Assisting Torque Setting Using Reference Gait Model
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Solution Overview
Problem
Conventional walking assistance apparatuses do not provide assistance torque based on the individual body characteristics of users, leading to inefficient energy use and discomfort during walking.
Innovation Solution
An assisting torque setting apparatus that extracts body information, generates a reference gait model, and adjusts the assistance torque using metabolic cost of transport calculations to minimize energy expenditure, incorporating dynamic programming and rapidly-exploring random tree algorithms to optimize torque delivery based on hip-joint angles and angular velocities.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Device complexity
If assistance torque is provided without considering individual body characteristics, then the device complexity is reduced, but the energy efficiency and user comfort deteriorate
Solution Approach 1:
The system performs preliminary actions by extracting body information and generating a reference gait model before providing assistance torque. This pre-processing allows the system to customize torque settings based on individual user characteristics, thereby reducing metabolic cost without requiring complex real-time adjustments during walking
Solution Approach 2:
The system enables self-service by using the user's own body information to generate personalized gait models and determine optimal assistance torque. The user's metabolic cost calculations feed back into the control system, allowing the apparatus to automatically adapt to individual characteristics without requiring external intervention or complex manual configuration
2Use of energy by moving object
If assistance torque is customized based on body characteristics, then energy efficiency improves, but device complexity increases
Solution Approach 1:
The reference gait model serves as an intermediary between raw body information and assistance torque control. By introducing this intermediate representation, the system simplifies the overall architecture while enabling personalized torque settings. The model translates complex body characteristics into actionable gait parameters that directly inform torque adjustment strategies
Solution Approach 2:
The system achieves customization by changing key parameters such as metabolic cost of transport (MCOT), gait phase timing, and torque magnitude based on extracted body information. These parameter adjustments allow the system to optimize energy efficiency without requiring a complete redesign of the control architecture, maintaining relative simplicity while adapting to individual users
Data Source
AI summary
An assisting torque setting apparatus and method, wherein the apparatus is configured to generate a reference gait model by applying body information of a user to a predetermined body model, and set an optimal assisting torque by adjusting an assisting torque provided from a walking assistance apparatus to the user based on the reference gait model is disclosed.