Walking Training Apparatus Dynamic Pulling Force Control

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Solution Overview

Problem

Existing walking training apparatuses do not effectively reduce the load exerted on the leg at the start of swinging due to inertial forces, leading to unstable walking training, despite reducing gravitational loads.

Innovation Solution

A walking training apparatus with a controller that uses joint angle detectors and image pickup devices to adjust pulling forces, generating additional pulling forces during the swinging phase to mitigate both gravitational and inertial loads, allowing for independent control of vertically-upward and horizontally-forward components of the pulling forces.

Engineering Contradictions & Design Principles

VSEngineering Contradiction Analysis

1Force

If the pulling force is increased to reduce inertial load at the start of leg swinging, then the load on the leg is reduced, but the leg may be lifted inadvertently causing unstable landing

Engineering Contradiction:

Improvepulling forceVSAvoidlanding stability

Core Design Contradiction:

ForceVSReliability

Solution Approach 1:

The pulling force is made dynamic by adjusting its magnitude based on the detected leg phase. The controller increases pulling force specifically during the swinging phase when inertial load occurs, and reduces it during other phases, making the force application adaptive rather than constant

Inventive Principle:

Principle #15Dynamics

Solution Approach 2:

The system uses feedback from the phase detector to monitor leg position and swinging phase, then adjusts the pulling force accordingly. This closed-loop control ensures force is applied only when needed to counteract inertial load without causing leg lift

Inventive Principle:

Principle #23Feedback

2Force

If the pulling force is applied continuously to support the walking assistance apparatus weight, then the gravitational load is reduced, but the inertial load at the start of swinging is not addressed

Engineering Contradiction:

Improvesupporting forceVSAvoidinertial load

Core Design Contradiction:

ForceVSObject-affected harmful factors

Solution Approach 1:

The pulling force is applied periodically based on the leg swinging cycle. The phase detector identifies the swinging phase, and the controller applies additional pulling force during this specific period, creating a periodic force pattern that matches the natural walking rhythm

Inventive Principle:

Principle #19Periodic action

Solution Approach 2:

The system detects the approaching swinging phase in advance and prepares to apply additional pulling force before the inertial load becomes problematic, ensuring smooth transition and load reduction at the critical moment

Inventive Principle:

Principle #10Preliminary action

Data Source

PatentUS11141343B2Walking training apparatus and walking training method therefor

Publication Date: 2021.10.12 TOYOTA JIDOSHA KK

AI summary

A walking training apparatus includes a walking assistance apparatus attached to a leg of a user, a first pulling mechanism to pull the leg upward and forward, a controller configured to control the first pulling mechanism so that a vertically-upward component of a pulling force applied by the first pulling mechanism reduces a weight of the walking assistance apparatus, and a joint angle detector disposed in the walking assistance apparatus or an image pickup device to take an image of the leg of the user. The controller is configured to make the first pulling mechanism generate an additional pulling force in addition to the pulling force at a start of forward swinging of the leg or during a swinging period of the leg in a walking motion of the user, by using information detected by at least one of the joint angle detector and the image pickup device.