US 12,241,530 B2
Power transmitting device, motion assistance apparatus, and method of controlling the motion assistance apparatus
Jongwon Lee, Suwon-si (KR); Youn Baek Lee, Yongin-si (KR); Se-Gon Roh, Suwon-si (KR); Jeonghun Kim, Hwaseong-si (KR); Minhyung Lee, Suwon-si (KR); Byungjune Choi, Suwon-si (KR); Jungyun Choi, Seoul (KR); and Hyun Do Choi, Yongin-si (KR)
Assigned to Samsung Electronics Co., Ltd., Gyeonggi-do (KR)
Filed by Samsung Electronics Co., Ltd., Suwon-si (KR)
Filed on Jul. 21, 2020, as Appl. No. 16/934,468.
Application 16/934,468 is a continuation of application No. 15/468,473, filed on Mar. 24, 2017, granted, now 10,746,272.
Claims priority of application No. 10-2016-0114604 (KR), filed on Sep. 6, 2016.
Prior Publication US 2020/0347919 A1, Nov. 5, 2020
Int. Cl. F16H 61/00 (2006.01); A61F 2/70 (2006.01); A61F 5/01 (2006.01); A61H 1/02 (2006.01); A61H 3/00 (2006.01); F16D 63/00 (2006.01); F16H 3/00 (2006.01); F16H 3/44 (2006.01); F16H 25/16 (2006.01); F16H 37/08 (2006.01); A61F 2/68 (2006.01); F16D 125/30 (2012.01); F16H 57/10 (2006.01)
CPC F16H 37/0833 (2013.01) [A61F 2/70 (2013.01); A61F 5/0102 (2013.01); A61H 1/0244 (2013.01); A61H 3/00 (2013.01); F16D 63/006 (2013.01); F16H 3/006 (2013.01); F16H 3/44 (2013.01); F16H 25/16 (2013.01); A61F 2002/6836 (2013.01); A61F 2005/0155 (2013.01); A61F 2005/0158 (2013.01); A61F 2005/0165 (2013.01); A61H 2003/007 (2013.01); A61H 2201/1215 (2013.01); A61H 2201/1472 (2013.01); A61H 2201/1621 (2013.01); A61H 2201/1626 (2013.01); A61H 2201/163 (2013.01); A61H 2201/1642 (2013.01); A61H 2201/165 (2013.01); A61H 2201/1671 (2013.01); A61H 2201/5061 (2013.01); A61H 2201/5064 (2013.01); A61H 2201/5071 (2013.01); A61H 2201/5084 (2013.01); A61H 2203/0406 (2013.01); A61H 2205/108 (2013.01); F16D 2125/30 (2013.01); F16H 57/10 (2013.01)] 11 Claims
OG exemplary drawing
 
1. A method of controlling a motion assistance apparatus, the motion assistance apparatus including a first supporting member configured to support a first portion of a user, a second supporting member configured to support a second portion of the user, a power transmitting frame and a power transmitting device, the power transmitting frame connected to the second supporting member, the power transmitting device configured to transmit power through a selected power transmission path to the power transmitting frame to provide an assistance force to the second portion of the user, the method comprising:
sensing motion information of the user;
determining a desired torque level based on the motion information;
selecting one of a plurality of power transmitting paths having a low reduction ratio or one of the plurality of power transmitting paths having a high reduction ratio as the selected power transmission path based on the desired torque level and a set torque;
engaging the selected power transmission path such that the power transmitting frame is configured to transmit the power through the selected power transmission path; and
transmitting power through the selected power transmission path.