Walking Aid Torque Control for High-Speed Load Management
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Solution Overview
Problem
Existing walking assistance devices face challenges in managing output torque during high-speed walking situations, leading to potential torque limits being exceeded by the drive motor and reducer.
Innovation Solution
A method is introduced to verify high-speed walking situations using sensor data, allowing for the determination of a change control torque to reduce the output torque load. This involves obtaining velocity information from sensors, verifying the walking state, and adjusting the control torque accordingly.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Productivity
If the control torque is increased to assist walking at higher speeds, then the walking assistance performance is improved, but the output torque load exceeds the torque limits of the drive motor and reducer
Solution Approach 1:
The patent applies dynamics by making the control torque adjustable and adaptive rather than fixed. The controller dynamically modifies the control torque based on real-time velocity information from sensors, allowing the system to optimize torque output for different walking speeds while preventing excessive torque that could damage the motor or reducer.
Solution Approach 2:
The patent changes the parameter of control torque based on velocity information. By monitoring the actual velocity of the walking assistance device and comparing it with expected velocity profiles, the controller adjusts the control torque parameter in real-time to match the actual operating conditions, preventing torque limits from being exceeded during high-speed walking.
2Reliability
If the control torque is reduced to prevent exceeding torque limits, then the reliability of the drive motor and reducer is improved, but the walking assistance performance deteriorates
Solution Approach 1:
The patent implements feedback by continuously monitoring the actual velocity of the walking assistance device through sensors and using this information to adjust the control torque. The controller compares the actual velocity with expected velocity profiles and modifies the control torque accordingly, ensuring that torque remains within safe limits while maintaining optimal walking assistance performance.
Solution Approach 2:
The system dynamically adjusts control torque based on real-time velocity information rather than using a fixed torque profile. This dynamic adaptation allows the system to maintain high walking assistance performance during normal operation while automatically reducing torque when velocity exceeds expected ranges, preventing damage to the drive motor and reducer.
Data Source
AI summary
A walking aid device and/or a control method therefor. According to an example embodiment, a method for controlling a walking aid device may include: obtaining sensor data from one or more sensors; obtaining a plurality of pieces of speed information on the basis of the sensor data; determining whether a walking aid device has reached a first state, on the basis of at least one of the plurality of pieces of speed information; determining a change control torque corresponding to the at least one of the plurality of pieces of speed information, on the basis of the determination result; and controlling the walking aid device with the change control torque.