Rehabilitation Training Device Force Component Signal Correction
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Solution Overview
Problem
The existing training devices for upper and lower limb rehabilitation, such as those described in WO 2012/117488 A1, face challenges in accurately controlling the operation rod across multiple operation modes due to a single control unit managing various degrees of freedom, leading to inappropriate operation based on the executed mode.
Innovation Solution
A training device equipped with a plurality of motors, force detection units, and command calculation units that allow for precise motor control commands based on detected force components, enabling the operation rod to operate appropriately in each mode by calculating and outputting motor control commands in real-time, and incorporating a control command switching unit to select the appropriate command based on the operation mode.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Device complexity
If a single control unit is used to control multiple motors for various operation modes, then device complexity is reduced, but the operation rod may not operate appropriately depending on the operation mode executed
Solution Approach 1:
The patent divides the control system into multiple independent command calculation units, each dedicated to a specific operation mode. Each unit processes force component signals and generates motor control commands independently for its designated mode, ensuring appropriate and reliable operation rod control for each mode while maintaining manageable system complexity through functional segmentation.
2Reliability
If multiple command calculation units are introduced for different operation modes, then operation rod control accuracy is improved, but device complexity increases
Solution Approach 1:
The patent implements a control command switching unit that universally manages multiple command calculation units and selects the appropriate command based on the current operation mode. This switching unit provides a unified interface for mode-dependent control, allowing the system to achieve high control accuracy for each mode while avoiding the complexity of completely separate control systems through a shared selection mechanism.
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 device ensures accurate and appropriate operation of the operation rod in various modes, enhancing the effectiveness of upper and lower limb rehabilitation by maintaining precise control and adaptability to force variations, thereby improving the consistency and quality of the rehabilitation process.
Implementation Method 1
The plurality of force detection units detect force components. In addition, the plurality of force detection units output force component signals based on magnitudes of the detected force components.
Data Source
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AI summary
Provided is a training device capable of executing a plurality of operation modes, in which an operation rod is appropriately operated according to an operation mode. The training device includes the operation rod, a plurality of motors, a plurality of force detection units, and a plurality of first command calculation units. The operation rod allows a limb to move. The plurality of motors operate the operation rod in the direction of degree of freedom in which the operation rod can move. Each of the force detection units detects a corresponding force component and outputs a force component signal. The first command calculation units are connected to the corresponding force detection units. Each of the first command calculation units calculates a first motor control command on the basis of the corresponding force component signal.