US 11,717,187 B2
Walking assistance method and apparatuses
Bokman Lim, Yongin-si (KR); Youngjin Park, Seoul (KR); and Keehong Seo, Seoul (KR)
Assigned to Samsung Electronics Co., Ltd., Gyeonggi-do (KR)
Filed by Samsung Electronics Co., Ltd., Suwon-si (KR)
Filed on Oct. 18, 2018, as Appl. No. 16/164,766.
Application 16/164,766 is a continuation in part of application No. 15/861,832, filed on Jan. 4, 2018, granted, now 11,109,778.
Claims priority of application No. 10-2017-0075634 (KR), filed on Jun. 15, 2017.
Prior Publication US 2019/0046078 A1, Feb. 14, 2019
Int. Cl. A61B 5/11 (2006.01); B25J 9/00 (2006.01); A61H 3/00 (2006.01); A61H 1/02 (2006.01)
CPC A61B 5/112 (2013.01) [A61H 1/0237 (2013.01); A61H 3/00 (2013.01); B25J 9/0006 (2013.01); A61H 2201/1215 (2013.01); A61H 2201/165 (2013.01); A61H 2201/1642 (2013.01); A61H 2201/1652 (2013.01); A61H 2201/501 (2013.01); A61H 2201/5005 (2013.01); A61H 2201/5046 (2013.01); A61H 2201/5061 (2013.01); A61H 2201/5069 (2013.01)] 10 Claims
OG exemplary drawing
 
1. An operating method of a walking assistance apparatus, the operating method comprising:
operating the walking assistance apparatus in an assist mode when a gain associated with a torque rotation direction of the walking assistance apparatus is a first gain having a first sign and operating the walking assistance apparatus in a resist mode when the gain is a second gain having a second sign opposite to the first sign;
measuring a first hip joint angle and a second hip joint angle of a user;
determining a value of a state variable based on a difference between the first hip joint angle and the second hip joint angle;
applying a delay that is used to delay a plurality of output timings of torque and the first gain to the value of the state variable when the walking assistance apparatus is in the assist mode and applying the delay and the second gain to the value of the state variable when the walking assistance apparatus is in the resist mode; and
outputting assistance torque to the user by controlling a driver of the walking assistance apparatus based on a first torque profile when the walking assistance apparatus is in the assist mode and outputting resistance torque to the user by controlling the driver based on a second torque profile when the walking assistance apparatus is in the resist mode, wherein
the first torque profile and the second torque profile indicate, for the plurality of output timings of torque, a value of the assistance torque and the resistance torque, respectively, at respective ones of the plurality of output timings of torque, and
the first torque profile and the second torque profile are based on the value of the state variable at the respective ones of the plurality of output timings of torque shifted by the delay, the value of the state variable being amplified by the first gain for the first torque profile and the second gain for the second torque profile.