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公开(公告)号：US20210100704A1
公开(公告)日：2021-04-08
申请号：US17125485
申请日：2020-12-17
发明人： Kyung-Rock Kim
摘要： A standing-up assistance method and apparatus may measure a pressure applied to a part of a body of a user, acquire information about a torque corresponding to the measured pressure, and provide an assistance force to the body of the user based on the information about the torque.
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公开(公告)号：US10702440B2
公开(公告)日：2020-07-07
申请号：US15012528
申请日：2016-02-01
发明人： Kyung-Rock Kim , Youngjin Park , Youngbo Shim , Bokman Lim , Jun-Won Jang
摘要： A motion assistance apparatus including a fixing module to be attached to a waist of a user, a driving module provided in the fixing module to provide a torque to assist a motion of the user, a supporting module connected to the driving module to support a portion of a circumference of a leg of the user, and a controller configured to control the driving module to provide a torque to maintain a close contact between the supporting module and the leg of the user while the user is not walking.
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公开(公告)号：US09737240B2
公开(公告)日：2017-08-22
申请号：US14556841
申请日：2014-12-01
发明人： Jun-Won Jang , Kyung-Rock Kim , Youngbo Shim , Jusuk Lee , Bokman Lim
CPC分类号： A61B5/112 , A61B5/1122 , A61B5/7264 , A61H1/0244 , A61H3/00 , A61H2201/165 , A61H2201/5058 , A61H2201/5061 , A61H2201/5069 , A61H2201/5079 , A61H2201/5084 , G07C1/22
摘要： An apparatus and method for recognizing a gait motion by detecting a landing point in time of a foot of a user based on sensed acceleration information, inferring a gait motion based on right and left hip joint angle information of the user sensed at the detected landing point in time of the foot of the user, and detecting a landing leg between both legs of the user based on the inferred gait motion may be provided.
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公开(公告)号：US11590048B2
公开(公告)日：2023-02-28
申请号：US16520769
申请日：2019-07-24
发明人： Bokman Lim , Kyung-Rock Kim , Jusuk Lee , Jun-Won Jang
摘要： 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.
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公开(公告)号：US11219572B2
公开(公告)日：2022-01-11
申请号：US14682694
申请日：2015-04-09
发明人： Bokman Lim , Youngbo Shim , Kyung-Rock Kim , Jusuk Lee , Jun-Won Jang
摘要： 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.
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公开(公告)号：US10576010B2
公开(公告)日：2020-03-03
申请号：US15643683
申请日：2017-07-07
发明人： Kyung-Rock Kim , Keehong Seo , Jusuk Lee , Jun-Won Jang , Byung-Kwon Choi
摘要： 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.
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公开(公告)号：US20190083002A1
公开(公告)日：2019-03-21
申请号：US15867006
申请日：2018-01-10
发明人： Jun-Won JANG , Kyung-Rock Kim , Youngbo Shim , Jusuk Lee , Bokman Lim
IPC分类号： A61B5/11 , A61B5/024 , A61B5/00 , A61B5/0488 , A61H3/00
摘要： 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.
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公开(公告)号：US11998459B2
公开(公告)日：2024-06-04
申请号：US17463900
申请日：2021-09-01
发明人： Bokman Lim , Kyung-Rock Kim , Youngbo Shim , Jun-Won Jang , Seungyong Hyung
CPC分类号： A61F2/70 , A61B5/112 , A61H3/00 , A63B21/4009 , A63B21/4011 , A63B23/0405 , A63B24/0006 , A63B24/0087 , A61B2505/09 , A61B2562/0219 , A61B2562/0247 , A61B2562/0252 , A61B2562/0261 , A61H2003/007 , A61H2201/165 , A61H2201/1652 , A61H2201/50 , A61H2201/5069 , A61H2201/5079 , A63B2024/0009
摘要： A gait assistance apparatus including at least one sensor configured to sense a step motion of a user, and an operator configured to determine assistance forces of a right step and a left step of the user based on step motion information of the user and adjust the assistance force for at least one of the right step or the left step of the user based on a result of proportionally adding together the assistance forces of the right step and the left step based on a variable ratio may be provided.
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公开(公告)号：US11752393B2
公开(公告)日：2023-09-12
申请号：US16817090
申请日：2020-03-12
发明人： Jusuk Lee , Youn Baek Lee , Bokman Lim , Seungyong Hyung , Kyung-Rock Kim , Keehong Seo
CPC分类号： A63B26/003 , A61B5/112 , A61B5/1117 , A61B5/7275 , A61H1/0244 , A63B24/0087 , A63B2220/54 , A63B2220/803 , A63B2220/836
摘要： A balance training method using a wearable device, and the wearable device are disclosed. The balance training method using the wearable device configured to provide a walking assist function includes executing a balance training mode of the wearable device and supplying an irregular pattern torque to an actuator of the wearable device at a time point or in a time period in the balance training mode.
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公开(公告)号：US11602854B2
公开(公告)日：2023-03-14
申请号：US16662287
申请日：2019-10-24
发明人： Taesin Ha , Kyung-Rock Kim , Jun-Won Jang , Joon-Kee Cho
摘要： A method and apparatus for controlling an operation of a service robot is disclosed. The method includes measuring, by processing circuitry, an evaluation index of the service robot based on sensor data in a service mode; determining, by the processing circuitry, an operation mode of the service robot from a set of at least two operation modes based on the measured evaluation index; selecting, by the processing circuitry, a behavior to be applied to the operation of the service robot from a set of at least two behaviors based on the operation mode; and controlling, by the processing circuitry, the operation of the service robot based on the behavior.
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