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US 10,117,801 B2Granted
Walking assistance robot and method of controlling the walking assistance robot
AssigneeSamsung Electronics Co., Ltd.
InventorsBok Man Lim, Kee Hong Seo
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Abstract
Disclosed are a walking assistance robot and a method of controlling the walking assistance robot. The control method includes collecting motion information by sensing or measuring a motion of at least one joint, determining a motion state of the at least one joint based on the sensed or measured motion of the at least one joint, and controlling the walking assistance robot based on the determined motion state of the at least one joint.
Claims11
A method of controlling movement of a walking assistance robot, the method comprising:
- collecting motion information by sensing or measuring a motion of at least one joint of the walking assistance robot;
- calculating power or work of the at least one joint based on the sensed or measured motion of the at least one joint;
- determining a motion state of the at least one joint based on a sign of the power or the work, the motion state of the at least one joint including a positive work state and a negative work state;
- calculating torque to apply to the walking assistance robot based on the motion state such that the torque selectively includes different combinations of an active component and a damping component based on the motion state;
- and
- controlling the movement of the walking assistance robot based on the torque of the at least one joint by,
- accelerating the motion of the at least one joint when the motion of the at least one joint is in the positive work state, and
- decelerating the motion of the at least one joint when the motion of the at least one joint is in the negative work state.
5 more elements
Dependencies are inferred from the claim text.