Method of controlling walking assistance device and electronic device performing the method

An electronic device configured to control a walking assistance device, the walking assistance device including a first frame, a second frame, and a joint connecting the first frame and the second frame, the electronic device comprising:

• a memory configured to store a program associated with controlling the walking assistance device;
• and
• a processor configured to execute the program to,
• measure an angle of the joint of the walking assistance device based on angle information received from an angle sensor associated with the joint,
• calculate an angular velocity and a linear velocity of the first frame based on inertial information received from an inertial measurement unit (IMU) associated with the first frame,
• update a dynamics model for the walking assistance device to generate an updated dynamics model based on the angle, the angular velocity, and the linear velocity,
• calculate a force equivalent and a torque equivalent applied to the walking assistance device based on the updated dynamics model,
• determine a gait phase of a user wearing the walking assistance device by,
• determining a first force applied to the first frame and a second force applied to the second frame based on the force equivalent and the torque equivalent, and
• determining the gait phase based on at least the force equivalent calculated using a disturbance observer by analyzing the first force and the second force without utilizing force sensors to measure a ground reaction force (GRF), and
• control the walking assistance device based on the gait phase.

A method of controlling a walking assistance device, the walking assistance device including a first frame, a second frame, and a joint connecting the first frame and the second frame, the method comprising:

• measuring an angle of the joint of the walking assistance device based on angle information received from an angle sensor associated with the joint;
• calculating an angular velocity and a linear velocity of the first frame based on inertial information acquired from an inertial measurement unit (IMU) associated with the first frame;
• updating a dynamics model for the walking assistance device to generate an updated dynamics model based on the angle, the angular velocity, and the linear velocity;
• determining a force equivalent applied to the walking assistance device based on the updated dynamics model;
• determining a gait phase based on the force equivalent by,
• determining a first force applied to the first frame and a second force applied to the second frame based on at least the force equivalent, and
• determining the gait phase based on at least the force equivalent calculated using a disturbance observer by analyzing the first force and the second force without utilizing force sensors to measure a ground reaction force (GRF);
• and
• controlling the walking assistance device based on the gait phase.