# US 10,369,070 B2 · Motion assistive apparatus and method of controlling the same > Agents: this data is available as JSON from the patentgrep API and MCP server — see https://patentgrep.com/llms.txt - Number: US 10,369,070 B2 - Document ID: US10369070B2 - Status: Granted - Kind: B2 - Application number: 14/582,339 - Filed: 2014-12-24 - Published: 2015-07-02 - Granted: 2019-08-06 - Earliest claimed: 2013-12-30 - Assignees: Samsung Electronics Co., Ltd. - Applicants: Samsung Electronics Co., Ltd. - Inventors: Kyung Shik Roh; Young Do Kwon; Young Bo Shim; Jeong-heon Han - Web page: https://patentgrep.com/patent/US10369070B2 ## CPC - A61H 3/00: Appliances for aiding patients or disabled persons to walk about (apparatus for helping babies to walk A47D13/04 {; applying electrical currents by contact electrodes for stimulating motor muscles, e.g. walking assistance A61N1/36003}) - A61H 1/024: {Knee (A61H1/0255 takes precedence)} - A61H 1/0244: {Hip (A61H1/0255 takes precedence)} - B25J 9/0006: {Exoskeletons, i.e. resembling a human figure} - B25J 9/1628: {characterised by the control loop} - A61H 2201/1215: Rotary drive - A61H 2201/1246: by piston-cylinder systems - A61H 2201/165: Wearable interfaces - A61H 2201/5007: computer controlled - A61H 2201/501: connected to external computer devices or networks - A61H 2201/5035: Several programs selectable - A61H 2201/5038: freely programmable by the user - A61H 2201/5046: Touch screens - A61H 2201/5061: Force sensors - A61H 2201/5069: Angle sensors - A61H 2201/5079: Velocity sensors - A61H 2201/5084: Acceleration sensors - G05B 2219/40305: Exoskeleton, human robot interaction, extenders - A61H: PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY (electrotherapy, magnetotherapy, radiation therapy or ultrasound therapy A61N) - B25J: MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES ({manipulators specially adapted for use in surgery A61B34/70; manipulators used in cleaning hollow articles B08B9/04}; manipulators associated with rolling mills B21B39/20; manipulators associated with forging machines B21J13/10; {manipulators associated with picking-up and placing mechanisms B23P19/007}; means for holding wheels or parts thereof B60B30/00; {vehicles with ground-engaging propulsion means, e.g. walking members B62D57/02, B62D57/032; devices for picking-up and depositing articles or materials between conveyors B65G47/90, B65G47/91; manipulators with gripping or holding means for transferring packages B65H67/065}; cranes B66C; {manipulators used in the protection or supervision of pipe-line installations F17D5/00; walking equipment adapted for nuclear steam-generators F22B37/006}; manipulators specially adapted for, or associated with, nuclear reactors G21C; {apparatus used for handling wafers during manufacture or treatment of semiconductor H10P72/50}) - G05B: CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS (systems for controlling or regulating non-electric variables G05D; systems for regulating electric or magnetic variables G05F; control devices or systems insofar as characterised by mechanical features only G05G) ## Abstract A motion assistive apparatus may include a receiver allowing a user to intuitively adjust performance of the motion assistive apparatus and a method of controlling the same. The motion assistive apparatus may include a receiver provided to adjust variable characteristics of the motion assistive apparatus, a processor to adjust a variable parameter related to adjustment of the variable characteristics, in response to adjustment of the variable characteristics through the receiver, and an actuator to output changed assist power in response to adjustment of the variable parameter to change the variable characteristics. ## Claims ### Claim 1 A motion assistive apparatus comprising: a receiver configured to receive input, the input including a requested adjustment to variable characteristics associated with torque applied to one or more joints of the motion assistive apparatus; a memory configured to store, a first correlation between the variable characteristics and time response characteristics of the torque, the variable characteristics including a magnitude of an assist power, a response speed of the motion assistive apparatus and a motion smoothness of the motion assistive apparatus, the time response characteristics including an overshoot, a rise time, and a settling time, and a second correlation between the time response characteristics and one or more variable parameters, the one or more variable parameters including mass, Coriolis force and gravitational force; a processor configured to, in response to the input, select selected variable parameters from among one or more of the variable parameters based on the first correlation and the second correlation, adjust the selected variable parameters to generate an adjusted selected variable parameters by increasing or decreasing the selected variable parameters based on the requested adjustment to the variable characteristics, and adjust the time response characteristics by adjusting intermediate characteristics based on the adjusted selected variable parameters, the intermediate characteristics including one or more of damping ratio and natural frequency; and an actuator configured to output the assist power in response to the adjustment of the one or more variable parameters. ### Claim 2 (depends on 1) The motion assistive apparatus according to claim 1, wherein the variable characteristics comprises: at least one of the magnitude of the assist power, the response speed of the motion assistive apparatus, and the motion smoothness of the motion assistive apparatus. ### Claim 3 (depends on 1) The motion assistive apparatus according to claim 1, wherein the one or more variable parameters comprises: at least one of parameters reflecting the mass, the Coriolis force and the gravitational force varying according to rotation of the one or more joints. ### Claim 4 (depends on 1) The motion assistive apparatus according to claim 1, wherein the processor is configured to adjust the overshoot of the time response characteristics in response to the input requesting an adjustment of the magnitude of the assist power. ### Claim 5 (depends on 1) The motion assistive apparatus according to claim 1, wherein the processor is configured to adjust the rise time of the time response characteristics in response to the input requesting an adjustment of the response speed of the motion assistive apparatus. ### Claim 6 (depends on 1) The motion assistive apparatus according to claim 1, wherein the processor is configured to adjust the settling time of the time response characteristics in response to the input requesting an adjustment of the motion smoothness of the motion assistive apparatus. ### Claim 7 (depends on 1) The motion assistive apparatus according to claim 1, wherein the processor is configured to adjust variable parameters that reflect the Coriolis force varying according to rotation of the one or more joints in response to the input requesting adjustment of the magnitude of the assist power. ### Claim 8 (depends on 1) The motion assistive apparatus according to claim 1, wherein the processor is configured to adjust one or more of variable parameters that reflect one of the mass varying according to rotation of the one or more joints and variable parameter that reflects the gravitational force varying according to rotation of the one or more joints among the one or more variable parameters in response to the input requesting adjustment of the response speed of the motion assistive apparatus. ### Claim 9 (depends on 1) The motion assistive apparatus according to claim 1, wherein the processor is configured to adjust one or more of variable parameters that reflect the mass varying according to rotation of the one or more joints and variable parameter that reflect gravitational force varying according to rotation of the one or more joints among the one or more variable parameters in response to the input requesting adjustment of the motion smoothness of the motion assistive apparatus. ### Claim 10 (depends on 1) The motion assistive apparatus according to claim 1, wherein the receiver comprises: a button, the button configured to generate a command to instruct the processor to automatically adjust the variable characteristics according to the first correlation and the second correlation, wherein the processor is configured to adjust the one or more variable parameters related to at least one of the magnitude of the assist power, the response speed of the motion assistive apparatus, and the motion smoothness of the motion assistive apparatus among the variable characteristics, based on the command. ### Claim 11 A method of controlling a motion assistive apparatus comprising: receiving, via a receiver, an adjustment command to including a requested adjustment to variable characteristics associated with torque applied to one or more joints of the motion assistive apparatus; reading, from a memory, a first correlation between the variable characteristics and time response characteristics of the torque, the variable characteristics including a magnitude of an assist power, a response speed of the motion assistive apparatus and a motion smoothness of the motion assistive apparatus, the time response characteristics including an overshoot, a rise time, and a settling time; reading, from the memory, a second correlation between the time response characteristics and one or more variable parameters, the one or more variable parameters including mass, Coriolis force and gravitational force; selecting, using a processor, selected variable parameters from among one or more of the variable parameters based on the first correlation and the second correlation; adjusting, using the processor, the selected variable parameters to generate an adjusted selected variable parameters by increasing or decreasing the selected variable parameters based on the requested adjustment to the variable characteristics; adjusting, using the processor, the time response characteristics by adjusting intermediate characteristics based on the adjusted selected variable parameters, the intermediate characteristics including one or more of damping ratio and natural frequency; and outputting the assist power in response to the adjustment of the one or more variable parameters. ### Claim 12 (depends on 11) The method according to claim 11, wherein the adjusting of the one or more variable parameters comprises: adjusting variable parameters that reflect the Coriolis force varying according to rotation of the one or more joints in response to the adjustment command requesting adjustment of the magnitude of the assist power. ### Claim 13 (depends on 11) The method according to claim 11, wherein the adjusting of the one or more variable parameters comprises: adjusting one or more of variable parameters that reflect the mass varying according to rotation of the one or more joints and a variable parameter that reflects the gravitational force varying according to rotation of the one or more joints among the one or more variable parameters in response to the adjustment command requesting adjustment of the response speed of the motion assistive apparatus. ### Claim 14 (depends on 11) The method according to claim 11, wherein the adjusting of the one or more variable parameters comprises: adjusting one or more of variable parameters that reflect the mass varying according to rotation of the one or more joints and variable parameter that reflects the gravitational force varying according to rotation of the one or more joints among the one or more variable parameters in response to the adjustment command requesting adjustment of the motion smoothness of the motion assistive apparatus. ### Claim 15 (depends on 11) The method according to claim 11, wherein the adjusting of the time response characteristics comprises: adjusting the overshoot of the time response characteristics in response to the adjustment command requesting the adjustment of the magnitude of the assist power. ### Claim 16 (depends on 11) The method according to claim 11, wherein the adjusting of the time response characteristics comprises: adjusting the rise time of the time response characteristics in response to the adjustment command requesting the adjustment of the response speed of the motion assistive apparatus. ### Claim 17 (depends on 11) The method according to claim 11, wherein the adjusting of the time response characteristics comprises: adjusting the settling time of the time response characteristics in response to the adjustment command requesting an adjustment of the motion smoothness of the motion assistive apparatus. ### Claim 18 A motion assistive apparatus configured to generate an assist power to assist a user thereof with walking, the motion assistive apparatus comprising: a memory configured to store, a first correlation between variable characteristics and time response characteristics of a torque, the variable characteristics including a magnitude of the assist power, a response speed of the motion assistive apparatus and a motion smoothness of the motion assistive apparatus, the time response characteristics including an overshoot, a rise time, and a settling time, and a second correlation between the time response characteristics and one or more variable parameters, the one or more variable parameters including mass, Coriolis force and gravitational force; and a processor configured to, in response to an input received from the user, the input including a requested adjustment to variable characteristics associated with the torque applied to one or more joints of the motion assistive apparatus, select selected variable parameters from among one or more of the variable parameters based on the first correlation and the second correlation, adjust the selected variable parameters to generate an adjusted selected variable parameters by increasing or decreasing the selected variable parameters based on the requested adjustment to the variable characteristics, and adjust time response characteristics by adjusting intermediate characteristics based on the adjusted selected variable parameters, the intermediate characteristics including one or more of damping ratio and natural frequency. ### Claim 19 (depends on 18) The motion assistive apparatus of claim 18, wherein the torque is applied to one or more joints of the motion assistive apparatus by an actuator. ### Claim 20 (depends on 19) The motion assistive apparatus of claim 19, wherein the variable characteristics include at least one of the magnitude of the assist power, the response speed of the motion assistive apparatus, and the motion smoothness of the motion assistive apparatus. ### Claim 21 (depends on 20) The motion assistive apparatus of claim 20, wherein the processor is configured to, adjust the overshoot associated with the torque, in response to the input requesting an adjustment in the magnitude of the assist power, adjust the rise time associated with the torque, in response to the input requesting an adjustment of the response speed, and adjust the settling time associated with the torque, in response to the input requesting an adjustment of the motion smoothness. ### Claim 22 (depends on 19) The motion assistive apparatus of claim 19, wherein the torque applied to the one or more joints is a function of at least the mass varying according to a pose of the user, the Coriolis force applied to the joints according to rotation of legs of the user, and the gravitational force, and the processor is configured to adjust, based on the input, one or more of the mass, the Coriolis Force and the gravitational force. ### Claim 23 (depends on 18) The motion assistive apparatus of claim 18, further comprising: a receiver configured to receive the input from the user. ### Claim 24 (depends on 18) The motion assistive apparatus of claim 18, further comprising: a walking assistive device having an exoskeleton shape such that the walking assistance device is configured to be worn on one or more legs of the user, the walking assistive device including an actuator configured to provide the assist power to joints of the walking assistive device based on a control signal generated by the processor.