Motion Assistance Apparatus Waist Force Minimization
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Solution Overview
Problem
Existing motion assistance apparatuses for individuals with joint problems or elderly users do not effectively minimize the force applied to the user's waist during movement, leading to discomfort and inefficiency in walking, and lack adaptive control mechanisms to adjust for changes in posture.
Innovation Solution
A motion assistance apparatus with a fixing module, a driving module, a supporting module, a force sensor, and a controller that adjusts the rotation power to minimize the force applied to the user's waist, using a compensation torque calculated based on the force sensor's measurements and inertial measurement unit data to maintain optimal support and reduce discomfort.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Strength
If separate motors are provided at left and right hip joint portions to drive each joint portion, then muscular strength of the legs can be improved, but the force applied to the user's waist increases and comfort deteriorates
Solution Approach 1:
The patent merges the driving functions of left and right hip joints into a single driving module that generates rotation power for both sides. This consolidation allows the system to provide leg strengthening support while distributing the mechanical load more efficiently, thereby reducing the harmful force applied to the user's waist compared to using separate motors at each hip joint.
2Device complexity
If the motion assistance apparatus provides fixed support, then structural simplicity is maintained, but adaptability to changes in user posture deteriorates
Solution Approach 1:
The patent implements dynamic adaptability by enabling the driving module to adjust its output in real-time based on feedback from force sensors and inertial measurement units. The controller modifies the rotation power according to detected changes in user posture and movement, allowing the apparatus to adapt to various walking conditions without requiring complex mechanical reconfiguration, thus maintaining structural simplicity while achieving versatility.
Solution Approach 2:
The system incorporates force sensors and inertial measurement units that continuously monitor the user's posture and movement, providing feedback to the controller. This feedback mechanism enables the driving module to dynamically adjust its support force, ensuring optimal assistance while maintaining a relatively simple overall structure through electronic control rather than mechanical complexity.
3Productivity
If the driving module generates high rotation power to support user movement, then mobility assistance is improved, but the force applied to the fixing module increases causing discomfort
Solution Approach 1:
The patent dynamically changes the parameters of rotation power output by the driving module based on real-time detection of user movement characteristics and posture. The controller adjusts the magnitude and timing of the rotation power to provide optimal mobility assistance while minimizing the force transmitted to the fixing module, thereby reducing discomfort without compromising mobility support effectiveness.
Data Source
AI summary
Example embodiments relate to a control method of a motion assistance apparatus including a fixing module attached to a user, a driving module fixed to the fixing module to generate rotation power, a supporting module configured to support a portion of a body of the user and driven by the driving module, a force sensor configured to measure a magnitude of force applied to the fixing module, and a controller configured to control the driving module, the method including generating, by the driving module, a driving torque to drive the supporting module, measuring a direction and a magnitude of force indicated by the force sensor, calculating a compensation torque to minimize the measured magnitude of force, and driving the driving module by adding the compensation torque to the driving torque.