Walking Assist Device Predictive Torque Control
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Solution Overview
Problem
Users of existing walking assist devices feel uneasiness due to unpredictable torque application, as they cannot anticipate how their unhealthy leg will be moved.
Innovation Solution
The walking assist device provides notifying stimulation, such as images, sounds, or tactile sensations, to predict the motion of the device by showing or informing the user of upcoming joint angle changes, using a controller that generates a target pattern and applies torque based on a two-link mechanism with an actuator, ensuring the user is aware of the motion timing.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Ease of operation
If the walking assist device actively applies torque to the unhealthy leg, then the joint angle can be adjusted to assist walking motion, but the user feels uneasiness because they cannot predict the device motion
Solution Approach 1:
The controller provides notifying stimulation before applying torque to the joint, allowing the user to anticipate the upcoming motion. This preliminary notification resolves the contradiction by giving the user foreknowledge of the device action, eliminating uneasiness while maintaining the active torque application for walking assistance
2Ease of operation
If the device provides notifying stimulation to predict motion, then user uneasiness is reduced, but the device complexity increases
Solution Approach 1:
The controller is designed to perform multiple functions: it controls the actuator for torque application and simultaneously generates notifying stimulation. This multi-functionality reduces device complexity by consolidating control and notification functions within a single controller, while still achieving user predictability
Data Source
AI summary
A walking assist device which allays uneasiness felt by a user when a wearable device actively applies torque to a leg. A walking assist device comprises a controller, a headphone and a wearable device attached to left and right legs. The wearable device has a sensor that detects motion of the user's leg and a motor that applies torque to a joint of the user's leg. The controller controls the wearable device such that the joint angle of the user follows a target pattern which represents time-dependent changes of a target joint angle. The controller specifies a change timing at which a time-dependent change of the target joint angle in the target pattern meets a predetermined condition, and informs the user, before the specified change timing, that the change timing is arriving. The uneasiness felt by the user when an actuator actively applies torque to the leg joint is allayed by informing the user of the motion before the actuator performs that motion.