Wearable robot and method of controlling the same
AssigneeSamsung Electronics Co., Ltd.
InventorsJong Do Choi, Young Do Kwon, Gyung Rock Kim, Ji Min Kim, Young Bo Shim, Tae Sin Ha
Life of this patent
Estimating the term…
Abstract
Provided is a method of controlling a wearable robot, the method including: measuring a ground reaction force (GRF) exerted on a wearer's soles; calculating a time variation rate of the measured GRF; measuring the wearer's knee joint angle; and detecting a time point at which the calculated time variation rate of the GRF and the measured knee joint angle cross each other.
Claims15
A method of controlling a wearable robot configured to be worn by a user, the method comprising:
- measuring a ground reaction force (GRF) and a knee joint angle, the GRF being a force exerted on at least one sole of the user and the knee joint angle being an angle of one or more knee joints of the user;
- plotting a time variation rate of the GRF on a first graph;
- plotting the knee joint angle on a second graph;
- overlaying the second graph on the first graph to generate a third graph;
- detecting a point in time at which a time variation rate of the GRF and the knee joint angle cross each other on the third graph;
- determining the detected point in time as a point in time at which the user has begun standing;
- and applying, via an actuator, an auxiliary torque to the wearable robot from the determined point in time.
A method of controlling a wearable robot configured to be worn by a user, the method comprising:
- measuring a ground reaction force (GRF) and a knee joint angle, the GRF being a force exerted on at least one sole of the user, and the knee joint angle being an angle of one or more knee joints of the user;
- plotting a time variation rate of the GRF on a first graph;
- plotting the knee joint angle on a second graph;
- overlaying the second graph on the first graph to generate a third graph;
- detecting a point in time at which a time variation rate of the GRF and the knee joint angle cross each other on the third graph;
- determining the detected point in time as a point in time at which the user has begun standing;
- generating an auxiliary torque having a trigonometrical function wave shape such that the auxiliary torque includes a plurality of overlapping sinusoidal waves;
- and
- applying, via an actuator, the generated auxiliary torque to the wearable robot from the determined point in time.
A wearable robot configured to be worn by a user, the wearable robot comprising:
- an assistance device configured to assist muscles of the user;
- sensors configured to,
- measure a ground reaction force (GRF) exerted on at least one sole of the user, and
- measure a knee joint angle and a hip joint angle of the user, the knee joint angle being an angle of one or more knee joints of the user and the hip joint angle being an angle between a hip and at least one leg of the user;
- and
- a controller configured to,
- detect a point in time at which a time variation rate of the GRF and the knee joint angle cross each other when the time variation rate of the GRF and the knee joint angle are plotted by,
- plotting the time variation rate of the GRF on a first graph,
- plotting the knee joint angle on a second graph, and
- overlaying the second graph on the first graph to generate a third graph
- determine the detected point in time as a point in time at which the user has begun standing, and
- apply, via an actuator, an auxiliary torque to the assistance device from the determined point in time.
Dependencies are inferred from the claim text.