Interactive Robotic Knee Exoskeleton for Adaptive Gait Control
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Solution Overview
Problem
Current gait assistive devices for stroke patients and those with knee problems are bulky, lack active user interaction, and fail to intuitively adjust to varying walking environments, leading to inadequate knee control and abnormal gait patterns.
Innovation Solution
An interactive exoskeleton robotic knee system that adjusts to different walking conditions using sensors and a control algorithm to synchronize motorized knee joint movement and mechanical locking, allowing for adaptive support and voluntary user intention.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Stability of the object's composition
If powered exoskeleton rehabilitation devices are designed to provide supportive force on the knee joint, then knee stability is improved, but the device becomes bulky and heavy
Solution Approach 1:
The exoskeleton is divided into separate modular components including a hip exoskeleton and a knee exoskeleton that can function independently or in combination. This segmentation allows the knee support function to be provided without requiring a complete full-body exoskeleton, thereby reducing overall weight while maintaining knee stability.
Solution Approach 2:
The knee exoskeleton is designed as a standalone device that extracts and focuses specifically on providing knee joint support, rather than being part of a comprehensive full-body robotic system. This extraction of the knee support function into a separate lightweight device maintains stability while avoiding the bulk and weight of complete robotic exoskeletons.
2Stability of the object's composition
If traditional KAFO orthosis are used to stabilize the knee joint, then knee stability is improved, but the training effect is limited
Solution Approach 1:
The knee exoskeleton incorporates sensors that detect user gait patterns, knee joint angles, and movement intentions in real-time. This feedback is processed by control algorithms that automatically adjust the level and type of assistance provided, enabling the device to adapt to different walking conditions (level ground, slopes, stairs) and provide task-specific training that enhances rehabilitation effectiveness.
Solution Approach 2:
The device transitions from a static, passive orthotic structure to a dynamic, active robotic system that can modify its support characteristics in real-time. The motorized actuation and adaptive control allow the exoskeleton to provide variable assistance during different phases of the gait cycle and adjust to changing environmental conditions, thereby enhancing training effects while maintaining knee stability.
3Ease of operation
If pre-programmed walking trajectory is used in robotic devices, then walking assistance is provided, but intuitive adjustment to environment and voluntary user intention is lacking
Solution Approach 1:
The knee exoskeleton employs intelligent control algorithms that enable the device to autonomously detect and adapt to environmental conditions (such as slope, terrain, and walking speed) and user intentions without requiring pre-programming or manual configuration. The system self-adjusts its control parameters and assistance level based on real-time sensor data, providing intuitive environmental adaptation while maintaining ease of operation.
Solution Approach 2:
The system replaces rigid pre-programmed mechanical control sequences with adaptive software-based control that processes sensor feedback and dynamically adjusts assistance. This substitution of fixed mechanical programming with flexible intelligent control allows the device to respond intuitively to environmental changes and user intentions while maintaining simple operation for the user.
4Productivity
If robotic devices are designed to move both legs, then body weight support is provided, but the device complexity increases
Solution Approach 1:
The robotic system is segmented into independent hip and knee exoskeleton modules that can be worn on one or both legs. This segmentation allows the device to provide body weight support through the hip exoskeleton while the knee exoskeleton provides targeted knee joint assistance, achieving comprehensive support with reduced complexity compared to integrated full-body robotic systems.
Solution Approach 2:
The knee exoskeleton is designed as a universal device that can be worn on either the left or right leg and can function independently or in conjunction with a hip exoskeleton. This multi-functionality allows the system to provide body weight support and knee stabilization without requiring a complex dedicated bilateral robotic system, thereby reducing overall device complexity while maintaining productivity.
Data Source
AI summary
An interactive exoskeleton robotic knee system for assist walking and gait training. The system comprises of an exoskeleton framework to be attached to the thigh and shank of the user's leg; electric motor; mechanical lock; motion sensor assembled on the lower limb unit, and a control box. The system provides extension and flexion movement in the knee joint.