Robotic Walker 3D Camera Gait Tracking

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Solution Overview

Problem

Existing assistive tools for mobility-challenged individuals, such as walkers and wheelchairs, disrupt the user's walking rhythm, increase metabolic energy consumption, and accelerate musculoskeletal degeneration by limiting lower limb muscle activity.

Innovation Solution

A motorized robotic walker equipped with a 3D camera for non-contact measurement and a processor-controlled wheel system that maintains a constant position relative to the user, allowing for powered assistance without wearable sensors, using inverse kinematic calculations and motor control to adjust wheel rotation angles.

Engineering Contradictions & Design Principles

VSEngineering Contradiction Analysis

1Reliability

If a passive walker/rollator is used to provide support, then the user receives additional support in walking, but the user's walking rhythm is disrupted and metabolic energy consumption increases

Engineering Contradiction:

Improvesupport stabilityVSAvoidmetabolic energy consumption

Core Design Contradiction:

ReliabilityVSUse of energy by moving object

Solution Approach 1:

The patent replaces the passive mechanical walker system with an active motorized robotic walker that uses sensors, processors, and motors to dynamically adjust support forces. The robotic walker uses computer vision systems and machine learning algorithms to predict user intent and provide proactive assistance, reducing the energy required by the user to maintain walking rhythm and balance compared to traditional passive walkers.

Inventive Principle:

Principle #28Mechanics substitution (Replace mechanical system)

Solution Approach 2:

The robotic walker autonomously monitors the user's gait parameters, predicts walking intent using machine learning models, and automatically adjusts motor outputs to provide appropriate support forces. This self-regulating system eliminates the need for manual adjustments by the user, maintaining optimal support while minimizing energy consumption throughout the walking process.

Inventive Principle:

Principle #25Self-service

2Productivity

If a powered wheelchair is used to transport the user, then the user is effectively transported, but lower limb muscle activities and bone load-carrying are precluded and musculoskeletal degeneration accelerates

Engineering Contradiction:

Improvetransport efficiencyVSAvoidmusculoskeletal degeneration

Core Design Contradiction:

ProductivityVSObject-affected harmful factors

Solution Approach 1:

The robotic walker dynamically adjusts its support level based on real-time analysis of the user's gait phase, velocity, and acceleration. During early stance phase when the user requires most support, the walker provides higher assistance forces. As the user progresses through the gait cycle and generates more propulsive force, the walker gradually reduces support, allowing continuous lower limb muscle activation and bone loading that prevents musculoskeletal degeneration while maintaining transport efficiency.

Inventive Principle:

Principle #15Dynamics

Solution Approach 2:

The system continuously modifies multiple parameters including motor torque, support force magnitude, and assistance timing based on detected gait parameters and predicted user intent. This dynamic parameter adjustment ensures the walker provides optimal support during phases when the user needs it most while allowing full muscle engagement during propulsive phases, preventing the disuse atrophy associated with powered wheelchairs.

Inventive Principle:

Principle #35Parameter changes

3Measurement precision

If wearable sensors are used in the robotic walker to detect user motion, then precise gait detection is achieved, but the device complexity and user burden increase

Engineering Contradiction:

Improvegait detection accuracyVSAvoidsensor system complexity

Core Design Contradiction:

Measurement precisionVSDevice complexity

Solution Approach 1:

The patent replaces wearable motion sensors with a computer vision system using depth cameras and image processing algorithms to detect and track the user's gait. The system captures video feeds from multiple camera angles, extracts skeletal joint positions through computer vision algorithms, and calculates gait parameters such as stride length, walking speed, and gait phase. This approach achieves precise gait detection without requiring the user to wear or carry additional sensors, reducing device complexity and user burden.

Inventive Principle:

Principle #28Mechanics substitution (Replace mechanical system)

Solution Approach 2:

The computer vision system acts as an intermediary between the physical environment and the control system. Instead of directly measuring user motion through wearable sensors, the system uses camera images as an intermediate representation to infer gait parameters. This intermediary approach enables accurate gait detection while keeping the sensor system integrated into the walker structure rather than distributed across the user's body.

Inventive Principle:

Principle #24Intermediary (Mediator)

Data Source

PatentUS10667980B2Motorized robotic walker guided by an image processing system for human walking assistance

Publication Date: 2020.06.02 UNIVERSITY OF ALABAMA

AI summary

A motorized robotic walker is capable of moving automatically with the user through an algorithmic process using a 3D camera image processing system. The image processing system can measure relative motion of the user versus the robotic walker and a microprocessor can generate PWM signal to drive motors of the robotic walker so that the robotic walker can follow the user's motion automatically and provide assistance if needed.