US 11,865,709 B2
Assisting torque setting method and apparatus
Youngbo Shim, Seoul (KR); Sunghwan Ahn, Seoul (KR); Seungyong Hyung, Yongin-si (KR); Youngjin Park, Seoul (KR); Keehong Seo, Seoul (KR); and Bokman Lim, Yongin-si (KR)
Assigned to Samsung Electronics Co., Ltd., Gyeonggi-do (KR)
Filed by Samsung Electronics Co., Ltd., Suwon-si (KR)
Filed on Nov. 11, 2019, as Appl. No. 16/679,895.
Application 16/679,895 is a continuation of application No. 14/873,696, filed on Oct. 2, 2015, granted, now 10,576,619.
Claims priority of application No. 10-2014-0190782 (KR), filed on Dec. 26, 2014; and application No. 10-2015-0133395 (KR), filed on Sep. 21, 2015.
Prior Publication US 2020/0070335 A1, Mar. 5, 2020
This patent is subject to a terminal disclaimer.
Int. Cl. A61H 3/00 (2006.01); B25J 9/00 (2006.01); A61F 2/70 (2006.01); B25J 9/16 (2006.01); A61H 1/02 (2006.01)
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
OG exemplary drawing
 
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.
 
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.