Ankle Gait Robot Feedback Control for Natural Walking Balance
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Solution Overview
Problem
Conventional ankle joint robots for walking training fail to maintain ankle joint balance, induce unnatural postures, and are limited to use by patients with certain muscle strength, leading to reduced effectiveness and strain on muscles, especially in severely ill patients.
Innovation Solution
A walking training apparatus with an ankle joint unit, treadmill, pressure-measuring plate, and control unit that analyzes ground reaction force and pressure center to guide natural ankle joint movement, providing visual and auditory feedback to correct walking posture.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Device complexity
If conventional ankle joint robots operate by spring or band force, then the structure is simple, but the ankle joint balance cannot be maintained and unnatural postures are induced
Solution Approach 1:
The patent replaces the mechanical spring/band force system with an electric motor-driven system. The ankle joint robot uses a motor to generate controlled torque through a gear mechanism, substituting the passive elastic mechanical system with an active electromechanical system that can precisely control ankle joint movement and maintain proper posture throughout the walking cycle.
Solution Approach 2:
The patent incorporates a pressure sensing system that detects ground reaction force and provides feedback to the control unit. This feedback mechanism allows the system to adjust motor output in real-time based on actual walking conditions, ensuring proper ankle joint balance and preventing unnatural postures that would occur with open-loop spring/band systems.
2Duration of action of moving object
If dorsiflexion force is continuously applied during walking training, then the training intensity is maintained, but the natural walking pattern is not formed and the walking trainee becomes easily tired
Solution Approach 1:
The patent implements periodic application of dorsiflexion force synchronized with the walking cycle. The motor-driven system applies torque only during specific phases (swing phase and transition period) rather than continuously, allowing the ankle joint to move naturally during stance phase when ground reaction force acts on the foot. This periodic action pattern matches natural walking mechanics and prevents fatigue.
Solution Approach 2:
The system dynamically adjusts the application of dorsiflexion force based on real-time detection of walking phase and ground reaction force. The control unit modulates motor output to provide assistance only when needed, creating a dynamic training regimen that adapts to the walking trainee's actual movement pattern rather than applying static continuous force.
3Adaptability or versatility
If the walking trainee uses the conventional ankle joint robot, then the plantar flexor or dorsiflexor function is replaced, but the walking trainee cannot recognize his or her current walking posture and timing
Solution Approach 1:
The patent provides visual feedback through a display unit that shows the walking trainee's current posture angle and the timing within the walking cycle. The pressure sensing system detects ground reaction force and translates this information into visual displays, allowing the walking trainee to recognize and understand their own movement patterns while receiving appropriate motor assistance.
Solution Approach 2:
The control unit acts as an intermediary that processes raw pressure sensor data and converts it into meaningful visual information for the walking trainee. This intermediary system bridges the gap between the mechanical assistance provided by the motor and the walking trainee's cognitive understanding of their own movement, enabling conscious awareness and learning.
4Device complexity
If the spring or band tension pulls the shoe, then the ankle joint robot structure is simple, but force is applied to other joints rather than the ankle joint at the end of stance phase
Solution Approach 1:
The patent replaces the indirect mechanical force transmission system (spring/band pulling shoe) with a direct motor-driven torque application system. The motor generates torque that is directly transmitted to the ankle joint through a gear mechanism, eliminating the intermediate shoe-pulling mechanism. This ensures force is applied precisely at the ankle joint throughout the entire walking cycle, including the end of stance phase, without affecting other joints.
Data Source
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AI summary
The present invention relates to a walking training apparatus capable of guiding the movement of an ankle joint. The walking training apparatus may comprise: a joint movement robot which includes an ankle joint unit, and which is worn on the legs of a walking trainee; a treadmill having a movable surface layer; a pressure-measuring plate which includes a plurality of pressure sensors, and which is provided under the surface layer so as to measure the pressure by which the sole of the foot presses the surface layer; and a control unit, which receives the pressure measured by the pressure-measuring plate, so as to analyze the walking state of the walking trainee, thereby guiding the gait of the walking trainee.