公开(公告)号：EP3136191A1

公开(公告)日：2017-03-01

申请号：EP16163526.3

申请日：2016-04-01

Applicant: Samsung Electronics Co., Ltd.

Inventor： SEO, Keehong ,  LEE, Jusuk ,  LIM, Bokman

IPC: G05B19/042 ,  B25J9/00 ,  A61H1/02

CPC classification number: B25J9/0006 ,  A61B5/112 ,  A61H1/0244 ,  A61H3/00 ,  A61H2201/1215 ,  A61H2201/1628 ,  A61H2201/164 ,  A61H2201/165 ,  A61H2201/501 ,  A61H2201/5061 ,  A61H2201/5064 ,  A61H2201/5069 ,  A61H2201/5079 ,  A61H2201/5084 ,  A61H2201/5097 ,  A61H2230/085 ,  A61H2230/605 ,  A61H2230/625 ,  G05B19/042 ,  G05B2219/36435 ,  G05B2219/40305 ,  Y10S901/09

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.

Abstract translation: 一种用于计算步行辅助装置的扭矩的方法和装置，所述方法包括接收测量的关节角度，基于关节角度获得相对于预定步数状态之间的转变的步态参数，获得基于步态的步态 在关节角度上，并且基于步态周期和步态参数获得输出扭矩。

公开(公告)号：EP3120823A1

公开(公告)日：2017-01-25

申请号：EP16180051.1

申请日：2016-07-19

Applicant: Samsung Electronics Co., Ltd.

Inventor： LIM, Bokman ,  KIM, Kyung-Rock ,  SHIM, Youngbo ,  LEE, Jusuk ,  JANG, Jun-Won

IPC: A61H3/00 ,  A61H1/02

Abstract: A walking assistance method may include receiving at least one abnormal gait type selected from a plurality of abnormal gait types, and differently controlling a walking assistance apparatus based on the at least one abnormal gait type.
Further, a walking assistance apparatus comprising:
a driver configured to assist a gait of a user; and
a controller configured to receive at least one abnormal gait type selected from a plurality of abnormal gait types, and to control the driver based on the at least one abnormal gait type, is disclosed.
Furthermore a walking assistance system comprising:
said walking assistance apparatus, and
a parameter generation apparatus configured to generate torque parameters by,
generating a gait motion based on a first torque and a second torque, the first torque being a torque mapped to each joint of a user for each of the plurality of abnormal gait types, and the second torque being a torque to be generated by the walking assistance apparatus,
calculating an object function based on the gait motion, and
generating the torque parameters corresponding to each assist torque profile of the abnormal gait types based on a result of the calculating, is disclosed

Abstract translation: 步行辅助方法可以包括接收从多个异常步态类型中选择的至少一个异常步态类型，并且基于所述至少一个异常步态类型来不同地控制步行辅助设备。 此外，步行辅助设备包括：驾驶员，其被配置为辅助用户的步态; 以及控制器，其被配置为接收从多个异常步态类型中选择的至少一个异常步态类型，并且基于所述至少一个异常步态类型来控制驾驶者。 此外，一种步行辅助系统，包括：所述步行辅助设备和参数生成设备，所述参数生成设备被配置成通过以下操作来生成步态运动：基于第一转矩和第二转矩生成步态运动，所述第一转矩是映射到a 并且所述第二转矩是由所述步行辅助设备产生的转矩;基于所述步行运动计算对象功能;以及生成与所述多个步态异常步态的每个辅助转矩变化曲线对应的所述转矩参数。 公开了基于计算结果的异常步态类型