Back to results
US 2019/0336383 A1Published application
Movement assistance system and method thereof
AssigneeNational Chiao Tung University
InventorsKai-Tai SONG, Yu-Lin CHIEN
Life of this patent
Estimating the term…
Abstract
A movement assistance method is provided to calculate center of pressure, a support torque, a gravity compensation torque, and a correction torque. The support torque is calculated according to a user external torque. The correction torque is obtained by multiplying the gravity compensation torque by an amendment scale. An assistive torque is calculated according to the support torque and the correction torque.
Claims13
A movement assistance system, comprising:
- a plurality of pressure sensors for detecting a plurality of pressure values;
- and
- a processing circuit electrically connected to the plurality of pressure sensors and configured to perform a plurality of steps:
- calculating a center of pressure according to the plurality of pressure values, wherein the center of pressure comprises an X-coordinate and a Y-coordinate;
- calculating a gravity scale according to the center of pressure, wherein the gravity scale is negatively correlated to an absolute value of the X-coordinate, and the gravity scale is negatively correlated to the Y-coordinate;
- calculating a user external torque according to a motor torque, an angular velocity, an angular acceleration, and at least one joint angle;
- calculating a support torque according to the user external torque and the angular velocity, wherein the support torque is equal to zero when a direction of the user external torque is not the same as a direction of the angular velocity;
- calculating a gravity compensation torque according to the at least one joint angle, and multiplying the gravity scale by the gravity compensation torque to obtain a correction torque;
- and
- calculating an assistive torque according to the support torque and the correction torque.
7 more elements
A movement assistance method for a movement assistance system, the movement assistance method comprising:
- detecting, by a plurality of pressure sensors, a plurality of pressure values;
- calculating a center of pressure according to the plurality of pressure values, wherein the center of pressure comprises an X-coordinate and a Y-coordinate;
- calculating a gravity scale according to the center of pressure, wherein the gravity scale is negatively correlated to an absolute value of the X-coordinate, and the gravity scale is negatively correlated to the Y-coordinate;
- calculating a user external torque according to a motor torque, an angular velocity, an angular acceleration, and at least one joint angle;
- calculating a support torque according to the user external torque and the angular velocity, wherein the support torque is equal to zero when a direction of the user external torque is not the same as a direction of the angular velocity;
- calculating a gravity compensation torque according to the at least one joint angle, and multiplying the gravity scale by the gravity compensation torque to obtain a correction torque;
- and
- calculating an assistive torque according to the support torque and the correction torque.
5 more elements
Dependencies are inferred from the claim text.