Adaptive Ankle Exoskeleton Torque Timing for Gait Synchronization
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Solution Overview
Problem
Conventional physical rehabilitation methods using exo-skeletal robots impose prescribed dynamics of healthy joints on impaired joints, leading to out-of-sync movements and potential destabilization of patients due to mismatched speed and range of motion.
Innovation Solution
A system with a variable torque motor and processor that adjusts torque and timing based on deficit parameters, using sensors to determine adaptive assistance for impaired ankles during movement phases, ensuring synchronized assistance and minimizing destabilization.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Adaptability or versatility
If conventional exo-skeletal robots impose prescribed dynamics of healthy joints on impaired joints, then standard rehabilitation protocols can be applied, but the robot and patient become out-of-sync due to mismatched speed and range of motion
Solution Approach 1:
The system dynamically adjusts the robot's movement parameters (speed, range of motion, timing) to match the patient's impaired joint dynamics in real-time. The controller continuously modifies the prescribed dynamics based on sensor feedback, allowing the robot to adapt its behavior to the patient's actual movement capabilities rather than imposing fixed healthy joint parameters.
Solution Approach 2:
The system changes key movement parameters including speed, range of motion, and timing to align with the patient's impaired joint characteristics. By modifying these parameters dynamically, the robot maintains synchronization with the patient's movement phase while providing appropriate assistance during specific phases of the movement cycle.
2Productivity
If exo-skeletal robots move at normal speed and range of motion, then standard rehabilitation protocols are simplified, but the impaired joint movement is inhibited rather than assisted
Solution Approach 1:
The robot transitions from static, pre-programmed movement protocols to dynamic, real-time adaptation of movement parameters. The system continuously adjusts speed and range of motion to match the patient's actual movement capabilities, ensuring that the robot assists rather than inhibits joint movement while maintaining rehabilitation effectiveness.
Solution Approach 2:
The system uses sensor feedback to detect the patient's movement phase and dynamics, then adjusts the robot's assistance accordingly. This closed-loop control ensures that the robot provides appropriate assistance during specific movement phases while adapting to the patient's actual performance, thereby maintaining both efficiency and ease of operation.
3Device complexity
If conventional rehabilitation uses fixed prescribed dynamics, then implementation is straightforward, but patient destabilization may occur
Solution Approach 1:
The system implements real-time feedback control by continuously monitoring the patient's movement phase and dynamics through sensors. Based on this feedback, the controller adjusts the robot's assistance to maintain patient stability while adapting to changing movement conditions, thereby preventing destabilization without requiring overly complex manual control procedures.
Solution Approach 2:
The system enables the rehabilitation process to self-adjust by automatically detecting movement phases and adapting assistance parameters without requiring constant therapist intervention. The controller autonomously modifies the prescribed dynamics based on real-time sensor data, maintaining patient stability while simplifying the overall control process.
Data Source
AI summary
A method is described for providing deficit-adjusted adaptive assistance during movement phases of an impaired ankle. The method includes determining, on the processor, a value for a deficit parameter for each movement phase of a compound ankle function based on a difference between a parameter trace for a normal subject and the parameter trace for an impaired subject. The method further includes determining, on the processor, an adaptive magnitude for the robot-applied torque based on the value for the deficit parameter. The method further includes applying, to the robot joint, the adaptive magnitude for the robot-applied torque in only a first plane for the current movement phase, based on an adaptive timing. An apparatus is also described for providing deficit-adjusted adaptive assistance during movement phases of the impaired ankle.