Wearable Torque Delay Control Using Joint Angle and Stride Time

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Solution Overview

Problem

Existing wearable devices lack the ability to effectively control torque output timing and intensity for assisting or resisting user movements, which can impact the efficiency and effectiveness of exercise or mobility assistance.

Innovation Solution

A wearable device equipped with a driving module, angle sensor, and processor that determines a delay value for torque output based on joint angle and stride time, allowing precise control of torque direction and intensity.

Engineering Contradictions & Design Principles

VSEngineering Contradiction Analysis

1Reliability

If torque output timing is not controlled precisely, then the device structure is simpler, but the exercise effectiveness and mobility assistance are reduced

Engineering Contradiction:

Improveexercise effectivenessVSAvoidcontrol system complexity

Core Design Contradiction:

ReliabilityVSDevice complexity

Solution Approach 1:

The system pre-determines the ideal timing for torque rotation direction changes based on target values, and uses this preliminary timing information to calculate the appropriate delay value that compensates for motor response lag, ensuring torque is applied at the correct moment during user movement

Inventive Principle:

Principle #10Preliminary action

Solution Approach 2:

The system continuously monitors joint angle values from the angle sensor and stride time values, uses this feedback to dynamically adjust the delay value, and controls the motor to output torque with the calculated delay, creating a closed-loop control system that optimizes exercise effectiveness

Inventive Principle:

Principle #23Feedback

2Measurement precision

If delay value is not adjusted based on stride time, then the control system is simpler, but the torque timing accuracy deteriorates

Engineering Contradiction:

Improvetorque timing accuracyVSAvoidcontrol algorithm complexity

Core Design Contradiction:

Measurement precisionVSDevice complexity

Solution Approach 1:

The system makes the delay value dynamic by adjusting it based on the measured stride time value. As the user's walking or exercise pace changes, the stride time changes, and the delay value is automatically adjusted to maintain optimal torque timing accuracy throughout the exercise session

Inventive Principle:

Principle #15Dynamics

3Productivity

If torque intensity is not controlled precisely, then the device is easier to operate, but the user performance improvement is reduced

Engineering Contradiction:

Improveuser performanceVSAvoiddevice operation simplicity

Core Design Contradiction:

ProductivityVSEase of operation

Solution Approach 1:

The system controls torque intensity by adjusting the gain value parameter, which scales the torque output based on the desired assistance level. This allows precise control of torque intensity to match user needs and exercise requirements while the system handles the complexity automatically

Inventive Principle:

Principle #35Parameter changes

Data Source

PatentUS20250248878A1Wearable device for controlling time delay parameter used to delay torque ouput and method of operating the same

Publication Date: 2025.08.07 SAMSUNG ELECTRONICS CO LTD

AI summary

A wearable device may obtain a joint angle value of a user using an angle sensor, determine a stride time value of the user, based on the obtained joint angle value, determine a delay value related to a delay in a torque output of a driving module, based on at least one of a target value related to an ideal timing for changing a torque rotation direction of the driving module, the determined stride time value, or a gain value related to a torque intensity of the driving module, and control the driving module such that a torque is delayed by the determined delay value and output from the driving module.