公开(公告)号：US12121489B2

公开(公告)日：2024-10-22

申请号：US17095129

申请日：2020-11-11

Applicant: Samsung Electronics Co., Ltd.

Inventor： Jusuk Lee ,  Kyung-Rock Kim ,  Keehong Seo ,  Bokman Lim ,  Jun-Won Jang

IPC: A61H3/00 ,  A61B5/00 ,  A61B5/103 ,  A61B5/11 ,  A61F2/68 ,  A61F2/70 ,  A61F2/50 ,  A61H1/02

CPC classification number: A61H3/00 ,  A61B5/1038 ,  A61B5/1116 ,  A61B5/4023 ,  A61B5/4836 ,  A61B5/746 ,  A61F2/68 ,  A61F2/70 ,  A61B5/1036 ,  A61B5/1121 ,  A61B5/6831 ,  A61B5/7455 ,  A61F2002/5038 ,  A61H1/0244 ,  A61H2003/007 ,  A61H2201/1215 ,  A61H2201/1628 ,  A61H2201/164 ,  A61H2201/165 ,  A61H2201/1671 ,  A61H2201/5061 ,  A61H2201/5069 ,  A61H2201/5071 ,  A61H2201/5084 ,  A61H2205/088 ,  A61H2205/106 ,  A61H2230/625

Abstract: A method and apparatus for helping a user walk may verify whether the user is in a standing state and calculate a torque that controls balance of the user, and an assistance force for controlling balance may be provided for the user based on the torque generated by an actuator.

公开(公告)号：US11919156B2

公开(公告)日：2024-03-05

申请号：US17070895

申请日：2020-10-14

Applicant: Samsung Electronics Co., Ltd.

Inventor： Kyung-Rock Kim ,  Youngbo Shim ,  Sunghwan Ahn ,  Jusuk Lee ,  Bokman Lim ,  Jun-Won Jang

IPC: B25J9/00 ,  A61B5/00 ,  A61B5/11 ,  A61H1/02 ,  A61H3/00 ,  G01P13/00

CPC classification number: B25J9/0006 ,  A61B5/1116 ,  A61B5/1122 ,  A61B5/1123 ,  A61B5/6823 ,  A61B5/6828 ,  A61B5/7264 ,  A61H1/0244 ,  A61H3/00 ,  A61B5/7207 ,  A61B2562/0219 ,  A61H2003/007 ,  A61H2201/1215 ,  A61H2201/165 ,  A61H2201/5058 ,  A61H2201/5069 ,  A61H2201/5084 ,  A61H2201/5097 ,  G01P13/00

Abstract: A method and apparatus for recognizing a motion of a user are provided. The apparatus may map each of right leg angle information and left leg angle information to context information by comparing each of the right leg angle information and left leg angle information to a comparison value and/or preset threshold, may generate a motion event corresponding to the context information based on a criterion, and may recognize the motion of the user based on the motion event and a previous motion of the user.

公开(公告)号：US10315308B2

公开(公告)日：2019-06-11

申请号：US15818038

申请日：2017-11-20

Applicant: Samsung Electronics Co., Ltd.

Inventor： Keehong Seo ,  Jusuk Lee ,  Bokman Lim

IPC: B25J9/00 ,  A61H3/00 ,  A61B5/11 ,  G05B19/042 ,  A61H1/02

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.

公开(公告)号：US10034811B2

公开(公告)日：2018-07-31

申请号：US14988382

申请日：2016-01-05

Applicant: Samsung Electronics Co., Ltd.

Inventor： Jusuk Lee

IPC: A61F2/70 ,  A61H3/00 ,  B25J13/08 ,  A61H1/02 ,  B25J9/12 ,  B25J9/00 ,  A61F5/01

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.

公开(公告)号：US11590048B2

公开(公告)日：2023-02-28

申请号：US16520769

申请日：2019-07-24

Applicant: Samsung Electronics Co., Ltd.

Inventor： Bokman Lim ,  Kyung-Rock Kim ,  Jusuk Lee ,  Jun-Won Jang

IPC: A61H3/00 ,  G16H50/20

Abstract: A method and device for controlling a walking assist device is disclosed. The method includes determining a first state variable for a gait state of a user wearing the walking assist device based on a gait of the user, obtaining a second state variable which is smoothed and time-delayed from the first state variable, obtaining a third state variable by applying a torque control variable to the second state variable, and determining an assist torque to be provided by the walking assist device based on the obtained third state variable.

公开(公告)号：US11219572B2

公开(公告)日：2022-01-11

申请号：US14682694

申请日：2015-04-09

Applicant: Samsung Electronics Co., Ltd.

Inventor： Bokman Lim ,  Youngbo Shim ,  Kyung-Rock Kim ,  Jusuk Lee ,  Jun-Won Jang

IPC: A61H3/00 ,  A61H1/02

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.

公开(公告)号：US11154449B2

公开(公告)日：2021-10-26

申请号：US15901256

申请日：2018-02-21

Applicant: Samsung Electronics Co., Ltd.

Inventor： Keehong Seo ,  Jusuk Lee ,  Jun-Won Jang

IPC: A61H3/00 ,  A61B5/103 ,  A61F5/01 ,  A61B5/11 ,  G16H20/30 ,  B25J9/00 ,  A61H1/02 ,  A61B5/00 ,  A61F2/68

Abstract: A control method and apparatus for a turning walking receives sensor information, recognizes a turning walking of a user based on the sensor information, and adjusts at least one control parameter to assist the turning walking.

公开(公告)号：US10576010B2

公开(公告)日：2020-03-03

申请号：US15643683

申请日：2017-07-07

Applicant: Samsung Electronics Co., Ltd.

Inventor： Kyung-Rock Kim ,  Keehong Seo ,  Jusuk Lee ,  Jun-Won Jang ,  Byung-Kwon Choi

IPC: A61H3/00 ,  A61B5/11 ,  A61B5/00 ,  A61H1/02 ,  A61H1/00

Abstract: A walking assistance apparatus including a first fixing device and a second fixing device to be attached to both legs of a user, respectively, a motor device configured to provide an active assistance force to the first fixing device and the second fixing device using at least one motor, and a passive assistance force transmitter connected to the first fixing device and the second fixing device to provide a passive assistance force to the first fixing device and the second fixing device may be provided.

公开(公告)号：US20190083002A1

公开(公告)日：2019-03-21

申请号：US15867006

申请日：2018-01-10

Applicant: Samsung Electronics Co., Ltd.

Inventor： Jun-Won JANG ,  Kyung-Rock Kim ,  Youngbo Shim ,  Jusuk Lee ,  Bokman Lim

IPC: A61B5/11 ,  A61B5/024 ,  A61B5/00 ,  A61B5/0488 ,  A61H3/00

Abstract: A walking assistance device may be controlled using a personalized gait policy. A preset event is detected during a current gait cycle based on state information associated with a motion of the walking assistance device, a reward value of state information associated with the motion is evaluated at a point in time at which the event is detected, and a personalized gait policy is updated based on state information associated with the motion when updating of the personalized gait policy is determined to be required based on the reward value.

公开(公告)号：US11951066B2

公开(公告)日：2024-04-09

申请号：US16412867

申请日：2019-05-15

Applicant: Samsung Electronics Co., Ltd.

Inventor： Keehong Seo ,  Youngjin Park ,  Jusuk Lee ,  Hyundo Choi ,  Seungyong Hyung

IPC: A61H3/00 ,  A61B5/00 ,  A61B5/11 ,  A61H1/02

CPC classification number: A61H3/00 ,  A61B5/112 ,  A61B5/1121 ,  A61B5/6828 ,  A61B5/6829 ,  A61B5/7267 ,  A61B5/7275 ,  A61H1/0262 ,  A61B2562/0219 ,  A61H2003/007 ,  A61H2201/5061 ,  A61H2201/5084 ,  A61H2205/10 ,  A61H2230/625

Abstract: A method and apparatus for assisting walking of a user is provided. Information related to a motion of a user wearing a walking assistance apparatus is measured by an inertial measurement unit (IMU), a gait phase of the user corresponding to the measured information is predicted using data learned in advance through machine learning, an assistance torque to be provided to the user is determined based on the predicted gait phase, and a driver is controlled to output the assistance torque.