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US 12,728,063 B2Granted
Method and apparatus for adjusting control parameter values of wearable device
AssigneeSamsung Electronics Co., Ltd.
InventorsBokman Lim, Kyungrock Kim, Jungsik Hwang
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Abstract
Provided are a method and apparatus for adjusting a control parameter value in association with a torque output to provide a force to a user, which, when the user performs a test walk while wearing a wearable device, assesses suitability of the control parameter value used for outputting the torque based on the torque output through the test walk and state information of a joint of the user and adjusts the control parameter value such that the user feels convenience in walking, in order to adjust the control parameter value.
Claims18
A method of adjusting a control parameter value performed by a wearable device, the method comprising:
- outputting a first torque value to a driver circuit configured to control the wearable device to apply a force to a portion of a body of a user while the user is wearing the wearable device, the first torque value being determined based on a first value of a control parameter, and the control parameter including at least one of magnitude information, output timing information, and sensitivity information;
- obtaining a first angular velocity of a first joint in the body of the user in association with the output of the first torque value;
- determining, based on the first angular velocity, a second value of the control parameter to change the first angular velocity of the first joint;
- outputting a second torque value to the driver circuit, the second torque value being determined based on the second value of the control parameter;
- obtaining a second angular velocity of the first joint in the body of the user in association with the output of the second torque value;
- and
- determining a final value of the control parameter based on the second value of the control parameter,
- wherein the determination of the final value is further based on a termination condition on optimization of the control parameter being satisfied after the second angular velocity is obtained, and
- wherein the determining of the second value of the control parameter to change the first angular velocity of the first joint comprises:
- re-determining the second value of the control parameter to change the first angular velocity of the first joint, based on the termination condition being not satisfied after the second angular velocity is obtained,
- wherein the termination condition comprises at least one of whether a number of times of adjusting a value of the control parameter corresponds to a threshold number of adjustment, whether a number of strides of the user corresponds to a threshold number of strides, and a passage of time for adjusting the value of the control parameter corresponds to a threshold time, and
- wherein the determining of the second value of the control parameter comprises:
- calculating a first gait agility value representing gait agility of the user based on the first angular velocity of the first joint in the body of the user obtained in association with the output of the first torque value;
- and
- determining the second value of the control parameter to change the gait agility of the user.
12 more elements
A wearable device comprising:
- a processor configured to control the wearable device;
- at least one sensor configured to measure a joint angle in a body of a user;
- a motor driver circuit configured to be controlled by the processor;
- a motor electrically connected to the motor driver circuit;
- and
- a support frame configured to transmit a torque output by the motor to a portion of the body of the user;
- wherein the processor is configured to:
- output a first torque value to the motor driver circuit to control the motor to apply a force to the portion of the body of the user through the support frame while the user is wearing the wearable device, the first torque value being determined based on a first value of a control parameter, and the control parameter including at least one of magnitude information, output timing information, and sensitivity information;
- obtain a first angular velocity of a first joint in the body of the user in association with the output of the first torque value;
- determine, based on the first angular velocity, a second value of the control parameter to change the first angular velocity of the first joint;
- output a second torque value to the motor driver circuit, the second torque value being determined based on the second value of the control parameter;
- obtain a second angular velocity of the first joint in the body of the user in association with the output of the second torque value;
- determine a final value of the control parameter based on the second value of the control parameter, wherein the determination of the final value is further based on a termination condition on optimization of the control parameter being satisfied after the second angular velocity is obtained;
- and
- re-determine the second value of the control parameter to change the first angular velocity of the first joint based on the termination condition being not satisfied after the second angular velocity is obtained,
- wherein the termination condition comprises at least one of whether a number of times of adjusting a value of the control parameter corresponds to a threshold number of adjustment, whether a number of strides of the user corresponds to a threshold number of strides, and a passage of time for adjusting the value of the control parameter corresponds to a threshold time, and
- wherein the processor is further configured to:
- calculate a first gait agility value representing gait agility of the user based on the first angular velocity of the first joint in the body of the user obtained in association with the output of the first torque value;
- and
- determine the second value of the control parameter to change the gait agility of the user.
17 more elements
A wearable device comprising:
- a memory storing one or more instructions;
- and
- a processor configured to execute the one or more instructions to:
- output a first torque value to a driver circuit configured to control the wearable device to apply a force to at least a portion of a body of a user while the user is wearing the wearable device, the first torque value being determined based on a first value of a control parameter;
- obtain a first angular velocity of a first joint in the body of the user in association with the output of the first torque value;
- determine, based on the first angular velocity, a second value of the control parameter to change the first angular velocity of the first joint;
- output a second torque value to the driver circuit, the second torque value being determined based on the second value of the control parameter;
- obtain a second angular velocity of the first joint in the body of the user in association with the output of the second torque value;
- and
- determine a final value of the control parameter based on the second value of the control parameter, wherein the determination of the final value is further based on a termination condition on optimization of the control parameter being satisfied after the second angular velocity is obtained,
- wherein the processor is further configured to:
- calculate a first gait agility value representing gait agility of the user based on the first angular velocity of the first joint in the body of the user obtained in association with the output of the first torque value;
- and
- determine the second value of the control parameter to change the gait agility of the user.
11 more elements
Dependencies are inferred from the claim text.