Walking Assistance Torque Control for Extended Operable Time
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Solution Overview
Problem
Existing walking assistance devices face limitations in power management, particularly when battery power is low, leading to potential abrupt power failure and reduced operable time, which can hinder their effectiveness and user safety.
Innovation Solution
A control method that estimates operable time based on remaining power and power consumption, switching to a power-saving mode to extend battery life by adjusting torque profiles and reducing power consumption, especially during leg lifting motions.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Power
If the walking assistance device operates in normal mode with full power, then the torque intensity and assistance performance are maximized, but the battery power is depleted quickly reducing operable time
Solution Approach 1:
The device dynamically switches between normal mode and power saving mode based on remaining battery power levels. The controller adjusts torque profile characteristics (maximum torque, auxiliary torque, transition timing) in real-time according to the estimated operable time, optimizing the balance between assistance performance and power conservation
Solution Approach 2:
The system changes operational parameters including maximum torque values, auxiliary torque amounts, and transition timing between swing and stance phases. These parameter adjustments allow the device to provide sufficient assistance during critical gait phases while reducing overall power consumption to extend battery life
2Duration of action of moving object
If the device reduces power consumption to extend battery life, then the operable time is prolonged, but the assistance torque intensity is reduced
Solution Approach 1:
In power saving mode, the device applies torque selectively during critical portions of the gait cycle rather than continuously. The controller provides maximum torque during essential phases like leg lifting while reducing or eliminating torque during less critical phases, achieving adequate assistance with reduced overall power consumption
Solution Approach 2:
The controller estimates operable time in advance based on remaining battery power and proactively adjusts torque profiles before complete power depletion occurs. This allows smooth transition to power saving mode and ensures continuous assistance throughout the battery cycle
3Reliability
If the device provides maximum torque assistance for all leg motions, then the walking support performance is optimized, but the power consumption increases significantly
Solution Approach 1:
The device applies different torque strategies to different phases of the gait cycle. During swing phase, maximum torque is provided for leg lifting when most needed, while during stance phase, torque is reduced or eliminated. This localized optimization provides high support performance where required while conserving energy during less demanding phases
Data Source
AI summary
A control method of a walking assistance apparatus is disclosed. The control method of the walking assistance apparatus includes estimating an operable time of the walking assistance apparatus based on an amount of remaining power and power consumption of the walking assistance apparatus, determining whether the operable time satisfies a preset criterion, and generating a torque profile based on an algorithm of a power saving mode when the preset criterion is satisfied.