Walking Assistance Control Using Load and Joint Displacement Feedback

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Solution Overview

Problem

Existing motion support systems face challenges in appropriately setting the assistance level for users, which is crucial for effective rehabilitation and motion support, as improper settings can lead to inadequate assistance or over-reliance on the system.

Innovation Solution

A motion support system comprising an assistance apparatus, an assistance level setting unit, a load data acquisition unit, a displacement sensor, and a control unit that determines a recommended assistance level based on load data and displacement sensor output, using statistical data and a trained model to optimize assistance levels for users.

Engineering Contradictions & Design Principles

VSEngineering Contradiction Analysis

1Reliability

If the assistance level is manually set or based on simple angle detection, then the device complexity is low, but the appropriateness of assistance level for individual users is insufficient

Engineering Contradiction:

Improveappropriateness of assistance levelVSAvoidsystem complexity

Core Design Contradiction:

ReliabilityVSDevice complexity

Solution Approach 1:

The system implements feedback by continuously monitoring load data from load cells and displacement data from sensors, then using this information to dynamically adjust and determine appropriate assistance levels. The control unit processes this feedback data to optimize assistance for each user based on actual performance

Inventive Principle:

Principle #23Feedback

Solution Approach 2:

The system performs self-assessment by automatically evaluating user performance through integrated sensors and load data, eliminating the need for manual professional assessment. The control unit autonomously determines appropriate assistance levels based on collected data, allowing the system to self-optimize without external intervention

Inventive Principle:

Principle #25Self-service

2Reliability

If the assistance level is set too high, then the user receives sufficient support, but the user may become overly reliant on the system and not develop independent motion capability

Engineering Contradiction:

Improveadequacy of supportVSAvoiduser independence

Core Design Contradiction:

ReliabilityVSAdaptability or versatility

Solution Approach 1:

The assistance level is made dynamic rather than static, automatically adjusting based on real-time load data and displacement measurements. The control unit modifies assistance levels during operation to balance support provision with encouragement of independent motion, preventing over-reliance while ensuring adequate support when needed

Inventive Principle:

Principle #15Dynamics

Solution Approach 2:

The system changes the parameter of assistance level based on monitored performance metrics. By adjusting this key parameter dynamically according to load and displacement data, the system optimizes the balance between providing sufficient support and promoting user independence

Inventive Principle:

Principle #35Parameter changes

3Adaptability or versatility

If the assistance level is set too low, then the user maintains independence, but the user does not receive adequate assistance for effective rehabilitation or motion support

Engineering Contradiction:

Improveuser independenceVSAvoidadequacy of assistance

Core Design Contradiction:

Adaptability or versatilityVSReliability

Solution Approach 1:

The system uses feedback from load cells and displacement sensors to continuously monitor whether the current assistance level is adequate. Based on this feedback, the control unit adjusts the assistance level to ensure it meets rehabilitation effectiveness thresholds while maintaining user independence

Inventive Principle:

Principle #23Feedback

4Measurement precision

If statistical data and trained models are used to determine assistance levels, then the accuracy of assistance level determination is improved, but the data processing complexity and time required increase

Engineering Contradiction:

Improveaccuracy of assistance level determinationVSAvoiddata processing time

Core Design Contradiction:

Measurement precisionVSLoss of time

Solution Approach 1:

Statistical data and trained models are prepared in advance through offline training processes. The control unit applies these pre-trained models to real-time data, enabling rapid and accurate assistance level determination without performing complex training computations during actual operation

Inventive Principle:

Principle #10Preliminary action

Data Source

PatentUS11996001B2Motion support system, action support method, program, learning apparatus, trained model, and learning method

Publication Date: 2024.05.28 TOYOTA JIDOSHA KK

AI summary

A walking training apparatus is a motion support system that includes a walking assistance apparatus as an assistance apparatus, a selected assistance level setting unit, a load data acquisition unit, an angle sensor as a displacement sensor, and an overall control unit as a control unit. The assistance apparatus assists a motion of a joint performed by a user. The assistance level setting unit sets an assistance level that is a level of a force exerted by the assistance apparatus. The load data acquisition unit acquires load data related to a load of the assistance apparatus. The displacement sensor detects a displacement of the joint. The control unit determines a recommended assistance level, which is an assistance level to be recommended, based on the assistance level, the load data, and an output of the displacement sensor, and outputs information about the determined recommended assistance level.