Walking Assistance Torque Control via Gait Feedback
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Solution Overview
Problem
Existing motion assistance apparatuses face challenges in providing effective walking assistance for individuals with irregular or discontinuous gait patterns, particularly those with joint problems or abnormal gaits, as they struggle to predict and adapt to changing gait phases.
Innovation Solution
A walking assistance method and apparatus that measures current gait motion, defines a state variable based on hip joint angles, sets a delay for torque output, and generates a torque profile using a low-pass filter to provide feedback and stabilize gait, allowing for adaptive assistance in real-time.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Reliability
If feed-forward based torque patterns are used at predicted gait phases, then the control system works well in steady state, but it causes problems when the user has discontinuous or irregular gait patterns
Solution Approach 1:
The patent implements a feedback mechanism by measuring current gait motion and defining a state variable based on actual gait phase, then using this feedback to generate torque profiles. This allows the system to adapt to irregular gait patterns while maintaining control reliability through continuous real-time adjustment based on actual user motion rather than predicted patterns alone
Solution Approach 2:
The system dynamically adjusts torque profiles based on real-time gait phase detection and state variable changes. By making the control system dynamic and responsive to current gait conditions rather than relying on fixed feed-forward patterns, it can adapt to both steady state and irregular gait patterns effectively
2Productivity
If a delay is set for the state variable as a feedback element, then the torque output timing is optimized, but it requires precise timing control
Solution Approach 1:
The patent optimizes torque output by changing the timing parameter through a deliberately set delay for the state variable. This delay parameter is tuned to match the user's gait characteristics, allowing the torque to be applied at the most effective moment in the gait cycle without requiring overly complex timing control mechanisms
Data Source
AI summary
A walking assistance method may include measuring a current gait motion of a user, defining a state variable based on the current gait motion, setting a delay that is a feedback element for the state variable, and generating a torque profile based on the state variable and the delay.