Motion Assistance Torque Control via Elastic Contact
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Solution Overview
Problem
Existing motion assistance technologies do not effectively address the need for reducing joint effort and pain in elderly individuals and patients with joint problems, while also failing to provide adequate support for military applications that require enhanced muscular strength.
Innovation Solution
A motion assistance apparatus comprising a fixing module, a driving module, a supporting module, and a controller that uses inertial sensors, encoders, pressure sensors, and strain gauges to determine the necessary torque for assisting user motion, with an elastic body providing additional support and maintaining contact with the leg, thereby reducing muscle load and enhancing mobility.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Ease of operation
If a motion assistance apparatus provides torque assistance to reduce joint effort, then joint pain is reduced and mobility is enhanced, but the device complexity increases due to multiple modules and sensors
Solution Approach 1:
The motion assistance apparatus is divided into distinct functional modules: a fixing module attached to the waist, a driving module providing torque, a supporting module contacting the leg, and various sensor modules. This segmentation allows each component to perform its specific function independently, making the overall complex system manageable and maintainable while providing comprehensive assistance.
Solution Approach 2:
The controller integrates multiple functions by processing data from various sensors (inertial sensors, encoders, pressure sensors, strain gauges) and coordinating the driving module accordingly. This multi-functional integration reduces the need for separate dedicated systems for each function, thereby managing device complexity while achieving comprehensive motion assistance.
2Stability of the object's composition
If the supporting module maintains close contact with the leg using elastic body, then support stability is improved, but the device complexity increases
Solution Approach 1:
The elastic body automatically maintains close contact between the supporting module and the user's leg through its inherent elastic properties. This self-adjusting mechanism eliminates the need for additional actuators or control systems to maintain contact pressure, thereby improving contact stability without significantly increasing device complexity.
3Measurement precision
If multiple sensors are used to determine necessary torque, then measurement precision is improved, but the device complexity increases
Solution Approach 1:
Multiple types of sensors (inertial sensors, encoders, pressure sensors, strain gauges) are merged into a coordinated sensing system that collectively determines the necessary torque. The controller integrates data from all these sensors to achieve precise measurement of user motion and leg position, improving measurement precision while managing complexity through unified processing.
Solution Approach 2:
The controller serves multiple functions by processing data from various sensor types and using this information to determine the necessary torque for assistance. This multi-functional approach allows precise motion detection without requiring separate dedicated processing units for each sensor type, thereby managing device complexity.
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
The apparatus effectively reduces joint effort and pain by providing tailored torque assistance based on user motion, enhancing mobility and reducing muscle load, while also being suitable for military applications that require increased muscular strength.
Implementation Method 1
an elastic body configured to provide an elastic force to the supporting module in a direction in which the user proceeds in a state in which the user is standing erect
Implementation Method 2
The elastic body may be a torsion spring further including a winding portion wound over the driving module
Implementation Method 3
The elastic body may include a static load spring configured to provide a predetermined elastic torque irrespective of a rotation angle of the leg of the user
Data Source
AI summary
A motion assistance apparatus including a fixing module to be attached to a waist of a user, a driving module provided in the fixing module to provide a torque to assist a motion of the user, a supporting module connected to the driving module to support a portion of a circumference of a leg of the user, and a controller configured to control the driving module to provide a torque to maintain a close contact between the supporting module and the leg of the user while the user is not walking.