Method and apparatus for calculating torque of walking assistance device
AssigneeSamsung Electronics Co., Ltd.
InventorsKeehong Seo, Jusuk Lee, Bokman Lim
Life of this patent
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Abstract
A method and apparatus for calculating a torque of a walking assistance device, the method including receiving a measured joint angle, obtaining a gait parameter with respect to a transition among a predetermined number of gait states based on the joint angle, obtaining a gait cycle based on the joint angle, and obtaining an output torque based on the gait cycle and the gait parameter, is provided.
Claims20
A method of calculating an output torque of a walking assistance device via a controller connected to one or more sensors, the method comprising:
- sensing, via signals from the one or more sensors, a joint angle associated with a joint of a user;
- determining a gait cycle by applying the joint angle to a particularly shaped adaptive oscillator (PSAO);
- determining a gait parameter with respect to a transition among predefined gait states by applying the joint angle to a finite state machine (FSM);
- calculating the output torque based on the gait cycle and the gait parameter, the calculating including,
- correcting the gait cycle using the gait parameter as a reference value to generate a corrected gait cycle;
- and
- calculating the output torque corresponding to the corrected gait cycle, and
- instructing a driver to apply the output torque to a support of the walking assistance device associated with the joint of the user.
A torque calculating apparatus comprising:
- one or more sensors configured to sense a joint angle associated with a joint of a user;
- a receiver configured to receive a measurement of the joint angle;
- and
- a processor configured to,
- determine a gait cycle by applying the joint angle to a particularly shaped adaptive oscillator (PSAO);
- determine a gait parameter with respect to a transition among predefined gait states by applying the joint angle to a finite state machine (FSM);
- calcuate output torque based on the gait cycle and the gait parameter by,
- correcting the gait cycle using the gait parameter as a reference value to generate a corrected gait cycle;
- and
- calculating the output torque corresponding to the corrected gait cycle, and
- instruct a driver to apply the output torque to a support of a walking assistance device associated with the joint of the user.
A torque calculating method via a controller connected to one or more sensors, the method comprising:
- sensing, via signals from the one or more sensors, a joint angle associated with a joint of a user;
- obtaining a first gait cycle based on a measured joint angle using a particularly shaped adaptive oscillator (PSAO);
- obtaining a second gait cycle with respect to a transition among predefined gait states based on the joint angle using a finite state machine (FSM);
- calculating a final gait cycle based on the first gait cycle and the second gait cycle when the transition occurs;
- calculating a torque corresponding to the final gait cycle;
- and
- instructing a driver to apply the torque to a support of a walking assistance device associated with the joint of the user.
A method of calculating a torque to apply to a walking assistance device via a controller connected to one or more sensors, the method comprising:
- sensing, via signals from the one or more sensors, a joint angle associated with a joint of a user;
- determining a current gait state within a gait cycle of the user based on the joint angle by,
- setting a phase of an oscillator of a particularly shaped adaptive oscillator (PSAO) as the current gait state, if the oscillator has a fundamental frequency corresponding to a gait frequency, and
- setting a phase of a finite state machine (FSM) as the current gait state by overriding the PSAO, if the gait cycle has completed less than a threshold number of times;
- calculating the torque based on the current gait state;
- and
- instructing a driver to apply the torque to a support of the walking assistance device associated with the joint of the user.
Dependencies are inferred from the claim text.