Method for determining value of control parameter, and electronic device for performing same method
AssigneeSamsung Electronics Co., Ltd.
InventorKeehong SEO
Life of this patent
Estimating the term…
Abstract
A wearable device may generate a walking pattern of a user on the basis of a joint angle, output a torque corresponding to the walking pattern on the basis of a first value of a control parameter, determine a first value of an objective function for a first torque pattern for the output torque, determine a second torque pattern corresponding to a walking pattern for a second value changed on the basis of the first value of the control parameter, determine a second value of the objective function for the second torque pattern, and determine an optimum value of the control parameter on the basis of the second value of the objective function.
Claims20
A wearable device comprising:
- at least one processor, comprising processing circuitry, configured to control the wearable device;
- at least one sensor configured to measure a joint angle of a thigh support frame;
- a motor driver circuit;
- a motor electrically connected to the motor driver circuit;
- and
- the thigh support frame configured to transmit a torque generated by the motor to at least a portion of a lower limb of a user, wherein
- the at least one processor is individually and/or collectively configured to perform:
- generating a walking pattern of the user of the wearable device based on the joint angle;
- outputting a torque corresponding to the walking pattern based on a first value of a control parameter;
- determining a first value of an objective function for a first torque pattern for the output torque;
- calculating a second torque pattern corresponding to the walking pattern for a second value changed based on the first value of the control parameter;
- determining a second value of the objective function for the second torque pattern;
- and
- determining an optimal value of the control parameter based on the second value of the objective function.
A method of determining a value of a control parameter, performed by a wearable device, the method comprising:
- generating a walking pattern of a user wearing the wearable device based on a joint angle of a thigh support frame of the wearable device;
- outputting a torque corresponding to the walking pattern based on a first value of a control parameter;
- determining a first value of an objective function for a first torque pattern for the output torque;
- calculating a second torque pattern corresponding to the walking pattern for a second value changed based on the first value of the control parameter;
- determining a second value of the objective function for the second torque pattern;
- and
- determining a value of the control parameter based on the second value of the objective function.
An electronic device comprising:
- a communication module, comprising communication circuitry, configured to exchange data with an external device;
- and
- at least one processor configured, comprising processing circuitry, to control the electronic device, wherein
- the at least one processor is individually and/or collectively configured to:
- receive a joint angle of a thigh support frame from a wearable device connected to the electronic device;
- generate a walking pattern of a user wearing the wearable device based on the joint angle;
- receive information about a torque corresponding to the walking pattern output based on a first value of a control parameter;
- determine a first value of an objective function for a first torque pattern for the torque;
- determine a second torque pattern corresponding to the walking pattern for a second value changed based on the first value of the control parameter;
- determine a second value of the objective function for the second torque pattern;
- determine a value of the control parameter based on the second value of the objective function;
- and
- control to transmit the determined value of the control parameter to the wearable device.
Dependencies are inferred from the claim text.