Walking Assistance Robot Dynamic Load Compensation
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Solution Overview
Problem
Conventional walking assistance robots fail to effectively compensate for dynamic loads caused by displacement and inertia during movement, leading to discomfort and excessive load on patients, making walking training unsafe and inefficient.
Innovation Solution
A walking assistance robot load compensation system with a dynamic compensation part that includes a movable first and second plate, a connection wire, a pulley, cam, and elastic body to apply resistance, along with a static compensation part using a spring balancer, to minimize changes in dynamic load and provide constant tensile force, ensuring comfortable and safe training.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Reliability
If a conventional tractor is used to cancel the load of the walking assistance robot based on static state, then the robot load is canceled in static condition, but the dynamic load changes during movement causing discomfort and excessive load on patients
Solution Approach 1:
The patent applies the dynamics principle by replacing the static tractor-based load cancellation system with a dynamic compensation system. The walking assistance robot uses sensors to detect real-time dynamic parameters such as displacement, velocity, and acceleration, and the control unit continuously adjusts the motor output to compensate for changing loads during movement. This ensures that the robot maintains accurate load compensation adaptability throughout the walking cycle, eliminating the discomfort and excessive load experienced by patients with static-based systems.
2Productivity
If the walking assistance robot moves to assist walking, then walking training is enabled, but dynamic load changes occur causing discomfort and safety issues
Solution Approach 1:
The patent implements feedback control by equipping the walking assistance robot with sensors that continuously monitor dynamic parameters including displacement, velocity, acceleration, and load forces. The control unit receives this real-time feedback and dynamically adjusts the motor torque and power output to compensate for load variations during movement. This closed-loop feedback mechanism ensures that the robot maintains smooth and comfortable operation throughout the walking cycle, eliminating the harmful dynamic load fluctuations that cause patient discomfort and safety concerns.
3Ease of operation
If the tractor cancels robot load in static state, then patients do not sense static load, but patients sense changing dynamic load during movement
Solution Approach 1:
The patent transitions from static to dynamic load compensation by implementing real-time detection of movement parameters including displacement, velocity, and acceleration. The control unit processes these dynamic parameters to calculate the instantaneous load on the robot and adjusts motor output accordingly. This dynamic compensation approach ensures that both static and dynamic loads are effectively managed, making the robot's weight imperceptible to patients throughout the entire walking cycle, not just in static conditions.
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
The system reduces discomfort and fatigue by stabilizing the walking assistance robot, enhancing the safety and efficiency of walking training by minimizing dynamic load changes and providing ease of attachment and detachment.
Implementation Method 1
an elastic body providing frictional force to the cam when rotating
Implementation Method 2
A rotation axis of the cam is deployed eccentrically from a center of gravity of the cam
Implementation Method 3
an elasticity unit connected to the wire to apply tensile force constantly to the walking assistance robot
Data Source
AI summary
The present invention relates to a walking assistance robot load compensation system which cancels out the load of a walking assistance robot worn by a walking trainee, the walking assistance robot load compensation system comprising a dynamic compensation part compensating for changes to a dynamic load according to the displacement or the inertia of the walking assistance robot, the dynamic compensation part, which may compensate for a changing dynamic load of the walking assistance robot, comprising: a first plate which is movable in association with the displacement or inertia; a second plate which is spaced apart from the first plate and is movable in association with the walking assistance robot; a connection wire which is connected to the first and second plates and movable in association with the first plate and the second plate; and a dynamic compensation unit which applies resistance force to the connection wire to suppress changes to the dynamic load of the walking assistance robot.