CPC B25J 9/0006 (2013.01) [A61F 2/70 (2013.01); A61H 3/00 (2013.01); B25J 9/1671 (2013.01); A61F 2002/701 (2013.01); A61F 2002/704 (2013.01); A61H 1/024 (2013.01); A61H 1/0244 (2013.01); A61H 2003/007 (2013.01); A61H 2201/165 (2013.01); A61H 2201/5061 (2013.01); A61H 2201/5069 (2013.01); A61H 2201/5071 (2013.01); A61H 2201/5084 (2013.01); A61H 2230/105 (2013.01); A61H 2230/625 (2013.01); Y10S 901/46 (2013.01)] | 20 Claims |
1. An assisting torque setting method comprising:
receiving gait data of a user;
setting a stable assisting torque using an evaluation value of at least one index calculated based on the gait data by classifying the gait data based on a stride and calculating the evaluation value of the at least one index based on the classified gait data,
setting a basic assisting torque corresponding to a gait motion of the user calculated based on the gait data, and
setting a final assisting torque based on the stable assisting torque and the basic assisting torque.
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20. A walking assistance method comprising:
receiving gait data of a user; and
classifying the gait data based on a stride,
calculating an evaluation value of at least one index based on the classified gait data,
setting a stable assisting torque based on the evaluation value,
setting a basic assisting torque corresponding to a gait motion of the user based on the gait data, and
setting a final assisting torque based on the stable assisting torque and the basic assisting torque, and
controlling driving of a walking assistance apparatus based on the final assisting torque.
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