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    WALKING ASSISTANCE METHOD AND APPARATUSES PERFORMING THE SAME
    12.
    发明申请
    WALKING ASSISTANCE METHOD AND APPARATUSES PERFORMING THE SAME 有权
    执行辅助方法和设备

    公开(公告)号：US20170027802A1

    公开(公告)日：2017-02-02

    申请号：US14982680

    申请日：2015-12-29

    Applicant: Samsung Electronics Co., Ltd.

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

    IPC: A61H3/00 ,  A61H1/02

    Abstract: A walking assistance method may include: detecting a landing time of a foot of a user; and/or initiating gait assistance based on a first joint location of a first leg of the user sensed at the landing time and a second joint location of the user sensed after the landing time. A walking assistance apparatus may include: a driver configured to perform gait assistance of a user; and/or a controller configured to control the driver to initiate the gait assistance based on a first joint location of a first leg of the user sensed at a landing time of a foot of the user and a second joint location sensed after the landing time.

    Abstract translation: 行走辅助方法可以包括：检测用户的脚的着陆时间; 和/或基于在着陆时间感测到的用户的第一腿的第一联合位置和在着陆时间之后感测到的用户的第二联合位置来启动步态辅助。 行走辅助装置可以包括：被配置为执行用户的步态辅助的驾驶员; 和/或控制器，其被配置为基于在用户的脚的着陆时间处感测到的用户的第一腿的第一联合位置和在着陆时间之后感测到的第二关节位置来控制驾驶员启动步态辅助。

    METHOD AND APPARATUS FOR OUTPUTTING TORQUE TO PROVIDE FORCE TO USER
    15.
    发明申请
    METHOD AND APPARATUS FOR OUTPUTTING TORQUE TO PROVIDE FORCE TO USER 有权

    公开(公告)号：US20230046031A1

    公开(公告)日：2023-02-16

    申请号：US17973181

    申请日：2022-10-25

    Applicant: SAMSUNG ELECTRONICS CO., LTD.

    Inventor： Bokman LIM ,  Keehong SEO ,  Jusuk LEE

    IPC: A61H1/02

    Abstract: A method, performed by a wearable device, of outputting a torque includes obtaining a first angle of a first joint of a first leg of a user and a second angle of a second joint of a second leg of the user, calculating a first adjustment angle, based on an offset angle set for the first angle and the first joint, determining a first state factor associated with the first angle and the second angle, based on the first adjustment angle and the second angle, determining a first value of a parameter for adjusting at least one of a magnitude, a direction, and timing of a torque to be output, determining a first torque value, based on the first state factor and the first value of the parameter, and controlling a motor driver of the wearable device to output the first torque value.

    METHOD AND APPARATUS FOR CONTROLLING A WALKING ASSISTANCE APPARATUS
    17.
    发明申请
    METHOD AND APPARATUS FOR CONTROLLING A WALKING ASSISTANCE APPARATUS 有权

    公开(公告)号：US20220110813A1

    公开(公告)日：2022-04-14

    申请号：US17558694

    申请日：2021-12-22

    Applicant: SAMSUNG ELECTRONICS CO., LTD.

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

    IPC: A61H1/02 ,  A61H3/00

    Abstract: A method and apparatus for controlling a walking assistance apparatus are provided. The apparatus may include a detector configured to detect a first step of a user, based on measured right and left hip joint angle information, a reconstructor unit configured to reconstruct knee joint information matched to the right and left hip joint angle information based on knee joint trajectory information in response to the user's steps, and a torque generator configured to generate a first torque applied to a first leg corresponding to the first step. The torque generator may generate the first torque, based on a second torque applied to a second leg that is opposite to the first leg and that corresponds to a second step preceding the first step.

    METHOD AND APPARATUS FOR CALCULATING ASSISTANCE TORQUES
    20.
    发明申请
    METHOD AND APPARATUS FOR CALCULATING ASSISTANCE TORQUES 审中-公开
    计算辅助扭矩的方法和装置

    公开(公告)号：US20170056274A1

    公开(公告)日：2017-03-02

    申请号：US14988382

    申请日：2016-01-05

    Applicant: Samsung Electronics Co., Ltd.

    Inventor： Jusuk LEE

    IPC: A61H3/00 ,  B25J9/12 ,  A61F2/70 ,  B25J9/00

    CPC classification number: A61H3/00 ,  A61F2/70 ,  A61F5/0102 ,  A61F2005/0155 ,  A61F2250/0074 ,  A61H1/0244 ,  A61H2201/0165 ,  A61H2201/1215 ,  A61H2201/164 ,  A61H2201/165 ,  A61H2201/5005 ,  A61H2201/5007 ,  A61H2201/5048 ,  A61H2201/5058 ,  A61H2201/5061 ,  A61H2201/5069 ,  A61H2201/5071 ,  A61H2201/5079 ,  A61H2201/5084 ,  A61H2201/5097 ,  A61H2230/605 ,  B25J9/0006 ,  B25J9/126 ,  B25J13/085 ,  B25J13/088

    Abstract: A method may include: calculating a first assistance torque to be provided to a user wearing a walking assistance apparatus; measuring a degree of twisting of a portion of the apparatus; calculating a second assistance torque transferred to the user based on the degree of twisting; and/or calculating a third assistance torque based on the first and second assistance torques, the third assistance torque corresponding to correction of the twisting. An assistance torque calculation apparatus may include: a bend sensor configured to measure a degree of twisting of a portion of a walking assistance apparatus; and/or a processor configured to calculate a first assistance torque to be provided to a user wearing the walking assistance apparatus, configured to calculate a second assistance torque transferred to the user based on the degree of twisting, and/or configured to calculate a third assistance torque based on the first and second assistance torques.

    Abstract translation: 一种方法可以包括：计算提供给穿着步行辅助装置的用户的第一辅助扭矩; 测量所述装置的一部分的扭转程度; 基于扭转程度计算传递给用户的第二辅助扭矩; 和/或基于第一和第二辅助扭矩来计算第三辅助扭矩，所述第三辅助扭矩对应于扭转的校正。 辅助扭矩计算装置可以包括：弯曲传感器，被配置为测量步行辅助装置的一部分的扭转程度; 和/或处理器，被配置为计算要提供给穿着步行辅助装置的用户的第一辅助扭矩，所述第一辅助扭矩被配置为基于所述扭转程度计算传递给所述用户的第二辅助扭矩，和/或被配置为计算第三辅助扭矩 基于第一和第二辅助扭矩的辅助扭矩。

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