Robot Leg Swing Control Using Treadmill Clearance Feedback
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Solution Overview
Problem
Existing walking training systems fail to effectively monitor the position of a user's leg during swinging, leading to potential stumbling on the treadmill belt due to inadequate control of the robot leg assistance.
Innovation Solution
A walking training system with a robot leg, load distribution sensor, and clearance measurement unit to determine the leg state and adjust control to prevent contact with the treadmill belt by changing the bending-extending control when the clearance is insufficient.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Reliability
If the robot leg performs predetermined bending-extending control without monitoring leg clearance, then the control system is simple, but the user may stumble on the belt when leg height is lower than expected
Solution Approach 1:
The measuring unit measures the clearance between the leg and treadmill belt in advance before the extending control is executed. Based on this preliminary measurement, the control unit determines whether to modify the control content to prevent the leg from contacting the belt during extending control. This preliminary action ensures safety without requiring complex real-time monitoring systems.
2Reliability
If the clearance measurement and control adjustment functions are added, then the safety is improved, but the device complexity increases
Solution Approach 1:
The patent replaces complex mechanical monitoring systems with a simple measuring unit that can be integrated into the existing treadmill structure. The control unit uses basic conditional logic to adjust control content based on clearance measurements, avoiding the need for complex real-time control algorithms or multiple sophisticated sensors.
3Productivity
If the robot leg extends without clearance consideration, then the walking assistance is effective, but the user may trip on the belt
Solution Approach 1:
The measuring unit provides feedback information about the clearance between the leg and treadmill belt to the control unit. Based on this feedback, the control unit dynamically adjusts the control content of the bending-extending control to ensure the leg does not contact the belt during extending control, thereby eliminating the stumbling hazard while maintaining effective walking assistance.
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 system provides effective training by preventing the user from stumbling on the treadmill belt, ensuring safe and efficient walking exercises even when the leg height is lower than expected.
Implementation Method 1
a load distribution sensor that detects a distribution of a load received from a sole of the trainee
Implementation Method 2
The measuring unit may be a laser displacement meter that measures the clearance using a laser
Implementation Method 3
The measuring unit may be an ultrasonic sensor that measures the clearance using ultrasonic waves
Data Source
AI summary
The walking training device includes: a robot leg attached to one leg of a trainee; a treadmill; a load distribution sensor that detects a distribution of a load received from a sole of the trainee; and a walking state distinguishing unit that determines whether the one leg is in a swinging leg state; a control unit that performs a predetermined bending-extending control for the swinging leg state of the one leg by the robot leg when the one leg is in the swinging leg state; a measuring unit that measures a clearance between the one leg in the swinging leg state and the treadmill. The control unit changes control content of the predetermined bending-extending control so that the one leg does not contact the belt of the treadmill during extending control of the one leg, when the clearance is less than a specified value.