Walking Assistance Torque Control via Hip Joint Correction
Find Innovative SolutionsGenerate Solutions
Solution Overview
Problem
Existing walking assistance apparatuses struggle to accurately recognize and assist abnormal gait patterns, particularly in users with conditions like hemiplegia, due to limited measurement of hip joint movement, leading to potential malfunction and inadequate support.
Innovation Solution
The apparatus measures and corrects hip joint movement information using additional body part movements, such as pelvis and trunk inclination, to generate accurate gait cycle recognition and apply appropriate torque assistance, utilizing sensors and processors with algorithms like bandpass filters and adaptive oscillators.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Device complexity
If only hip joint movement is measured, then the device complexity is reduced, but the gait recognition accuracy deteriorates for abnormal gait patterns
Solution Approach 1:
The measurement system is segmented into multiple independent sensors placed at different body locations (hip joint, pelvis, trunk). Each sensor independently measures local movement, and the processor segments the analysis by selecting appropriate movement data based on detected gait patterns. This allows simplified measurement at each location while achieving accurate overall gait recognition through coordinated use of segmented measurements.
Solution Approach 2:
The system transitions from measuring only hip joint movement (one dimension) to incorporating pelvis and trunk movements (additional dimensions). By adding measurement dimensions at different body locations, the system captures the coupled movement characteristics of abnormal gaits more comprehensively, improving recognition accuracy without excessive complexity increase through selective use of dimensional data.
2Measurement precision
If multiple body part movements are measured and corrected, then the gait cycle recognition accuracy is improved, but the device complexity increases
Solution Approach 1:
The system dynamically adjusts the measurement and correction process based on detected gait patterns. The processor determines whether abnormal gait is present and selectively applies correction algorithms only when needed. This dynamic approach improves gait recognition accuracy for abnormal patterns while avoiding unnecessary processing complexity for normal gaits.
Solution Approach 2:
The system uses the measured movement data from multiple body parts to self-correct the hip joint movement information. The processor automatically identifies coupling effects between body parts and applies appropriate corrections without external intervention. This self-service correction mechanism improves accuracy while minimizing the need for complex external calibration systems.
3Manufacturing precision
If hip joint movement information is corrected based on pelvis and trunk movements, then the torque application accuracy is improved, but the processing complexity increases
Solution Approach 1:
The system performs preliminary correction of hip joint movement information using pelvis and trunk movement data before generating torque control signals. By pre-correcting the movement data to account for coupling effects, the system simplifies the subsequent torque calculation process and improves torque application accuracy without requiring complex real-time processing during actuation.
Solution Approach 2:
The system uses feedback from multiple sensors measuring pelvis and trunk movements to continuously correct hip joint movement information. This feedback loop allows the processor to detect coupling effects and apply appropriate corrections, improving torque application accuracy while managing processing complexity through efficient feedback utilization.
Data Source
Figure 1
Figure 2
Figure 3
AI summary
A walking assistance apparatus comprising: a sensor configured to measure a movement of a hip joint of a user associated with the walking assistance apparatus and a movement of another portion of a body of the user; a driver configured to assist the user in walking; and a processor configured to, correct movement information of the hip joint based on movement information of the other portion of the body to generate corrected movement information, and control a torque to apply to the driver based on the corrected movement information of the hip joint.