Rehabilitation Exoskeleton Pressure Sensor Gait Control
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Solution Overview
Problem
Existing rehabilitation robots lack patient autonomy and safety due to reliance on preset training parameters and inaccurate prediction of walking intent, leading to potential safety risks and inability to adapt to irregular walking scenarios.
Innovation Solution
An exoskeleton system with sensors on the shoe sole and walking stick to detect pressure and ground contact, generating control signals to drive the affected-side exoskeleton, ensuring stable stepping and coordinated gait, and allowing patients to control the frequency and rhythm of movements.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Extent of automation
If preset rehabilitation training parameters are used to control the exoskeleton, then the rehabilitation robot can assist patients to complete rehabilitation training actions, but the patient lacks autonomy and initiative in rehabilitation movements
Solution Approach 1:
The system enables patients to control the exoskeleton through their own body movements and intentions. The sensor detects patient-initiated movement signals and the control unit processes these signals to activate the driving device, allowing patients to independently control their rehabilitation training without relying on preset automated programs.
2Extent of automation
If a multi-axis gyroscope sensor is used to predict walking intent, then the exoskeleton robot can be controlled to walk, but the accuracy and safety of walking intent prediction is not guaranteed
Solution Approach 1:
The patent replaces the multi-axis gyroscope sensor with a pressure sensor that directly detects the patient's foot pressure signals. This substitution provides more reliable and accurate detection of walking intent, as the pressure sensor can directly measure the force applied by the patient's foot on the ground, eliminating the inaccuracies and safety risks associated with gyroscope-based prediction.
3Stability of the object's composition
If the exoskeleton uses fixed frequency gait control, then the rehabilitation robot can maintain consistent walking rhythm, but it cannot adapt to irregular walking scenes or patient fatigue
Solution Approach 1:
The system transitions from fixed frequency gait control to dynamic adaptive control. The sensor continuously detects patient foot pressure signals, and the control unit processes these real-time signals to dynamically adjust the driving device's output. This enables the exoskeleton to adapt to irregular walking patterns, patient fatigue, and varying rehabilitation needs while maintaining safety and stability.
Applied Scientific Principles
This section explains which scientific principles are used to turn an abstract innovation direction into a practical engineering solution.
Function Achieved in This Case
Enhances patient autonomy and safety by preventing steps when the healthy side is not stable, coordinating limb movements, and allowing for uncoordinated gait adjustments, making the exoskeleton suitable for various recovery stages and reducing dependency on the walking stick.
Implementation Method 1
a first sensor, wherein the first sensor is provided on the shoe sole, and is configured to detect a pressure received by the shoe sole and generate a first electrical signal
Data Source
AI summary
The present disclosure discloses an exoskeleton for rehabilitation, comprising: a healthy-side exoskeleton, an affected-side exoskeleton, a first sensor, a control unit, and a driving device, wherein the first sensor is configured to detect a pressure received by the shoe sole and generate a first electrical signal, the control unit is configured to judge, according to the first electrical signal, whether to generate the first control signal, and the driving device is configured to drive the affected-side exoskeleton according to the first control signal. When a shoe sole is not landed steadily, the affected-side exoskeleton does not drive the affected side to step out, thereby avoiding the problem that the affected side takes a step when the healthy side does not stand firm. Therefore, the present exoskeleton for rehabilitation has the advantages of better controlling for limb coordination and having higher using safety.