# US 12,600,044 B2 · Guide dog robot for the visually impaired persons and control method thereof > Agents: this data is available as JSON from the patentgrep API and MCP server — see https://patentgrep.com/llms.txt - Number: US 12,600,044 B2 - Document ID: US12600044B2 - Status: Granted - Kind: B2 - Application number: 18/897,430 - Filed: 2024-09-26 - Published: 2025-10-02 - Granted: 2026-04-14 - Earliest claimed: 2024-03-28 - Assignees: Electronics and Telecommunications Research Institute - Applicants: Electronics and Telecommunications Research Institute - Inventors: Ki In Na - Web page: https://patentgrep.com/patent/US12600044B2 ## CPC - B25J 11/008: {Manipulators for service tasks} - A01K 27/002: {Harnesses} - A61H 3/06: Walking aids for blind persons (replacing direct visual perception by another kind of perception A61F9/08) - A61H 2201/1652: Harness - A61H 2201/5061: Force sensors - 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}) - A01K: ANIMAL HUSBANDRY; AVICULTURE; APICULTURE; PISCICULTURE; FISHING; REARING OR BREEDING ANIMALS, NOT OTHERWISE PROVIDED FOR; NEW BREEDS OF ANIMALS - 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) ## Abstract A guide dog robot for visually impaired persons is provided. The guide dog robot includes a harness unit configured to grip a visually impaired person, a spring damper unit connected to the harness unit and configured to move in an axial direction, based on an external force acting between the visually impaired person and the guide dog robot, and a body part configured to perform movement based on a movement intention of the visually impaired person and a moving motion of the guide dog robot, the body part including an upper surface with the spring damper unit mounted thereon. Each of the harness unit, the spring damper unit, and the body part comprises an inertia measurement unit (IMU), and the IMU measures a position and a speed at a position at which the IMU is equipped. ## Claims ### Claim 1 A guide dog robot for visually impaired persons, the guide dog robot comprising: a harness unit configured to grip be gripped by a visually impaired person; a spring damper unit connected to the harness unit and configured to move in an axial direction, based on an external force acting between the visually impaired person and the guide dog robot; and a body part configured to perform movement based on a movement intention of the visually impaired person and a moving motion of the guide dog robot, the body part including an upper surface with the spring damper unit mounted thereon, wherein each of the harness unit, the spring damper unit, and the body part comprises an inertia measurement unit (IMU), and the IMU measures a position and a speed at a position at which the IMU is equipped, wherein the body part calculates a first interaction force between the harness unit and the spring damper unit, based on a first mass-spring-damper model set with respect to each axis between the harness unit and the spring damper unit, and calculates a second interaction force between the spring damper unit and the body part, based on a second mass-spring-damper model set with respect to each axis between the spring damper unit and the body part. ### Claim 2 (depends on 1) The guide dog robot of claim 1, wherein the spring damper unit is a 6-axis spring damper configured to perform a function of a spring damper in a linear direction and a rotational direction of each of an x axis, a y axis, and a z axis. ### Claim 3 (depends on 1) The guide dog robot of claim 1, wherein the body part obtains a wrist direction and a position of the visually impaired person by using a relative position between the IMUs calculated based on each of positions and speeds measured by the IMU of the body part and the IMU of the harness unit. ### Claim 4 (depends on 1) The guide dog robot of claim 1, wherein, when there is an axis where a spring damper action of the spring damper unit does not occur, the body part sets the first mass-spring-damper model with respect to the other axis except the axis where the spring damper action does not occur. ### Claim 5 (depends on 1) The guide dog robot of claim 1, wherein the body part sets the first mass-spring-damper model to include an axis where a spring damper action of the spring damper unit acting when the harness unit is twisted in a specific direction occurs. ### Claim 6 (depends on 1) The guide dog robot of claim 1, wherein the body part calculates a total interaction force for performing movement based on a movement intention of the visually impaired person and a moving motion of the guide dog robot by using a vector sum of the first interaction force and the second interaction force, with respect to an action point of a force set when collecting a data set for setting the first and second mass-spring-damper models. ### Claim 7 (depends on 6) The guide dog robot of claim 6, wherein the body part converts the calculated total interaction force into a centroid external force with respect to a center of gravity of the guide dog robot and compensates for a control input corresponding to each joint of the guide dog robot, based on the centroid external force. ### Claim 8 A control method of a guide dog robot for visually impaired persons, the control method comprising: a step of moving a spring damper unit, connected to a harness unit gripped by a visually impaired person, in an axial direction by using an external force acting between the visually impaired person and the guide dog robot; a step of sensing a position and a speed at an equipped position by using an inertia measurement unit (IMU) included in each of the harness unit, the spring damper unit, and a body part with the spring damper unit mounted on an upper surface thereof; and a step of performing movement based on a movement intention of the visually impaired person and a moving motion of the guide dog robot by using the body part, based on the sensed position and speed, wherein the step of performing the movement based on the movement intention of the visually impaired person and the moving motion of the guide dog robot comprises: a step of calculating a first interaction force between the harness unit and the spring damper unit, based on a first mass-spring-damper model set with respect to each axis between the harness unit and the spring damper unit; and a step of calculating a second interaction force between the spring damper unit and the body part, based on a second mass-spring-damper model set with respect to each axis between the spring damper unit and the body part. ### Claim 9 (depends on 8) The control method of claim 8, wherein the step of performing the movement based on the movement intention of the visually impaired person and the moving motion of the guide dog robot comprises a step of obtaining a wrist direction and a position of the visually impaired person by using a relative position between the IMUs calculated based on each of positions and speeds measured by the IMU of the body part and the IMU of the harness unit. ### Claim 10 (depends on 8) The control method of claim 8, wherein the step of performing the movement based on the movement intention of the visually impaired person and the moving motion of the guide dog robot comprises, when there is an axis where a spring damper action of the spring damper unit does not occur, a step of setting the first mass-spring-damper model with respect to the other axis except the axis where the spring damper action does not occur. ### Claim 11 (depends on 8) The control method of claim 8, wherein the step of performing the movement based on the movement intention of the visually impaired person and the moving motion of the guide dog robot comprises a step of setting the first mass-spring-damper model to include an axis where a spring damper action of the spring damper unit acting when the harness unit is twisted in a specific direction occurs. ### Claim 12 (depends on 8) The control method of claim 8, wherein the step of performing the movement based on the movement intention of the visually impaired person and the moving motion of the guide dog robot comprises: a step of calculating a vector sum of the first interaction force and the second interaction force with respect to an action point of a force set when collecting a data set for setting the first and second mass-spring-damper models; and a step of calculating a total interaction force for performing movement based on a movement intention of the visually impaired person and a moving motion of the guide dog robot, based on the calculated vector sum. ### Claim 13 (depends on 12) The control method of claim 12, wherein the step of performing the movement based on the movement intention of the visually impaired person and the moving motion of the guide dog robot comprises: a step of converting the calculated total interaction force into a centroid external force with respect to a center of gravity of the guide dog robot; and a step of compensating for a control input corresponding to each joint of the guide dog robot, based on the centroid external force. ### Claim 14 A guide dog robot for visually impaired persons, the guide dog robot comprising: a communication module configured to receive sensing data of an inertia measurement unit (IMU) included in each of a harness unit gripped by a visually impaired person, a spring damper unit connected to the harness unit, and a body part with the spring damper unit mounted on an upper surface thereof; a memory configured to store a program for performing a movement of the guide dog robot, based on the sensing data; and a processor configured to, as the spring damper unit moves in an axial direction with an external force acting between the visually impaired person and the guide dog robot by executing the program stored in the memory, obtain a position and a speed at an equipped position, based on the sensing data from each IMU, and control movement based on the movement intention of the visually impaired person and the moving motion of the guide dog robot, based on the obtained position and speed, wherein the processor is further configured to calculate a first interaction force between the harness unit and the spring damper unit, based on a first mass-spring-damper model set with respect to each axis between the harness unit and the spring damper unit, and calculate a second interaction force between the spring damper unit and the body part, based on a second mass-spring-damper model set with respect to each axis between the spring damper unit and the body part.