Walking Therapy Station Linkage Actuation
Find Innovative SolutionsGenerate Solutions
Solution Overview
Problem
Individuals with spinal cord injuries, strokes, and other neurological conditions often face challenges in maintaining health and mobility due to paralysis, as existing therapies may not provide consistent and effective means to restore walking function and muscle strength.
Innovation Solution
A walking therapy station with multiple linkages and an actuator system that transitions users from a sitting to a standing and then to a walking position, mimicking natural gait motion, while providing resistance and customizable adjustments for users of varying heights and abilities, and incorporating sensors for precise motor control and user feedback.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Reliability
If a walking therapy station with multiple linkages and actuators is used to simulate natural gait motion, then the effectiveness of therapy and muscle strength improvement is enhanced, but the device complexity and cost increase
Solution Approach 1:
The walking therapy station is divided into multiple independent linkages (thigh linkage, shin linkage, foot linkage) that can be controlled separately. Each linkage has its own actuators and sensors, allowing for modular design and independent adjustment. This segmentation enables the complex gait simulation function to be achieved through coordinated simple movements of individual components.
Solution Approach 2:
The linkage system serves multiple functions: it provides structural support for the user, simulates natural gait motion through mechanical movement, and acts as the interface for applying resistance and receiving user input. The same linkages that support the user's weight also guide the therapeutic walking motion, eliminating the need for separate support structures.
2Reliability
If resistance is provided to push physical stamina and improve muscle strength, then the therapeutic benefit increases, but the difficulty of operation and safety risks increase
Solution Approach 1:
Position sensors are integrated into the linkage system to detect the user's leg position and movement velocity in real-time. This feedback is used by the control system to dynamically adjust the resistance applied by the actuators. When the user moves slowly or stalls, the system reduces resistance or provides assistance, preventing excessive strain while still encouraging progressive effort.
Solution Approach 2:
The resistance provided by the actuators is not fixed but dynamically adjusted during the walking cycle. The system varies the force applied based on the phase of gait (swing phase vs. stance phase), the user's speed, and detected effort levels. This dynamic adjustment allows the same device to accommodate users with varying strength levels and prevents the resistance from becoming overwhelming.
3Adaptability or versatility
If the station is designed to accommodate users of different heights and sizes with adjustable features, then the adaptability and usability increase, but the device complexity and adjustment time increase
Solution Approach 1:
The linkage system is designed with pre-configurable linkage lengths and joint positions that can be quickly adjusted to match different user anthropometrics. Adjustment mechanisms are built into the linkage structure, allowing therapists or users to set up the device for a new patient by simply moving components to predetermined positions rather than building the entire system from scratch.
Solution Approach 2:
The adjustable components of the linkage system are designed to nest within each other or fold compactly when not in use. The linkage arms can be telescopic or have nested segments that slide within one another, allowing the structure to adapt to different user sizes while maintaining a compact form factor for storage and transportation.
4Manufacturing precision
If sensors and motors are used to guide paralyzed users through natural gait motions, then the precision of gait simulation improves, but the energy consumption and device complexity increase
Solution Approach 1:
The actuators operate in a periodic cycle that mirrors the natural gait rhythm, alternating between providing assistance during the swing phase and controlled resistance during the stance phase. This periodic operation allows the motors to run at lower average power levels compared to continuous high-power operation, while still achieving precise gait simulation through the rhythmic pattern of movement.
Solution Approach 2:
The system replaces active motor control with passive mechanical elements where possible. The linkage geometry itself is designed to guide the foot through the correct trajectory, and springs or gravity-assisted mechanisms provide some of the restoring forces. Motors are used only to supplement these passive mechanisms and make fine adjustments, reducing overall energy consumption compared to a fully motorized system.
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 therapy station enhances mobility and muscle memory, promotes bone and skin integrity, and allows for tele-rehabilitation monitoring, effectively improving the health and rehabilitation outcomes for physically impaired individuals by simulating natural gait and providing adjustable resistance.
Implementation Method 1
an actuator operably coupled to transition the station from a standing mode to a walking mode
Implementation Method 2
Some implementations may employ a flywheel to smooth motion of the linkages of the station
Implementation Method 3
The station may include various sensors to detect positions of a user's legs and accurately time/calibrate the power delivered by a motor
Data Source
AI summary
Apparatus and associated methods relate to a walking therapy station having multiple right linkages and multiple left linkages, where at least one of the right or left linkages is operably coupled to an actuator to transition the station from a standing mode to a walking mode. In an illustrative example, the station may have five right linkages and five left linkages, with a set of knee pads and foot pads. The station may include an actuator operably coupled to transition the station between walking and standing modes, for example. Various embodiments of the station may enable a user who is disabled or paralyzed to transition from sitting position, to a standing position, and then to a walking position, and provide the user with a very accurate gait and walking motion without putting excessive shear and pressure at the contact points between the station and the user.