Walking Assistance Torque Timing Adjustment
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Solution Overview
Problem
Existing walking assistance devices lack the ability to adjust torque output timing effectively, leading to reduced comfort and efficiency for users, particularly in gait cycles where joint angle rates and assistance power intervals do not align, which can cause discomfort and inefficiency in walking assistance for individuals with joint problems.
Innovation Solution
A method and apparatus that detect joint angle rate intervals and assistance power intervals in a gait cycle, using sensors and processors to adjust the timing of torque output based on these intervals, allowing for synchronized alignment of joint angle rate and assistance power, thereby enhancing user comfort and gait assistance.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Ease of operation
If torque output timing is not adjusted to match joint angle rate and assistance power intervals, then the device structure remains simple, but user comfort and gait efficiency deteriorate
Solution Approach 1:
The system detects joint angle rate and assistance power intervals in real-time during the gait cycle, then uses this feedback information to adjust torque output timing dynamically. Sensors monitor the user's actual movement parameters and feed this data back to the control system, which modifies torque delivery accordingly to optimize comfort and efficiency.
Solution Approach 2:
The torque output timing is made dynamic rather than fixed. The system continuously adapts the torque delivery timing based on the detected joint angle rate and assistance power intervals, allowing the assistance mechanism to respond to varying gait patterns and user needs throughout the walking cycle.
2Productivity
If torque output timing is adjusted to align with joint angle rate and assistance power intervals, then gait efficiency improves, but the control system complexity increases
Solution Approach 1:
The control system uses real-time feedback from sensors detecting joint angle rate and assistance power intervals to optimize torque output timing. This closed-loop control ensures that torque is delivered at the most efficient moments in the gait cycle, maximizing gait efficiency while the system adapts to individual user patterns.
Solution Approach 2:
The system automatically detects and adapts to the user's gait characteristics without requiring manual calibration or intervention. By self-adjusting torque timing based on detected joint angle rate and assistance power intervals, the system optimizes gait efficiency autonomously, reducing the burden on users and simplifying operation.
3Reliability
If torque output timing matches assistance power interval, then walking assistance effectiveness improves, but measurement and detection requirements increase
Solution Approach 1:
The system implements continuous detection of joint angle rate using sensors and calculates assistance power intervals based on torque and joint angle rate measurements. This feedback mechanism ensures reliable matching of torque output timing with assistance power intervals, improving walking assistance effectiveness through real-time monitoring and adjustment.
Data Source
AI summary
Provided is a torque output timing adjustment method and apparatus, wherein an assistance power provided by a walking assistance apparatus is determined based on an output assistance power and a joint angle rate, a pattern of a joint angle rate varies for each user based on a gait pattern varying for each user, and an assistance torque provided to a user is adjusted in response to an adjustment of a torque output timing.