Wearable Walking Assist Robot Gait Phase Control
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Solution Overview
Problem
Existing wearable walking assist robots require complex algorithms to determine gait phases, leading to intricate control processes that are not effectively verified for practical application.
Innovation Solution
A wearable walking assist robot that uses a simplified algorithm based on pressure distribution on the feet to detect gait phases and selectively control one of several predefined modes, including weight bearing, mechanical impedance compensation, ground impact absorption, and swing phases, using pressure sensors and a controller to operate joint-driving units.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Measurement precision
If complex algorithms are used to determine gait phases, then measurement precision is improved, but device complexity increases
Solution Approach 1:
The patent segments the gait phase determination into distinct phases (double support, single support, swing) based on pressure sensor readings from toes and heels. Each phase is identified by specific pressure patterns, replacing complex algorithms with segmented, rule-based detection that maintains precision while reducing complexity
Solution Approach 2:
The patent extracts only the essential pressure information from the feet (toe and heel contact status) needed for gait phase determination, discarding unnecessary complex calculations. This extraction of key parameters simplifies the control process while preserving the ability to accurately identify gait phases
2Device complexity
If simplified algorithms are used to determine gait phases, then device complexity is reduced, but measurement precision deteriorates
Solution Approach 1:
The patent implements feedback by continuously monitoring pressure sensor readings and using this information to dynamically determine gait phases. The system feedback loop ensures accurate phase detection through simple pressure threshold comparisons, maintaining precision without complex algorithms
Solution Approach 2:
The pressure sensors on the user's feet directly provide the information needed for gait phase determination. The system uses the user's own body pressure distribution as the sensing mechanism, eliminating the need for external complex sensing systems while maintaining accurate phase detection
3Adaptability or versatility
If multiple control modes are implemented, then adaptability is improved, but device complexity increases
Solution Approach 1:
The patent implements dynamic switching between control modes (weight bearing, mechanical impedance compensation, ground impact absorption, swing phase) based on the detected gait phase. This dynamic adaptation allows the system to provide appropriate assistance for each phase without requiring a permanently complex control structure, as the complexity is only activated when needed
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
Enables high walking assistance performance without complex calculations, allowing for improved control of robot legs and wide applicability by simplifying the determination of gait phases and matching them with appropriate control modes.
Implementation Method 1
a sensor unit configured to sense pressure on the soles of the feet of a user
Data Source
AI summary
A wearable walking assist robot is provided that ensures high walking assistance performance without a complex calculation process by detecting a gait phase based on pressure distribution on feet and performing a corresponding control mode that is set in advance. The wearable walking assist robot includes a sensor unit that senses pressure on the soles of the feet of a wearer and a controller that determines gait phases of both a first leg to be operated and a second leg based on the sensed pressure. Additionally, the controller selects one of a plurality of control modes set in advance based on the determined gait phases and operates a joint-driving unit for the first leg to be operated.