Prosthetic Knee Posture Calculation with Hypercomplex Sensor Fusion
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Solution Overview
Problem
Existing technologies for controlling the posture of prosthetic legs using angular velocity sensors face challenges due to detection errors, particularly in scenarios where the versatility of filters is insufficient to correct these errors accurately.
Innovation Solution
A posture calculator that utilizes a first hypercomplex number derived from the angular velocity sensor and a second hypercomplex number derived from an angle sensor to calculate the posture of a moving object, allowing for correction of errors using a filter such as a Kalman or complementary filter.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Measurement precision
If a filter is applied to correct the error in the detection result of the angular velocity sensor, then the measurement precision is improved, but the adaptability or versatility deteriorates because the filter is set for each scene on the assumption of various motion scenes
Solution Approach 1:
The patent creates a universal filter that can adapt to multiple motion scenes by using detection results from both angular velocity sensors and angle sensors. The filter is designed to work across different motion conditions (walking, running, sitting, standing) by integrating data from multiple sensor types, making it versatile rather than scene-specific.
Solution Approach 2:
The patent dynamically adjusts filter parameters based on the motion scene by utilizing complementary information from angular velocity sensors and angle sensors. The filter adapts its characteristics according to the detected motion state, allowing optimal performance across varying conditions without requiring separate filters for each scene.
2Ease of operation
If an angular velocity sensor is used to perform posture control, then the ease of operation is improved, but the measurement precision deteriorates because the detection result is not always correct and errors occur
Solution Approach 1:
The patent introduces angle sensors as intermediary devices that provide complementary measurement information. These sensors act as a mediator between the angular velocity sensor and the final posture calculation, allowing the system to correct errors in angular velocity detection by comparing and integrating data from multiple sources.
Solution Approach 2:
The patent implements a feedback mechanism where the detection results from both angular velocity sensors and angle sensors are continuously integrated and compared. The angle sensor data provides feedback that helps correct drift and errors in the angular velocity sensor readings, improving overall measurement precision while maintaining ease of operation.
Data Source
AI summary
A posture calculator that calculates the posture of a moving object based on a first hypercomplex number derived based on a detection result from an angular velocity sensor for detecting an angular velocity of the moving object and a second hypercomplex number that is derived based on a detection result from an angle sensor for detecting an angle of the moving object and that has the same number of terms as that of the first hypercomplex number.