Wearable Robot EMG Sensor Placement for Walking Assist
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Solution Overview
Problem
Current wearable robots require a significant number of sensors to detect the walking assist starting point, which can lead to user discomfort and reduced reliability.
Innovation Solution
A wearable robot system utilizing a minimal set of sensors, including first and second EMG sensors attached to specific muscle locations on the legs, and a controller that determines the walking assist starting point by analyzing EMG signals and applying torque to assist muscular power, with optional gyro and acceleration sensors for additional feedback.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Measurement precision
If a significant number of sensors are used to detect the walking assist starting point, then the detection accuracy is improved, but the user comfort and reliability deteriorate
Solution Approach 1:
The patent extracts and utilizes naturally occurring biological signals (EMG signals from muscles) that are already present in the human body during walking, eliminating the need for multiple external sensors. By detecting the onset and offset of muscle activations through EMG signals from a minimal set of sensors, the system achieves accurate walking assist starting point detection without requiring a significant number of sensors, thus resolving the contradiction between measurement precision and device complexity
Solution Approach 2:
The system leverages the user's own physiological signals (electromyogram signals from leg muscles) to detect the walking assist starting point. The user's body essentially serves as the signal source, providing the necessary information for detection without requiring external sensing infrastructure. This self-service approach enables accurate detection with minimal sensors, addressing the contradiction between detection accuracy and sensor quantity
2Measurement precision
If a significant number of sensors are used to detect the walking assist starting point, then the detection accuracy is improved, but the user comfort deteriorates
Solution Approach 1:
The patent extracts and utilizes naturally occurring biological signals (EMG signals from muscles) that are already present in the human body during walking, eliminating the need for multiple external sensors. By detecting the onset and offset of muscle activations through EMG signals from a minimal set of sensors, the system achieves accurate walking assist starting point detection without requiring a significant number of sensors, thus resolving the contradiction between measurement precision and device complexity
Solution Approach 2:
The system leverages the user's own physiological signals (electromyogram signals from leg muscles) to detect the walking assist starting point. The user's body essentially serves as the signal source, providing the necessary information for detection without requiring external sensing infrastructure. This self-service approach enables accurate detection with minimal sensors, addressing the contradiction between detection accuracy and sensor quantity
3Measurement precision
If a significant number of sensors are used to detect the walking assist starting point, then the detection accuracy is improved, but the reliability deteriorates
Solution Approach 1:
The patent employs feedback mechanisms where the controller continuously monitors EMG signals from the muscles and adjusts the walking assist timing based on the detected muscle activation patterns. The system uses the detected walking assist starting point to provide timely torque assistance, creating a closed-loop control system that enhances reliability. By leveraging the natural feedback from muscle signals and implementing real-time control adjustments, the system achieves both high detection accuracy and reliability without requiring a significant number of sensors
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 system effectively detects the walking assist starting point with reduced sensor usage, enhancing user comfort and reliability while providing effective muscular power assistance during walking.
Implementation Method 1
sensors including a first electromyogram (EMG) sensor and a second EMG sensor, the first EMG sensor configured to attach at a first location on at least one leg of the user and to detect a first EMG signal
Data Source
AI summary
A wearable robot may include a gear part having an exoskeleton structure to be worn on legs of a user, a sensor part including a first electromyogram (EMG) sensor attached at a first location of at least one leg of the user, and a second EMG sensor attached at a second location, and a controller to detect a walking assist starting point to assist the user with walking, based on a first EMG signal detected by the first EMG sensor and a second EMG signal detected by the second EMG sensor.