Variable Tension Walking Assistance Apparatus for Carrying Loads
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Solution Overview
Problem
Existing assistance technologies for walking, such as those described in Japanese Unexamined Patent Application Publication No. 2009-213538 and Japanese Unexamined Patent Application Publication (Translation of PCT Application) No. 2016-528940, do not provide adequate support for users carrying objects, as they lack a method to adjust assistance based on the user's state, leading to inefficient and potentially burdensome assistance.
Innovation Solution
An assistance apparatus comprising an upper-body belt, left and right knee belts, and wires coupled to these components, with motors generating specific tensions in the wires during different phases of the gait cycle to provide tailored assistance for flexion and extension, adjusting tension levels to accommodate carrying objects and maintain balance.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Adaptability or versatility
If a fixed tension is applied in the wires throughout the gait phase, then the structure is simple, but the assistance cannot be adjusted according to user state (carrying objects)
Solution Approach 1:
The patent applies dynamics by making the wire tension variable rather than fixed. The motor dynamically adjusts the wire tension based on the detected gait phase and user state (whether the user is carrying an object). This allows the assistance force to adapt to different conditions - providing stronger assistance when the user is carrying objects and lighter assistance when not carrying objects, thereby resolving the contradiction between adaptability and device complexity.
2Force
If high tension is generated in all wires during the entire gait phase, then maximum assistance is provided, but the user experiences excessive burden and discomfort
Solution Approach 1:
The patent applies periodic action by generating motor output only during specific periods of the gait phase when assistance is actually needed. The control unit detects the gait phase and generates motor output during periods when the user requires assistance (such as during stance phase when carrying objects), while stopping motor output during periods when assistance is not needed. This periodic activation provides necessary assistance force while avoiding continuous high tension that would cause user burden and discomfort.
3Use of energy by moving object
If the motor stops generating tension abruptly, then energy consumption is reduced, but the user experiences instability and loss of balance
Solution Approach 1:
The patent applies beforehand cushioning by having the motor continue generating tension during boundary periods between gait phases, even though the primary assistance period has ended. The control unit extends the motor output beyond the strict assistance period into a boundary period that anticipates the transition to the next gait phase. This creates a cushioning effect that prevents abrupt cessation of tension, thereby maintaining user balance and stability while still reducing energy consumption compared to continuous operation.
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 apparatus effectively assists users in walking while carrying objects by providing targeted muscle support, maintaining balance, and reducing the burden on the user by adjusting tension levels according to the gait phase and user state, ensuring stable posture and efficient movement.
Implementation Method 1
at least one motor... generates (i) a tension greater than or equal to a first threshold value in the first wire
Data Source
AI summary
An assistance apparatus includes a first wire and a second wire that couple an upper-body belt and a left knee belt to each other, respectively, a third wire and a fourth wire that couple the upper-body belt and a right knee belt to each other, respectively, and a motor. When assistance is stopped, the motor is configured to reduce tension of the first wire during a first stop period starting in a boundary period in a first period and ending in a start period of a second period, generate no tension in the second wire during the second period, reduce tension of the third wire during a second stop period starting in a boundary period in a third period and ending in a start period of a fourth period, and generate no tension in the fourth wire during the fourth period.