Walking Assistance Apparatus Position Control

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Solution Overview

Problem

Existing walking training systems face challenges in maintaining continuity of training and preventing a reduction in training effect due to varying walking levels among users, as they often rely on speed adjustments, which can lead to dependence and decreased effectiveness.

Innovation Solution

A walking training system that includes a treadmill, a walking assistance apparatus mounted on the user's leg, and control means to adjust the assisting power and treadmill speed to help the user maintain alignment with a reference position, increasing the distance when higher training levels or speeds are detected, thereby enhancing continuity and effectiveness.

Engineering Contradictions & Design Principles

VSEngineering Contradiction Analysis

1Duration of action of moving object

If the speed of the treadmill is adjusted to help the walking trainee continue training, then the continuity of training is improved, but the training effect is reduced due to excessive dependence on speed adjustment

Engineering Contradiction:

Improvecontinuity of trainingVSAvoidtraining effect

Core Design Contradiction:

Duration of action of moving objectVSReliability

Solution Approach 1:

The system changes the control parameter from treadmill speed to assisting power of the walking assistance apparatus. By adjusting the assisting power based on the trainee's position relative to the reference position and their walking level, the system maintains training continuity while preserving training effectiveness through dynamic parameter adjustment rather than static speed control

Inventive Principle:

Principle #35Parameter changes

Solution Approach 2:

The system implements feedback control by continuously monitoring the trainee's position relative to the reference position and adjusting the assisting power accordingly. The control apparatus receives position information and modifies the assisting power to guide the trainee back to the reference position, creating a closed-loop control system that maintains both continuity and effectiveness

Inventive Principle:

Principle #23Feedback

2Adaptability or versatility

If the speed of the treadmill is adjusted for different walking levels, then the continuity of training is improved, but the training effect is reduced due to dependence on speed adjustment

Engineering Contradiction:

Improveadaptation to walking levelsVSAvoidtraining effect

Core Design Contradiction:

Adaptability or versatilityVSReliability

Solution Approach 1:

The system adapts to different walking levels by adjusting the assisting power parameter rather than treadmill speed. The control apparatus modifies the assisting power based on the trainee's walking level, position, and other factors, providing personalized assistance that maintains training effectiveness across different ability levels without creating dependence

Inventive Principle:

Principle #35Parameter changes

Solution Approach 2:

The system employs dynamic adjustment of assisting power based on real-time position information and trainee characteristics. The control apparatus continuously adapts the assisting power to match the trainee's walking level and position deviations, creating a dynamic control strategy that maintains training effectiveness while supporting continuity

Inventive Principle:

Principle #15Dynamics

3Reliability

If the treadmill moves at constant speed, then the training effect is maintained, but the walking trainee falls behind the reference position causing discontinuity

Engineering Contradiction:

Improvetraining effectVSAvoidcontinuity of training

Core Design Contradiction:

ReliabilityVSDuration of action of moving object

Solution Approach 1:

The system uses feedback control to monitor the trainee's position relative to the reference position and adjusts the assisting power to prevent position deviations. By continuously receiving position information and modifying assisting power, the system maintains the trainee's alignment with the reference position, ensuring both training effectiveness and continuity

Inventive Principle:

Principle #23Feedback

Solution Approach 2:

The system takes preliminary action by adjusting the assisting power before significant position deviations occur. The control apparatus proactively modifies assisting power based on predicted position changes, preventing the trainee from falling behind the reference position and maintaining continuous training alignment

Inventive Principle:

Principle #10Preliminary action

Data Source

PatentUS11103415B2Walking training system and method of controlling the same

Publication Date: 2021.08.31 TOYOTA JIDOSHA KK

AI summary

A walking training system includes: a treadmill on which a walking trainee walks; a walking assistance apparatus that is mounted on a leg part of the walking trainee and assists walking of the walking trainee; and control means for controlling an operation of the walking assistance apparatus. The control means controls the operation of the walking assistance apparatus so as to cause the walking trainee to approach a reference position when the trainee is spaced apart from the reference position of the treadmill by a predetermined distance or more in a walking front/back direction while the walking trainee is walking on the treadmill, and increases the predetermined distance when at least one of a walking training amount of the walking trainee, a walking training level of the walking trainee set in the walking training system, and the speed of the treadmill is larger/higher/greater than a predetermined amount, level, and speed.