Adaptive Walking Aid with Sensor-Controlled Wire Tension
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Solution Overview
Problem
Existing assistance technologies for walking, 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, do not provide adequate support for users carrying objects, as they lack a method to adjust assistance based on the user's state, leading to inefficient and potentially burdensome support mechanisms.
Innovation Solution
An assistance apparatus comprising an upper-body belt, knee belts, and wires coupled to motors and sensors, which adjust tension in specific phases of the gait cycle to provide balanced assistance based on sensor data from the user's hands, allowing for adaptive support during flexion and extension phases, particularly when carrying objects.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Adaptability or versatility
If a fixed assistance mechanism is provided for walking, then the user receives consistent support, but the assistance cannot adapt to different user states such as carrying objects
Solution Approach 1:
The assistance mechanism transitions from a fixed, static system to a dynamic one that continuously adjusts wire tension based on real-time sensor feedback. The control circuit dynamically modifies the assistance force applied to each leg according to the detected load distribution, enabling the system to adapt to varying user states such as carrying objects on one side.
Solution Approach 2:
The system incorporates sensors that detect the load carried on each hand and feed this information back to the control circuit. Based on this feedback, the control circuit adjusts the tension in the wires connecting to each knee belt, creating a closed-loop control system that automatically compensates for asymmetric loading conditions.
2Adaptability or versatility
If the assistance mechanism provides uniform support to both legs, then the system is simple to control, but it creates imbalance when the user carries objects on one side
Solution Approach 1:
Instead of applying uniform assistance to both legs, the system implements local quality by providing differentiated assistance forces to each leg based on the specific load conditions. The control circuit independently adjusts the wire tension for the left and right knees, allowing asymmetric compensation tailored to the actual load distribution detected by the sensors.
3Force
If the wire tension is increased to support heavy loads, then the user receives adequate assistance, but the mechanism becomes overly strong and burdensome during normal walking
Solution Approach 1:
The wire tension is dynamically adjusted based on the detected load conditions rather than maintaining a constant high force. During normal walking without asymmetric loads, the system applies minimal or balanced assistance. When carrying objects on one side, the control circuit increases tension only in the wire corresponding to the overloaded leg, providing exactly the amount of force needed without excessive burden.
Data Source
AI summary
An assistance apparatus includes a first wire and a second wire that couple an upper-body belt and a left knee belt to each other on or above a front part and back part of the body of a user, respectively, a third wire and a fourth wire that couple the upper-body belt and a right knee belt to each other on or above the front part and back part of the body of the user, respectively, a motor, a left sensor on the left hand of the user, and a right sensor on the right hand of the user. When a left sensor value of the left sensor is larger than a right sensor value of the right sensor, the tension of the first wire and the second wire is made greater than the tension of the third wire and the fourth wire. When the right sensor value is larger than the left sensor value, the tension of the third wire and the fourth wire is made greater than the tension of the first wire and the second wire.