Walking Assistance Torque Control for Irregular Gait
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Solution Overview
Problem
Existing walking assistance apparatuses face challenges in providing effective support for users with irregular or discontinuous gait patterns, particularly those with joint problems or neurological disorders, as they struggle to predict and adapt to varying gait phases.
Innovation Solution
The method involves defining a state variable based on measured gait motion, generating a torque profile using gains and delays to assist or resist the gait motion, and outputting torque to help stabilize and regularize the user's gait, utilizing sensors to measure hip joint angles and a controller to adjust the torque profile in real-time.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Reliability
If feed-forward based torque patterns are used for control, then the system works well in steady state, but it fails to adapt when gait phases are difficult to predict (discontinuous or irregular gait patterns)
Solution Approach 1:
The patent implements a feedback control mechanism that uses measured gait motion (hip joint angles, gait phase) to dynamically adjust torque profiles. The controller continuously monitors actual gait parameters and modifies torque output in real-time, enabling the system to adapt to irregular and discontinuous gait patterns while maintaining reliability in steady state conditions.
Solution Approach 2:
The system transitions from static feed-forward torque patterns to dynamic feedback-based torque adjustment. The torque profile is no longer fixed but dynamically adapted based on real-time gait phase detection and measured motion parameters, allowing the system to respond flexibly to varying gait conditions.
2Stability of the object's composition
If the system provides active torque assistance to assist or resist gait motion, then gait stability and regularity are enhanced, but the device complexity increases due to real-time measurement and control requirements
Solution Approach 1:
The controller serves multiple functions: it detects gait phase, measures hip joint angles, generates torque profiles, and adjusts torque output in real-time. By consolidating these functions into a single control unit, the system achieves enhanced gait stability without proportionally increasing overall device complexity.
Solution Approach 2:
The system uses the user's own gait motion data (hip joint angles, gait phase) as feedback to automatically adjust torque assistance. The controller self-regulates torque output based on measured parameters, eliminating the need for external manual adjustment mechanisms and reducing operational complexity.
Data Source
AI summary
A walking assistance method and/or apparatuses configured to perform same are provided. A state variable may be defined based on a result obtained by measuring a gait motion of a user, and a torque profile may be generated based on the defined state variable, a gain and a delay. The generated torque profile may correspond to a torque profile to assist the gait motion, or a torque profile to provide a resistance to the gait motion.