Walking Training Apparatus with Lateral Displacement Feedback
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Solution Overview
Problem
Existing walking training apparatuses face challenges in maintaining an appropriate pull-up force during lateral movement of the leg, leading to inefficient training due to variations in displacement angles and wire orientations.
Innovation Solution
A walking training apparatus with an assisting orthosis, wires, a drive mechanism, and sensors that detect displacement information to adjust the pull-up force by using a controller to correct the command value based on the displacement angle, ensuring consistent force application throughout the training process.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Productivity
If a wire is connected to the lower limb to apply pull-up force during walking training, then the training effectiveness is improved, but the pull-up force becomes inappropriate when the leg is widely moved in a lateral direction
Solution Approach 1:
The patent implements a feedback mechanism where a sensor detects the actual position of the lower limb during walking, and the controller adjusts the pull-up force based on this position information. This ensures that the pull-up force remains appropriate and consistent regardless of lateral movement, resolving the contradiction between training effectiveness and force consistency.
Solution Approach 2:
The patent makes the pull-up force dynamic by adjusting it in real-time based on the detected position of the lower limb. The controller modifies the command value for the drive mechanism according to the lateral displacement angle, allowing the system to adapt to changing movement conditions and maintain appropriate force application throughout the walking motion.
2Device complexity
If the pull-up force is applied without correction for lateral displacement, then the device complexity is reduced, but the training precision and effectiveness deteriorate
Solution Approach 1:
The patent uses a sensor to detect the actual position of the lower limb and feeds this information back to the controller, which then corrects the pull-up force accordingly. This feedback mechanism achieves precise force application without requiring overly complex mechanical structures, balancing device complexity with precision.
Solution Approach 2:
The patent changes the parameter of pull-up force dynamically based on the detected lateral displacement angle. The controller adjusts the command value for the drive mechanism according to the actual position, transforming the force application from a fixed parameter to a variable one that adapts to movement conditions, thereby achieving precision without excessive complexity.
Data Source
AI summary
A first exemplary aspect is a walking training apparatus including: an walking assistance apparatus attached to a lower limb of a trainee; at least one wire connected to the lower limb directly or through the walking assistance apparatus; a first wire winding mechanism configured to wind the wire for applying a pull-up force to the wire; a sensor for detecting displacement information according to a displacement of a position connected to the wire in a lateral direction; and a controller configured to control the first wire winding mechanism based on the displacement information.