Single-Limb Rehabilitation Exoskeleton Using Intact-Limb Gait Control
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Solution Overview
Problem
Existing rehabilitation exoskeletons lack real-time gait relearning functionality, fail to provide proactive patient control, and do not facilitate individualized physical rehabilitation training, leading to discomfort and potential risks during rehabilitation.
Innovation Solution
A single-lower-limb rehabilitation exoskeleton apparatus with a controller that collects data from the intact lower-limb to control the paralytic lower-limb, allowing proactive gait control and information interaction, using sensors and motors to adjust joint movements based on the intact limb's data.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Adaptability or versatility
If traditional dual-lower-limb rehabilitation exoskeleton is used, then physical rehabilitation training can be provided, but the system lacks real-time gait relearning functionality and proactive patient control
Solution Approach 1:
The patent divides the lower-limb exoskeleton into multiple independent modular units including hip joint module, knee joint module, and ankle joint module. Each module can be independently controlled and adjusted, enabling flexible gait relearning functionality without requiring a complete system redesign. This segmentation allows the system to provide adaptive rehabilitation training while maintaining manageable system complexity.
Solution Approach 2:
The system incorporates sensors that real-time detect patient gait parameters, limb position, and movement characteristics. This feedback is processed by the control system to dynamically adjust exoskeleton assistance, enabling proactive patient control and personalized gait relearning. The feedback mechanism allows the system to adapt to individual patient needs without requiring overly complex manual configuration.
2Ease of operation
If preprogramed options are used for rehabilitation training, then operation is simplified, but individualized physical rehabilitation training cannot be provided
Solution Approach 1:
The exoskeleton system automatically detects and analyzes the patient's own gait characteristics through integrated sensors, and uses this information to self-adjust rehabilitation parameters. The system serves itself by collecting data from the patient's intact lower-limb and using it to control the paralytic lower-limb, eliminating the need for complex manual programming while providing highly individualized rehabilitation training.
Solution Approach 2:
The system copies the gait pattern from the patient's intact lower-limb and applies it to control the paralytic lower-limb through the exoskeleton. This copying mechanism enables individualized rehabilitation by replicating the patient's natural movement characteristics without requiring complex preprogrammed sequences, maintaining ease of operation while achieving personalization.
3Extent of automation
If the exoskeleton controls both lower-limbs, then rehabilitation training is provided, but patient cannot control movement proactively and information interaction is deficient
Solution Approach 1:
Instead of the exoskeleton controlling both lower-limbs traditionally, the system inverts the control approach by using the patient's intact lower-limb as the control input for the paralytic lower-limb. This inversion restores patient agency and information interaction, as the patient's own movements directly influence the rehabilitation process while maintaining appropriate automation for the affected limb.
4Adaptability or versatility
If movement speed is adjusted to match healthy side, then walking process becomes more similar to healthy person, but system stability and safety may be compromised
Solution Approach 1:
The system dynamically adjusts movement speed and gait parameters in real-time based on continuous feedback from sensors monitoring both the intact and paralytic lower-limbs. Rather than using fixed preprogrammed speeds, the exoskeleton adapts its control strategy moment-by-moment to maintain system stability and safety while achieving natural-looking gait patterns similar to healthy walking.
Data Source
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AI summary
Provided a single-lower-limb rehabilitation exoskeleton apparatus and control methods. The apparatus comprises a controller (100), an intact lower-limb component (200) and a paralytic lower-limb component (300) connecting communicatively with the controller (100). The controller (100) is used to determine the current state of the intact lower-limb (13-1) through the intact lower-limb component (200) and the current state of the paralytic lower-limb (13-2) through the paralytic lower-limb component (300). When the intact lower-limb component (200) is in the lifting state, the movement data of the intact lower-limb (13-1) is collected and sent to the controller (100). The controller (100) is used to determine the corresponding gait data for the paralytic lower-limb component (300) according to the movement data of the intact lower-limb (13-1) and send the gait data to the paralytic lower-limb component (300). The paralytic lower-limb component (300) is used to drive the paralytic lower-limb (13-2) to move or walk according to the gait data while the intact lower-limb (13-1) is in the supporting state. The apparatus empowers the patient to proactively control his/her gait through relearning of the intact lower-limb (13-1) movement, supports the information interaction between the patient and the single-lower-limb rehabilitation exoskeleton apparatus, and thereby provides solutions for individualized physical rehabilitation training.