Wearable Robot Gait Control via Foot Sensor State Detection
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Solution Overview
Problem
Existing wearable robot gait control technologies require multiple sensors to determine the wearer's gait intention, which can be cumbersome and inefficient, especially when dealing with unknown weights and varying support states during walking.
Innovation Solution
A method using foot sensors to determine the robot's walking state and apply different control algorithms based on whether it is supported on both feet or one foot, including posture-maintaining control, support control via gravity and load compensation, and generating an imaginary repulsive force for the swinging leg, to provide stability and a reduced weight sensation.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Measurement precision
If multiple sensors are used to determine gait intention, then measurement precision is improved, but device complexity increases
Solution Approach 1:
The foot sensor is designed to perform multiple functions: detecting gait intention, determining walking state, and identifying support foot status. This single sensor system replaces what would traditionally require multiple separate sensors, reducing device complexity while maintaining measurement precision through multi-functional capability
Solution Approach 2:
The patent combines gait intention detection, walking state determination, and support foot identification into a single integrated foot sensor system. By merging these functions into one sensor rather than using separate sensors for each function, the system reduces the total number of components while maintaining comprehensive monitoring capability
2Ease of operation
If control algorithms are simplified, then ease of operation is improved, but reliability deteriorates
Solution Approach 1:
The control algorithm is segmented into distinct modules: a determination module that identifies walking state and support foot, and a control execution module that applies appropriate control strategies. This segmentation makes the overall system easier to operate while maintaining reliability through specialized sub-functions
Solution Approach 2:
The control algorithm dynamically adapts its behavior based on the detected walking state and support foot configuration. By automatically adjusting control parameters according to real-time conditions rather than using fixed complex algorithms, the system achieves both ease of operation and reliability
3Stability of the object's composition
If gravity compensation and load compensation are applied, then stability is improved, but use of energy increases
Solution Approach 1:
Gravity compensation and load compensation are applied in advance to prevent posture deviations rather than correcting them after they occur. This preliminary action reduces the energy required for active stabilization, as preventive compensation requires less energy than corrective actions
Solution Approach 2:
The system uses foot sensor feedback to continuously monitor the robot's state and dynamically adjust gravity and load compensation levels. This feedback mechanism ensures stability is maintained only when necessary, reducing unnecessary energy consumption during stable phases
Data Source
AI summary
A method of controlling the gait of a wearable robot using foot sensors of the robot. Whether or not the robot is walking is determined. When the robot is walking, whether the robot is supported on both feet or one foot using the foot sensors is determined. When the robot is walking and is supported on both feet, posture-maintaining control is carried out. When the robot is walking and is supported on one foot, support control is carried out over a supporting leg based on gravity compensation and load compensation. When the robot is walking and is supported on one foot, an imaginary repulsive force by which a swinging leg swings is generated.