Walking Assistant Apparatus Gait Detection and Obstacle Avoidance
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Solution Overview
Problem
Conventional walking aid devices, both passive and active, face challenges in accurately detecting user intention and adapting to changes in gait, particularly for users with conditions like Parkinson's disease, leading to erratic movements and potential collisions with obstacles.
Innovation Solution
A walking assistant apparatus equipped with a processor, a motion unit, a support unit with a handle component, a first scanning device for gait detection, and a torque sensor to estimate moving speed and rotational speed, allowing the apparatus to move and turn in compliance with user intention while incorporating an obstacle avoidance mechanism.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Ease of operation
If an active walking aid device is equipped with motors and detection means to assist user movement, then the device can automatically move and reduce user burden, but the device complexity increases and weight increases
Solution Approach 1:
The patent replaces complex mechanical detection systems with optical scanning devices (laser range finders) to detect user gait and intention. The scanning devices optically measure distance changes to infer user movement intent, substituting mechanical force sensors and complex mechanical linkages with non-contact optical measurement, thereby reducing mechanical complexity while maintaining assistance capability
Solution Approach 2:
The patent introduces scanning devices as intermediary components that indirectly detect user intention through gait analysis rather than directly sensing user intent. The system uses laser scanning to measure environmental distance changes caused by user movement, serving as an intermediary detection mechanism that simplifies the overall system architecture
2Measurement precision
If conventional walking aid devices use simple detection methods to detect user intention, then the device complexity is reduced, but the measurement precision of user intention and gait is insufficient leading to erratic movements
Solution Approach 1:
The patent replaces imprecise mechanical force sensors with optical laser scanning devices that provide high-precision non-contact measurement. The laser range finders continuously scan the environment and detect subtle distance changes caused by user gait variations, offering superior measurement precision without the noise and drift issues of mechanical sensors
Solution Approach 2:
The patent implements continuous feedback loops where scanning device data is processed to detect user intention, and the motor unit adjusts assistance in real-time based on this detection. The system continuously monitors gait parameters through optical feedback and dynamically adapts its assistance level, ensuring precise and smooth movement control
3Speed
If the walking aid device moves strictly according to detected user intention, then the responsiveness to user command is improved, but the safety against obstacles is reduced
Solution Approach 1:
The patent employs dual feedback mechanisms: one feedback loop detects user intention through gait analysis and provides rapid responsiveness, while another feedback loop continuously monitors environmental obstacles using the same scanning devices. The control unit integrates both feedback streams, allowing the system to respond quickly to user commands while simultaneously adjusting to avoid obstacles, thus maintaining both responsiveness and safety
Solution Approach 2:
The patent applies preliminary anti-action by having the scanning devices continuously survey the environment ahead of time to detect obstacles before the user reaches them. The system proactively plans avoidance paths in advance rather than reacting after collision risk arises, enabling smooth preemptive maneuvers that maintain responsiveness while ensuring safety
Data Source
AI summary
A method for controlling a walking assistant apparatus includes: scanning a user so as to generate information associated with gait of the user; detecting a torque applied to a torque sensor; estimating a speed of the user based on the information; calculating a compliant motion speed, and a compliant rotational speed; and controlling the motion unit to move at the compliant motion speed and to turn at the compliant rotational speed. This disclosure provides an autonomous obstacle avoidance mechanism; by combining the obstacle avoidance mechanism and the compliance controls, the walking-assistance apparatus is able to help user prevent from collisions with obstacles when walking in an environment with obstacles.