Walking Assistance Torque Control via Twist Sensing
Find Innovative SolutionsGenerate Solutions
Solution Overview
Problem
Existing walking assistance apparatuses lack effective methods for calculating and adjusting assistance torques to provide optimal support for users with joint problems, which can lead to inefficiencies and discomfort during use.
Innovation Solution
A method and apparatus for calculating assistance torques using a bend sensor to measure twisting, a processor to calculate and adjust torques based on transformation functions, and a motor to output the corrected torque, ensuring proper support and comfort for users.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Ease of operation
If assistance torque is increased to provide stronger support for users with joint problems, then user comfort and support effectiveness are improved, but the apparatus may cause discomfort or injury due to excessive torque
Solution Approach 1:
The system employs feedback mechanisms by measuring the actual torque transferred to the user through bend sensors that detect twisting of the apparatus portion. This measured torque information is fed back to the controller, which adjusts the motor output to match the desired assistance torque, thereby preventing excessive torque application while ensuring adequate support.
Solution Approach 2:
The patent replaces direct mechanical torque transmission with a sensor-based measurement and control system. Instead of relying solely on mechanical coupling, the system uses bend sensors to measure twisting and electronic controllers to calculate and adjust torque output, substituting pure mechanical transmission with a机电一体化 (mechatronic) approach that enables precise torque control.
2Device complexity
If the apparatus structure is simplified to reduce complexity, then manufacturing and operation become easier, but the precision of torque calculation and adjustment deteriorates
Solution Approach 1:
The patent introduces bend sensors as intermediary devices that indirectly measure torque by detecting the twisting of the apparatus portion. Instead of requiring complex direct torque sensors, the system uses the twisting deformation as an intermediary indicator, which simplifies the overall structure while maintaining measurement precision through the transformation function that correlates twisting degree with transferred torque.
Solution Approach 2:
The system changes the measurement parameter from direct torque measurement to twisting degree measurement. By measuring the angular deformation (twisting) of the apparatus portion and using a transformation function to calculate the corresponding torque, the system achieves precise torque calculation with simpler sensing requirements, as bending/twisting measurement is more straightforward than direct torque sensing.
3Productivity
If torque adjustment is made more responsive to user needs, then assistance effectiveness is improved, but the system response time and control complexity increase
Solution Approach 1:
The system performs preliminary action by pre-calculating the desired assistance torque based on operating state parameters (such as walking speed, terrain, user weight) before actual torque application is needed. The controller has the transformation function ready, so when the bend sensor measures twisting, the system can immediately calculate the transferred torque and adjust motor output without delay, achieving rapid response through advance preparation of control algorithms.
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 solution enables precise calculation and adjustment of assistance torques, enhancing user comfort and efficiency by matching the degree of twisting with the appropriate torque output, thereby improving walking assistance for individuals with joint issues.
Implementation Method 1
measuring a degree of twisting of a portion of the walking assistance apparatus
Data Source
AI summary
A method may include: calculating a first assistance torque to be provided to a user wearing a walking assistance apparatus; measuring a degree of twisting of a portion of the apparatus; calculating a second assistance torque transferred to the user based on the degree of twisting; and/or calculating a third assistance torque based on the first and second assistance torques, the third assistance torque corresponding to correction of the twisting. An assistance torque calculation apparatus may include: a bend sensor configured to measure a degree of twisting of a portion of a walking assistance apparatus; and/or a processor configured to calculate a first assistance torque to be provided to a user wearing the walking assistance apparatus, configured to calculate a second assistance torque transferred to the user based on the degree of twisting, and/or configured to calculate a third assistance torque based on the first and second assistance torques.