Wearable Device Torque Synchronization via Phase Delay Filtering
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Solution Overview
Problem
Existing walking assistance devices struggle to provide a natural and effective torque to users, particularly in synchronizing the torque rotation direction with the user's joint movement, which can lead to unnatural walking patterns and reduced effectiveness in rehabilitation or exercise.
Innovation Solution
A wearable device equipped with a driving module, sensors to measure joint angles, and processing circuitry that generates a filter input based on the difference between measured joint angles. The device performs filtering to delay the phase of the filter input, ensuring that the torque rotation direction change corresponds to the peak of the filter input, thereby synchronizing with the user's joint movement.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Reliability
If the wearable device provides torque to assist walking, then walking assistance effectiveness is improved, but the torque may become unnatural and reduce effectiveness if not synchronized with joint movement
Solution Approach 1:
The system uses sensors to detect joint angles in real-time and feeds this information back to the processor, which adjusts the torque output accordingly. This closed-loop feedback mechanism ensures the torque is synchronized with the user's actual joint movement, making the assistance feel natural while maintaining effectiveness.
Solution Approach 2:
The wearable device dynamically adjusts the torque characteristics based on real-time joint angle measurements. The system continuously modifies the torque magnitude and timing to match the user's movement dynamics, transitioning from static to adaptive torque delivery for natural assistance.
2Ease of operation
If the device uses multiple sensors and filtering processing to synchronize torque with joint movement, then torque naturalness is improved, but device complexity increases
Solution Approach 1:
The filter acts as an intermediary component that processes the raw joint angle data from the sensors before it is used to control the torque output. This intermediary filtering stage smooths the control signal and synchronizes it with the natural joint movement patterns, improving torque naturalness while keeping the overall system architecture manageable.
3Manufacturing precision
If the device delays the phase of filter input to synchronize torque rotation direction with peak filter input, then torque timing accuracy is improved, but processing complexity increases
Solution Approach 1:
The system performs preliminary phase delay processing on the filter input signal before it is used to control the torque rotation direction. By anticipating the timing requirements and pre-adjusting the phase of the control signal, the system achieves accurate synchronization between torque rotation and joint movement peaks without requiring complex real-time adjustments.
Data Source
AI summary
A wearable device may measure a first joint angle of a user, measure a second joint angle of the user, generate a filter input based on a difference between first angle data obtained by measuring the first joint angle and second angle data obtained by measuring the second joint angle, perform filtering on the generated filter input through a filter so that a change timepoint of a torque rotation direction of a driving module of the wearable device corresponds to a peak timepoint of the generated filter input by delaying a phase of the generated filter input through the filter, generate a torque based on a filter output generated by the filtering, and provide the generated torque to the user.