Gait Assistance Device Leg Detection via Sensor Feedback
Solution Overview
Problem
Conventional gait motion assisting apparatuses may fail to provide appropriate gait assisting force when the user incorrectly selects the leg attachment through a selector switch, leading to a mismatch between the actual leg attachment and the corresponding assisting force control data.
Innovation Solution
The gait motion assisting apparatus includes a casing attachable to a knee ankle foot orthosis, an electric motor, a drive arm, a gait motion state detection sensor, and a control device that selects between left-leg and right-leg assisting force control data based on a detection signal from a rotation sensor or gyro sensors, ensuring appropriate force application regardless of user selection errors.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Ease of operation
If a selector switch is provided for manual leg selection, then the device can be operated with simple manual control, but the reliability decreases when users make incorrect selections
Solution Approach 1:
The patent employs sensors (rotation sensors, gyro sensors, or knee joint angle sensors) to automatically detect which leg the device is attached to and provides feedback to the control device. This automatic detection mechanism eliminates reliance on manual selection and ensures correct assisting force application without user error, while maintaining ease of operation through automatic operation.
Solution Approach 2:
The device performs self-identification of the attached leg through automatic detection mechanisms. The control device autonomously determines whether to apply left-leg or right-leg assisting force control data based on sensor feedback, eliminating the need for user intervention in the selection process and ensuring reliable operation.
2Reliability
If automatic detection based on rotation sensor is implemented, then the reliability of leg matching is improved, but the device complexity increases
Solution Approach 1:
The patent replaces the mechanical/manual selection system (selector switch) with an automated sensor-based detection system. Rotation sensors, gyro sensors, or knee joint angle sensors automatically detect the attached leg, substituting manual mechanical operation with automated electronic sensing and control, thereby improving reliability while managing complexity through modern sensing technology.
Data Source
Figure 1A~1B
Figure 2
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AI summary
A gait motion assisting apparatus of the present invention includes a casing attachable to right and left knee ankle foot orthoses, an electric motor, a drive arm having a proximal end driven around a drive-side pivot axis by driving force from the electric motor and a distal end operatively connected to a lower leg frame of the orthosis, a rotation sensor detecting a swinging position of the drive arm around the drive-side pivot axis, a gait motion state detection sensor and a control device. The control device recognizes as a reference value a detection signal from the rotation sensor when the lower leg is fully extended, and judges right or left of leg to which the orthosis is mounted based on a detection signal other than the reference value to select right or left of assisting force control data used when calculating assisting force to be output from the electric motor.