Adaptable Robotic Gait Trainer with Adjustable Linkage
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Solution Overview
Problem
Conventional robotic gait trainers are complex and expensive, making them unaffordable for many healthcare facilities, and require sophisticated systems for adjusting gait patterns to fit individual patient needs.
Innovation Solution
A simplified robotic gait training system using a single motor and actuator with adjustable linkage members to produce cyclic gait motions, allowing for customization of gait patterns by adjusting the length of linkage members, which can produce multiple gait patterns with minimal adjustments, including a second linkage system 180 degrees out of phase with the first.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Reliability
If conventional robotic gait trainers use multiple actuators and motors, then the therapeutic benefits and gait pattern control are improved, but the device complexity and cost increase significantly
Solution Approach 1:
The patent combines multiple actuator functions into a single actuator that controls a four-bar linkage mechanism. The four-bar linkage mechanically couples the movement to produce coordinated gait patterns at both ankles, eliminating the need for multiple independent actuators while maintaining therapeutic effectiveness.
Solution Approach 2:
The single actuator is designed to perform multiple functions: it controls both ankles through the four-bar linkage, accommodates different gait patterns (normal, pathological, asymmetric), and adjusts to various patient needs. This multi-functionality reduces system complexity while preserving therapeutic benefits.
2Adaptability or versatility
If conventional robotic gait trainers use sophisticated control algorithms, then the gait pattern adjustment capability is improved, but the device complexity and cost increase
Solution Approach 1:
The patent uses adjustable linkage lengths in the four-bar mechanism that can be dynamically modified to accommodate different gait patterns. This mechanical adaptability allows the system to adjust to various patient needs without requiring complex control algorithms, as the physical structure itself provides the adaptation capability.
3Ease of manufacture
If robotic gait trainers are made simpler and cheaper, then the accessibility and affordability are improved, but the ability to produce natural gait motions and ground contact forces may be compromised
Solution Approach 1:
The patent segments the gait training function into a mechanical four-bar linkage system that naturally produces the desired motion patterns. By using passive mechanical elements rather than active control systems, the design achieves natural gait motion capability while reducing complexity and cost.
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 therapeutic benefits at a lower cost, making it accessible to resource-limited hospitals and outpatient clinics, while maintaining functional benefits of natural walking patterns and ground contact, with minimal adjustments required to accommodate various gait patterns.
Implementation Method 1
a motor connected to a first linkage system by an actuator, where the first linkage system includes multiple linkage members connected to multiple joints and an endpoint that is configured to produce a cyclic gait motion when the motor is activated
Data Source
AI summary
A gait training system has a motor connected to a first linkage system by an actuator. The first linkage system has multiple linkage members connected to multiple joints and an endpoint that is configured to produce a cyclic gait motion when the motor is activated. First and second linkage members have an adjustable length. A method of customizing a gait pattern on a gait training system is also described.