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US 11,109,778 B2Granted
Walking assistance method and apparatuses
AssigneeSamsung Electronics Co., Ltd.
InventorsBokman Lim, Youngjin Park, Keehong Seo
Life of this patent
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Abstract
A walking assistance method may include measuring a current gait motion of a user, defining a state variable based on the current gait motion, setting a delay that is a feedback element for the state variable, and generating a torque profile based on the state variable and the delay.
Claims12
A walking assistance method comprising:
- measuring a left joint angle and a right joint angle of a user;
- determining a state variable of a joint motion, based on an angle difference between the left joint angle and the right joint angle;
- setting a delay time associated with an output timing of torque;
- generating a torque profile based on the state variable and the delay time;
- and
- outputting torque by controlling motors based on the torque profile such that the output timing of the torque is delayed until after expiration of the delay time.
3 more elements
A walking assistance apparatus comprising:
- motors;
- a sensor configured to measure a left joint angle and a right joint angle of a user;
- and
- a controller configured to,
- determine a state variable of a joint motion being based on an angle difference between the left joint angle and the right joint angle,
- set a delay time associated with an output timing of torque,
- generate a torque profile based on the state variable and the delay time;
- and
- output torque by controlling the motors based on the torque profile such that the output timing of the torque is delayed until after expiration of the delay time.
6 more elements
Dependencies are inferred from the claim text.