Walking Training Apparatus Torque Detection for Spasticity
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Solution Overview
Problem
Existing walking training apparatuses with leg robots struggle to determine whether a walking trainee is in a spasticity or rigidity state during training, as previous methods cannot accurately assess these conditions during actual walking due to interference from reactive floor forces.
Innovation Solution
A walking training apparatus with a leg robot, motor-driven knee joint, and torque detection system that determines spasticity or rigidity by analyzing motor torque during the leg-idling period of a gait motion, using specific torque and angle models to differentiate between spasticity and rigidity states.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Measurement precision
If motor torque is detected during ordinary walking training, then training can proceed normally, but the reactive force from the floor interferes with accurate determination of spasticity state
Solution Approach 1:
The system performs preliminary identification of the leg-idling period before torque detection, using angle sensor data to determine when the leg is in the idle phase. This preliminary action ensures that torque measurements are only taken when the leg is not bearing weight, eliminating floor reactive force interference before the actual spasticity assessment occurs.
Solution Approach 2:
The system dynamically switches between different measurement modes based on the detected gait phase. During the leg-idling period, the system transitions from normal training mode to assessment mode, where torque values are specifically captured for spasticity determination. This dynamic adaptation allows accurate measurement by exploiting the transient state when the leg is airborne.
2Reliability
If the leg robot provides continuous support during walking training, then training effectiveness is maintained, but it becomes difficult to distinguish spasticity from rigidity states
Solution Approach 1:
The system utilizes the periodic nature of gait cycles to create distinct assessment opportunities. By identifying regular leg-idling periods within the continuous walking motion, the system periodically introduces assessment phases where the leg is briefly unsupported. This periodic disruption allows differentiation between spasticity and rigidity without compromising overall training continuity, as support is restored in the next gait phase.
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
Enables accurate determination of spasticity or rigidity states during walking training, improving training effectiveness by distinguishing between these states without interference from floor-reactive forces, thus enhancing the training experience for hemiplegic patients.
Implementation Method 1
a motor configured to rotationally drive a knee joint of the leg robot
Implementation Method 2
motor torque detection means for detecting a motor torque, the motor torque being a torque generated by the motor
Data Source
AI summary
A walking training apparatus 1 includes a leg robot 2 attached to a leg of a walking trainee, a motor 261 configured to rotationally drive a knee joint 22 of the leg robot 2, a control unit 332 configured to control the motor 261 so that the motor 261 rotationally drives the knee joint 22 in a leg-idling period in a gait motion of the walking trainee, a motor torque detection unit 262 configured to detect a motor torque, the motor torque being a torque generated by the motor 261, and a determination unit 333 configured to determine whether or not the walking trainee is in a spasticity state or a rigidity state by using a value of the motor torque detected in the leg-idling period by the motor torque detection unit 262.