Adaptive Exoskeleton Wire Tension Control for Load-Carrying Gait
Find Innovative SolutionsGenerate Solutions
Solution Overview
Problem
Existing assistance technologies, such as those described in Japanese Unexamined Patent Application Publication No. 2009-213538 and Japanese Unexamined Patent Application Publication (Translation of PCT Application) No. 2016-528940, fail to provide tailored assistance to users based on their specific state, such as carrying objects, leading to inefficient support and increased burden on the user.
Innovation Solution
An assistance apparatus comprising an upper-body belt, left and right knee belts, and wires coupled to these belts, with motors generating specific tensions in the wires during different phases of the gait cycle to provide tailored assistance for flexion and extension, adjusting tension levels to accommodate the user's state, including carrying objects, to maintain a stable posture.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Adaptability or versatility
If a fixed assistance level is provided to all users, then the device structure is simple, but the assistance effectiveness deteriorates when users are in different states (e.g., carrying objects)
Solution Approach 1:
The patent implements dynamic assistance by continuously adjusting motor output based on real-time detection of user state (carrying objects or not). The control circuit modifies wire tension dynamically during the gait cycle according to detected conditions, transforming a static assistance system into an adaptive one that responds to changing user needs.
Solution Approach 2:
The system changes the parameter of assistance tension based on user state. When carrying objects is detected, the control circuit increases motor output and adjusts tension distribution across different wires (first, second, third, fourth wires) to provide appropriate support. This parameter adjustment allows the same device to effectively assist users in different conditions without requiring multiple devices.
2Productivity
If high tension is applied to assist walking, then walking assistance effectiveness is improved, but user burden and discomfort increase
Solution Approach 1:
The patent applies periodic action by providing assistance tension only during specific phases of the gait cycle rather than continuously. The control circuit activates motors to generate tension in wires during particular periods of walking (e.g., during stance phase or swing phase depending on detected needs), allowing the user's muscles to work naturally during other phases. This periodic assistance reduces overall user burden while maintaining walking effectiveness.
Solution Approach 2:
The system provides partial assistance by applying tension to specific wires (first, second, third, fourth wires) connected to different body parts (thighs, shins, torso) rather than uniform tension everywhere. The control circuit selectively activates only the necessary wires based on detected user state and gait phase, providing assistance exactly where needed without overburdening the user with excessive or unnecessary tension.
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 apparatus effectively assists users in walking by providing tailored support, reducing the burden on the user and maintaining a stable posture, especially when carrying objects, through precise tension adjustments in the wires during various gait phases.
Implementation Method 1
at least one motor; the at least one motor generates (i) a tension greater than or equal to a first threshold value in the first wire during a first period
Data Source
AI summary
An assistance apparatus includes wires, each of which couples an upper-body belt and one of left and right knee belts to each other, and a motor. To promote implementation of first assistance for a user in walking while carrying an object, the motor generates a tension greater than or equal to a third threshold value in a second wire and a fourth wire, a tension greater than or equal to the third threshold value in the second wire and a third wire, and a tension greater than or equal to the third threshold value in a first wire and the fourth wire. During execution of the operation described above, upon receipt of determination of implementation, to indicate that implementation of the first assistance is determined, the motor generates a tension greater than or equal to a fourth threshold value in the second wire and the fourth wire, a tension greater than or equal to the fourth threshold value in the second wire and the third wire, and a tension greater than or equal to the fourth threshold value in the first wire and the fourth wire.