Hybrid Gait Robot Drive With Separated Patient and Motor Forces
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Solution Overview
Problem
Existing gait rehabilitation robots are bulky, expensive, and limit patient movement with robot joints, making gait training impossible without patient force, and lack separation of patient and robot gait forces.
Innovation Solution
A parallel hybrid driving system separates patient and robot gait forces, using a driving unit connected to a footrest with a speed detection unit and control unit to adjust motor speed based on occupant gait speed, allowing independent rotation of the lower extremity mechanism.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Force
If a large number of motors are used to provide sufficient gait force, then the gait force is improved, but the volume, weight, and price of the robot increase significantly
Solution Approach 1:
The patent divides the gait force generation into two separate sources: the patient's own muscle force and the robot's motor force. This segmentation allows the system to utilize the patient's active contribution, reducing the burden on the motor system and thereby decreasing the overall weight, volume, and cost of the robot while maintaining sufficient total gait force.
2Force
If the robot directly limits the lower extremities with a robot joint to provide gait force, then the gait force is improved, but the patient cannot perform gait training using only their own forces
Solution Approach 1:
The patent introduces a footrest as an intermediary element between the robot joint and the patient's lower extremity. This footrest allows the patient to apply their own forces directly to the gait mechanism while still receiving robotic assistance when needed, thereby enabling versatile training modes that combine both patient-generated and robot-generated forces.
3Device complexity
If the motor operates at a fixed preset speed, then the control is simplified, but the robot cannot adapt to the patient's actual gait speed variations
Solution Approach 1:
The patent implements a feedback mechanism where the control unit receives information about the patient's actual gait speed and adjusts the motor's rotational speed accordingly. This feedback loop enables the robot to adapt to the patient's gait variations while maintaining relatively simple control logic, as the adjustment is based on direct speed comparison rather than complex control algorithms.
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
Enables long-term muscle strength assistance and normal gait exercise by adjusting motor speed to match occupant gait speed, enhancing rehabilitation effectiveness and reducing unfamiliarity.
Implementation Method 1
the free wheel body may transmit a driving force of the motor to the footrest but prevents the driving force of the occupant from being transmitted from the free wheel body to the motor
Data Source
AI summary
A driving system of a hybrid gait rehabilitation robot include: a driving unit that is connected to a footrest of the gait rehabilitation robot and transmits a driving force such that the robot operates at a preset speed; a speed detection unit that detects a gait speed of an occupant; and a control unit that controls a speed of the driving unit by comparing the detected speed of the speed detection unit with a speed applied by the driving unit. The driving unit transmits power toward the occupant, but the driving force of the occupant is not transmitted to the driving unit.