediate gimbal having a second intermediate axle, which second intermediate gimbal is mounted in a third outer gimbal having a third outer axle, wherein the second intermediate axle is orthogonal with respect to the first inner axle and with respect to the third outer axle. The preamble relates to the general construction of a gyroscope. Occasionally the gimbals may be powered with motor drives to effect rotary movement of the gimbals. US20140260714 Ά1 and the article "Gyroscopic assistance for human balance", by Dustin Li and Heike Vallery, the 12th IEEE international workshop on advanced motion control, March 25 - 27, 2012, Sarajevo, Bosnia and Herzegovina, disclose the application of a backpack worn by a user to provide the user with balance assist. The backpack contains a set of a number of gyroscopes, such that the gyroscopes are located close to the center of mass of the user. It is suggested to apply variable-speed control moment gyros, wherein the gimbals speeds and rotation speeds of the flywheels are controlled. Additionally it is suggested to provide an open loop system that does not interfere with the natural control system of the user.

The article "Design of a wearable scissored-pair control moment gyroscope for human balance assist", by Jimmy Chiu and Ambarish Goswami, Proceedings of the ASME 2014 International Design Engineering Technical Conferences & Computers and Information in Engineering Conference, August 17 - 20, 2014, Buffalo USA relates to gyroscopes used for human balance assist. It reports on research investigating the feasibility of using a wearable scissored pair of gyroscopes, each gyroscope comprising a fast spinning flywheel mounted on a gimbal. The gimbal motion changes the direction of the flywheel rotation axis, which generates a reactionless torque. The paper describes a dual flywheel design, the flywheels having equal inertia and angular velocities. The gimbals of both flywheels are rotated in opposite direction so that the two output torques add up normal to the sagittal plane of the user but cancel each other out normal to the frontal plane. US2003/0116363 discloses a robotic appliance provided with a gyroscope having a flywheel rotating about an axle and housed in a casing which is connected to an upper part of the robot by a mechanical connection which permits rotational movements about two non-parallel axes, the appliance further comprising sensors for the measurement of an off-balance, and having means to balance the appliance by exerting opposing torques using the support of the gyroscopic flywheel via actuators and an associated command system able to take advantage of the actuators and sensors of the appliance to provide it with equilibrium.

The invention has as an object to provide a gyroscope which is safely usable as a balance assist or in general as an assist for and during movements, particularly although not exclusively for humans.

The gyroscope of the invention is embodied with the features of one or more of the appended claims.

In a first aspect the gyroscope of the invention has the feature that one of the second intermediate axle and the third outer axle comprises a releasable coupling which has a first status and a second status, wherein in the first status the gyroscope is in the normal operational mode and that in the second status the flywheel can occupy an orientation which is independent of the third outer gimbal's orientation.

Due to this construction, the gyroscope can be safely used in an appliance for balance assist, since the second status interrupts the normal gyroscopic functionality of the device, and this second status can be inferred in conditions that are identified as potentially dangerous for a user. This applies in particular when the correctional torque inferred by the gyroscope surpasses a predefined threshold.

As mentioned the releasable coupling can be positioned either in the second intermediate axle or in the third outer axle. In a most preferred embodiment of the invention in which the releasable coupling is provided in the second intermediate axle, the first status embodies a first orientation of the first inner gimbal with the flywheel that corresponds to normal operation which is secured by maintaining the mutually orthogonal orientation of the first inner axle, the second intermediate axle, and the third outer axle 'with respect to each other, and that in the second status the first inner gimbal with the flywheel is enabled to depart from the first orientation by enabling that at least one of the first inner axle, the second intermediate axle, and the third outer axle is capable to depart from their mutually orthogonal orientation.

In a most preferred embodiment, suitably the first status of the releasable coupling provides a predefined range of angles of the first inner axle with respect to the third outer axle, which predefined range of angles is deemed essentially orthogonal. This means that a certain deviation of the said axles with respect to an exactly orthogonal orientation is allowable since this corresponds with torques that are within the aforementioned range that does not surpass the predefined safety threshold.

There are numerous ways in which the couplings can be embodied, such as: an overload-protecting "torque limiter", which disengages when a) a certain maximal torque is exceeded or b) an external trigger event is provided by a control system: examples are provided on http://www. mayr.com/en/products/torque-limiters/ a rotary spring a rotary damper (which is in fact a brake) a controlled damper wherein the dampin coefficient is depending on external commands a combination of spring and damper a jaw coupling (which is in fact also a rotary spring): http://www. lovejoy-inc.com/products/jaw-type- couplings .aspx an electromagnetic clutch or brake: http://www.mayr.com/en/products/electromagnetic-clutches-brakes/

Further examples can be found in:

Plooij, M.; Mathijssen, G.; Cherelle, P.; Lefeber, D. & Vanderborght, B. Lock Your Robot: A Review of Locking Devices in Robotics IEEE Robot Autom Mag,· 2015, 22, 106-117.

Preferably the releasable couplings comprise a torque limiter or clutch, and more preferably the releasable couplings additionally or instead of the torque limiter or clutch comprise a spring or springs, and even more preferably a damper or dampers may be provided instead or in addition to the spring or springs.

The switching behaviour between the first status and the second status of the releasable couplings can effectively be provided by arranging the spring or springs in a configuration where they form a bi-stable mechanism.

In another aspect the gyroscope of the invention includes at least one encoder for measuring an angle between the second intermediate gimbal and one of the first inner gimbal and the third outer gimbal. This measured angle, in combination with design parameters of the gyroscope such as the spring or damper characteristics, can be used to calculate the torque that the gyroscope provides to the body it is mounted to.

In still another aspect of the invention the gyroscope which is conventionally provided with a first motor drive for the flywheel, is embodied with no more than two motor drives wherein a second motor drive is provided for relative movement of the second intermediate gimbal with respect to either the third outer gimbal (in a first embodiment) or (in a second alternative embodiment) with respect to the first inner gimbal. The remaining axle is equipped with the releasable coupling and has no motor drive, to enable that in a first sate indeed the first inner axle and a reference axis that in one embodiment may correspond to the third outer axle, can be at a slight deviating angle with respect to an exactly orthogonal orientation, and that in a second state the flywheel can indeed occupy an orientation which is independent of the outer gimbal's orientation.

The benefits of the invention apply in particular when an appliance is provided with at least one gyroscope according to the invention. Such an appliance can be embodied as a human balance assist. It is then preferable that the appliance is provided with at least two gyroscopes according to the invention that are mounted in a wearable enclosure. In this appliance it is preferable that the at least two gyroscopes have their flywheel axles non-aligned with respect to each other in their normal configuration.

The invention will hereinafter be further elucidated with reference to the drawing of an exemplary embodiment of an apparatus according to the invention that is not limiting as to the appended claims.

In the drawing: -figure 1 shows a basic construction of the gyroscope according to the invention according to a first preferred embodiment; -figure 2 shows a basic construction of the gyroscope according to the invention according to a second alternative embodiment; -figure 3 shows an embodiment of the gyroscope of the invention provided with springs forming a bistable mechanism and in which a variation of the angular orientation of the gimbal axles occurs; and -figure 4 shows two gyroscopes according to the invention provided in a wearable enclosure, worn by a user.

Whenever in the figures the same reference numerals are applied, these numerals refer to the same parts.

Figure 1 and figure 2 shows a first and second embodiment of a gyroscope according to the invention, which embodiments correspond with each other in that each embodiment comprises a flywheel 3 mounted in a first inner gimbal 4 having a first inner axle 4', which first inner gimbal 4 is mounted in a second intermediate gimbal 5 having a second in termediate axle 5', which second intermediate gimbal 5 is mounted in a third outer gimbal 6 having a third outer axle 6'. The second intermediate axle 5' is orthogonal with respect to the first inner axle 4' and with respect to the third outer axle 6'. The third outer gimbal 6 is eventually linked to a support forming part of an appliance in which the gyroscope can be used, as will be shown hereinafter with reference to figure 3.

In both embodiments there is a releasable coupling 1, .2 which has a first status and a second status, wherein in the first status the gyroscope is in the normal operational mode and in the second status the flywheel 3 can occupy an orientation which is independent of the third outer gimbal's 6 orientation. In the preferred embodiment of figure 1 the releasable coupling 1, 2 is provided in the second intermediate axle 5', whereas in the alternative embodiment of figure 2 the releasable coupling 1, 2 is provided in the third outer axle 6'.

Taking further reference to figure 1, with the releasable coupling 1, 2 provided in the second intermediate axle 5', in this embodiment the first status entails a first orientation of the first inner gimbal 4 with the flywheel 3 that corresponds to normal operation that is secured by maintaining the mutually orthogonal orientation of the first inner axle 4', the second intermediate axle 5', and the third outer axle 6' with respect to each other. In the second status however the first inner gimbal 4 with the flywheel 3 is enabled to depart from the first orientation by enabling that at least one of the first inner axle 4', the second intermediate axle 5', and the third outer axle 6' is capable to depart from their mutually orthogonal orientation. This is a very suitable way to implement the apparatus of the invention and to realize safe operation of the gyroscope when worn by a user by arranging that in the second status the flywheel 3 can occupy an orientation which is independent of the third outer gimbal's 6 orientation.

The inventors note with reference to figure 2 that it is also possible to realize a second alternative embodiment in which the releasable'coupling 1, 2 is comprised in the third outer axle 6', wherein the coupling 1, 2 again has a first status and a second status, in which first status the gyroscope operates normally and that in the second status the flywheel 3 can occupy an orientation which is independent of the third outer gimbal's 6 orientation.

It is further remarked with reference to both embodiments that the first.status of the releasable coupling 1, 2 provides a predefined range of angles in which the first inner axle 4' may deviate from an exactly orthogonal orientation with respect to a reference axis z that associates with the outer gimbal 6. Within said predefined range of angles the said axle 4' is deemed essentially orthogonal to said reference axis within the terms of this invention. With reference to the first embodiment shown in figure 1, the reference axis z is colinear with the third outer axle 6', and with reference to the second embodiment shown in figure 2 such reference axis is at right angles with the third outer axle 6'.

With reference again to the first embodiment of figure 1, the releasable coupling 1, 2 comprises preferably a torque limiter or clutch 1. This element allows free rotation of the inner gimbal 4 with respect to the second intermediate gimbal 5 once the coupling is released, for example when the torque has exceeded a maximum threshold value. In the second embodiment of figure 2, the torque limiter or clutch 1 of the releasable coupling 1, 2 ensures free rotation of the second intermediate gimbal 5 with respect to the third outer gimbal 6 once the coupling is released, for example when the torque has exceeded the maximum threshold value.

Further the releasable coupling 1, 2 of the gyroscope of the invention preferably comprises a spring or springs 2. The springs 2 enable in the first embodiment of figure 1 a deflection of the first inner gimbal 4 with respect to the second intermediate gimbal 5. In the second embodiment of figure 2 this enabled deflection is between the second intermediate gimbal 5 and the third outer gimbal 6. It is beneficial that the spring or springs are arranged such that they form a bi-stable mechanism.

Turning back to the first embodiment shown in figure 1, the gyroscope according to this embodiment includes at least one encoder 8 for measuring the deflection angle between the first inner gimbal 4 and the second intermediate gimbal 5. This deflection angle can be used to determine the torque that the gyroscope provides, and it can in addition be used to actuate the torque limiter or clutch 1 to move the releasable coupling 1, 2 from the first to the second status.

The gyroscope of the invention according to the first embodiment is provided with a first motor drive 9 for the flywheel 3, and has no more than two motor drives wherein a second motor drive 7 is provided for relative movement of the second intermediate gimbal 5 with respect to the third outer gimbal 6. The remaining axle 5' between the first inner gimbal 4 and the second intermediate gimbal 5 is equipped with the releasable coupling 1, 2 and has no motor drive, to enable that in a first state the first inner axle 4' and the third outer axle 6' can be at a slight deviating angle with respect to an exactly orthogonal orientation, or that in a second state the flywheel 3 can occupy an orientation which . is independent of the third outer gimbal's 6 orientation.

In the second alternative embodiment shown in figure 2 the position of the releasable coupling 1, 2 and the second motor drive 7 is interchanged and then the second motor drive can be used for relative movement of the first inner gimbal 4 with respect to the second intermediate gimbal 5, and instead of a motor drive the releasable coupling 1, 2 is then provided between the second intermediate gimbal 5 and the third outer gimbal 6. This enables that in a first state the first inner axle 4' and a reference axis z that is at right angles with respect to the third outer axle 6' can be at a slight deviating angle with respect to an exactly orthogonal orientation, or that in a second state the flywheel 3 can occupy an orientation which is independent of the third outer gimbal's 6 orientation.

Figure 3 shows an embodiment of the gyroscope of the invention which is a special case of the basic construction shown in figure 1. In this embodiment, the inner gimbal 4 is realized in the form of a casing that encloses the flywheel 3, and the releasable coupling 1, 2 is realized in the form of two or more linear springs in combination with a lever 10 that can rotate with respect to a support 11 that is rigidly connected to the flywheel casing 4. In the first status of this releasable coupling, the lever 10 engages with the second middle gimbal 5. The springs are attached on one side to the flywheel casing 4 and on the other side to the lever 10. This configuration forms a bistable mechanism. This mechanism is in equilibrium when the first inner axle 4' and third outer axle 6' are exactly orthogonal. When the said axles 4' and 6' deviate slightly from an exactly orthogonal configuration, opposing moments are generated on the first inner gimbal 4 and second intermediate gimbal 5 that tend to drive the first inner axle 4' and third outer axle 6' back to their exactly orthogonal orientation. The bistable mechanism will enter a second equilibrium once the moment it transmits exceeds a certain threshold value. At that point, the lever arm 10 will flip with respect to its support 11 and disengage from the second intermediate gimbal 5, such that the flywheel . 3 can occupy an orientation that is independent of the third outer gimbal's 6 orientation. This is the second status of the releasable coupling 1, 2. Within the first status, the moment that is transmitted by the mechanism can be calculated from the measured angle between the first inner axle 4' and third outer axle 6' in combination with the known force-displacement characteristics of the springs.

Figure 3 further shows that the angles that the respective axles can occupy with respect to each other may vary, preferably within a range of approximately 10°.

Figure 4 shows an appliance which is embodied as a human balance assist. The appliance is provided with at least two gyroscopes according to the invention that are mounted in a wearable enclosure. In this appliance it is preferable that the two gyroscopes have their flywheel axles non-aligned with respect to each other in their normal configuration.

Although the invention has been discussed in the foregoing with reference to an exemplary embodiment of the gyroscope of the invention, the invention is not restricted to this particular embodiment which can be varied in many ways without departing from the scope of the invention. The discussed exemplary embodiment shall therefore not be used to construe the appended claims strictly in accordance therewith. On the contrary the embodiment is merely intended to explain the wording of the appended claims without intent to limit the claims to this exemplary embodiment. The scope of protection of the invention shall therefore be construed in accordance with the appended claims only, wherein a possible ambiguity in the wording of the claims shall be resolved using this exemplary embodiment.

Claims

1. Gyroscoop omvattende een vliegwiel (3) gemonteerd in een eerste binnenophanging (4) met een eerste binnenas (4'), welke eerste binnenophanging (4) gemonteerd is in een tweede tussengelegen ophanging (5) met een tweede tussengele-gen as (5'), welke tweede tussengelegen ophanging (5) gemonteerd is in een derde buitenophanging (6) met een derde buitenas {6'), waarbij de tweede tussengelegen as (5') orthogo-naal staat ten opzichte van de eerste binnenas (4') en ten opzichte van de derde buitenas (6'), met het kenmerk, dat één van de tweede tussenas (5') en de derde buitenas (6') een losneembare koppeling (1, 2) omvat welke een eerste status en een tweede status bezit, waarbij in de eerste status de gyroscoop zich in de normale werkmodus bevindt en dat in de tweede status het vliegwiel (3) een oriëntatie kan innemen die onafhankelijk is van de oriëntatie van de derde buitenophanging (6) .A Gyroscope comprising a flywheel (3) mounted in a first inner suspension (4) with a first inner axle (4 '), which first inner suspension (4) is mounted in a second intermediate suspension (5) with a second intermediate axle ( 5 '), which second intermediate suspension (5) is mounted in a third outer suspension (6) with a third outer axle (6'), the second intermediate axle (5 ') being orthogonal to the first inner axle (4) ') and with respect to the third outer shaft (6'), characterized in that one of the second intermediate shaft (5 ') and the third outer shaft (6') comprises a detachable coupling (1, 2) which has a first status and has a second status, wherein in the first status the gyroscope is in the normal operating mode and in the second status the flywheel (3) can assume an orientation that is independent of the orientation of the third outer suspension (6).

2. Gyroscoop volgens conclusie 1, met het kenmerk, dat de losneembare koppeling (1, 2) is voorzien in de tweede tussenas (5'), en dat in de eerste status een eerste oriëntatie van de eerste binnenophanging (4) met het vliegwiel (3) welke correspondeert met normale werking verzekerd wordt door het handhaven van de onderling orthogonale oriëntatie van de eerste binnenas (4'), de tweede tussenas (5'), en de derde buitenas (6') ten opzichte van elkaar, en waarbij in de tweede status het voor de eerste binnenophanging (4) met het vliegwiel (3) mogelijk is om af te wijken van de eerste oriëntatie door vrij te geven dat ten minste één van de eerste binnenas (4'), de tweede tussenas (5'), en de derde buitenas (6') kan afwijken van hun onderling orthogonale oriëntatie.Gyroscope according to claim 1, characterized in that the releasable coupling (1, 2) is provided in the second intermediate shaft (5 '), and in the first status a first orientation of the first inner suspension (4) with the flywheel (3) corresponding to normal operation is ensured by maintaining the mutually orthogonal orientation of the first inner axis (4 '), the second intermediate axis (5'), and the third outer axis (6 ') relative to each other, and wherein in the second status it is possible for the first inner suspension (4) with the flywheel (3) to deviate from the first orientation by releasing that at least one of the first inner axle (4 '), the second intermediate axle (5 '), and the third outer axis (6') can deviate from their mutual orthogonal orientation.

3. Gyroscoop volgens conclusie 2, met het kenmerk, dat de eerste status van de losneembare koppeling (1, 2) een voorafbepaald bereik van hoeken oplevert die afwijkt van een exacte orthogonale oriëntatie van de eerste binnenas (4') ten opzichte van de derde buitenas (6'), welk voorafbepaald bereik van hoeken geacht wordt in essentie orthogonaal te zijn.Gyroscope according to claim 2, characterized in that the first status of the releasable coupling (1, 2) yields a predetermined range of angles that deviates from an exact orthogonal orientation of the first inner axis (4 ') relative to the third outer axis (6 '), which predetermined range of angles is considered to be essentially orthogonal.

4. Gyroscoop volgens één der conclusies 1-3, met het kenmerk, dat de losneembare koppeling (1, 2) een koppelbe-grenzer of koppeling (1) omvat.Gyroscope according to one of claims 1-3, characterized in that the releasable coupling (1, 2) comprises a coupling limiter or coupling (1).

5. Gyroscoop volgens één der conclusies 1-4, met het kenmerk, dat de losneembare koppeling (1, 2) een veer of veren (2) omvat.Gyroscope according to any one of claims 1-4, characterized in that the releasable coupling (1, 2) comprises a spring or springs (2).

6. Gyroscoop volgens conclusie 5, met het kenmerk, dat de veer of veren (2) zijn ingericht om deel uit te maken van een bistabiel mechanisme.Gyroscope according to claim 5, characterized in that the spring or springs (2) are adapted to form part of a bistable mechanism.

7. Gyroscoop volgens conclusie 5 of 6, met het kenmerk, dat de veer of veren (2) aan een eerste zijde van de eerste binnenophanging (4) voor het vliegwiel (3) zijn vastgemaakt en aan een andere zijde die tegenover de eerste zijde ligt aan een hefboom (10) die roteerbaar is ten opzichte van een steun (11) welke stijf verbonden is met de eerste binnenophanging (4) voor het vliegwiel (3).Gyroscope according to claim 5 or 6, characterized in that the spring or springs (2) are attached to a first side of the first inner suspension (4) for the flywheel (3) and to another side that is opposite the first side rests on a lever (10) rotatable with respect to a support (11) rigidly connected to the first inner suspension (4) for the flywheel (3).

8. Gyroscoop volgens één der conclusies 1-7, met het kenmerk, dat deze voorzien is van een demper of dempers.8. Gyroscope as claimed in any of the claims 1-7, characterized in that it is provided with a damper or dampers.

9. Gyroscoop volgens één der voorgaande conclusies 1-8, met het kenmerk, dat deze ten minste een encoder (8) omvat voor het meten van een hoek tussen de tweede tussenophan-ging (5) en één van de eerste binnenophanging (4) en derde buitenophanging (6).Gyroscope according to one of the preceding claims 1-8, characterized in that it comprises at least one encoder (8) for measuring an angle between the second intermediate suspension (5) and one of the first inner suspension (4) and third outer suspension (6).

10. Gyroscoop volgens één der voorgaande conclusies 1-9 voorzien van een eerste motoraandrijving (9) voor het vliegwiel (3), met het kenmerk, dat deze niet meer dan twee motoraandrijvingen bezit waarbij een tweede motoraandrijving voorzien is voor relatieve beweging van de tweede tussenop-hanging (5) ten opzichte van de derde buitenophanging (6).Gyroscope according to one of the preceding claims 1-9, provided with a first motor drive (9) for the flywheel (3), characterized in that it has no more than two motor drives, a second motor drive being provided for relative movement of the second in-between hanging (5) relative to the third outer suspension (6).

11. Applicatie voorzien van ten minste één gyroscoop volgens één der voorgaande conclusies 1-10.An application provided with at least one gyroscope according to any one of the preceding claims 1-10.

12. Applicatie volgens conclusie 11, waarbij deze is ingericht voor het genereren van momenten op een menselijk lichaam.The application of claim 11, wherein it is adapted to generate moments on a human body.

13. Applicatie volgens conclusie 11 of 12, waarbij deze is uitgevoerd als een hulpmiddel voor menselijk balanceren .The application according to claim 11 or 12, wherein it is designed as an aid for human balancing.

14. Applicatie volgens conclusie 12 of 13, met het kenmerk, dat deze voorzien is van ten minste twee gyroscopen, ieder volgens één der voorgaande conclusies 1-10 en gemonteerd in een draagbare behuizing.An application according to claim 12 or 13, characterized in that it is provided with at least two gyros, each according to any one of the preceding claims 1-10 and mounted in a portable housing.

15. Applicatie volgens conclusie 14, met het kenmerk, dat de ten minste twee gyroscopen met hun vliegwielas-sen tijdens normaal bedrijf niet uitgelijnd zijn.An application according to claim 14, characterized in that the at least two gyros with their flywheel axes are not aligned during normal operation.