Exoskeleton Control Modes for Balance and Gait Therapy
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Solution Overview
Problem
Current exoskeleton devices lack the ability to effectively prepare patients for therapy by physically manipulating muscles and joints, improve balance training, and introduce variability in movements, which are essential for enhanced therapeutic benefits and patient safety during rehabilitation.
Innovation Solution
An exoskeleton control system with actuators and sensors that allows physical therapists to prepare patients through muscle relaxation, balance training, and weight redistribution, while also introducing variability in movement trajectories to enhance therapeutic outcomes.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Adaptability or versatility
If exoskeleton control systems use fixed, predetermined trajectories for therapy sessions, then the control system is simple to operate, but the therapeutic benefit is reduced due to lack of movement variability
Solution Approach 1:
The control system dynamically adjusts exoskeleton trajectories by incorporating real-time sensor feedback about patient movement capabilities and therapist commands, transforming fixed predetermined paths into adaptive, variable movements that respond to patient needs during therapy sessions
Solution Approach 2:
Sensor arrays mounted on the exoskeleton and patient body provide continuous feedback on position, velocity, and applied forces, enabling the control system to modify trajectories in real-time based on actual patient response and therapeutic goals
2Reliability
If physical therapists manually prepare patients through stretching and manipulation before exoskeleton therapy, then patient preparation is effective, but the therapy process requires more time and therapist involvement
Solution Approach 1:
The exoskeleton control system automatically performs preparatory actions including gentle stretching, positioning, and muscle activation sequences before initiating main therapy trajectories, eliminating the need for separate manual preparation phases
Solution Approach 2:
The preparation functions previously requiring separate manual therapist intervention are merged into the automated control system, which integrates stretching, positioning, and therapy initiation into a unified automated process
3Ease of operation
If exoskeletons maintain fixed weight distribution during standing, then the control system is simpler, but patient comfort deteriorates due to lack of weight shifting
Solution Approach 1:
The control system implements periodic weight shifting between left and right sides at predetermined intervals during standing phases, automatically relieving pressure on contact surfaces without requiring complex real-time adjustment algorithms
Data Source
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AI summary
Use of an exoskeleton (100) by a wearer (130) of the exoskeleton (100) is improved through several features. In a first feature, the exoskeleton (100) enters a gait therapy preparation mode to prepare the wearer (130) for subsequent gait therapy. In a second feature, the exoskeleton (100) enters a balance training mode to help the wearer (130) learn to balance while wearing the exoskeleton (100). In a third feature, the exoskeleton (100) prompts the wearer (130) to shift weight and/or automatically shifts the wearer's weight in a center of pressure control mode. In a fourth feature, an element of variability is introduced into trajectory cycles performed by the exoskeleton (100) in a trajectory cycle mode. Overall, the various disclosed operating modes can be used individually or in various combinations to enhance the rehabilitation or training of the wearer (130).