US 11,919,156 B2
Method and apparatus for recognizing user motion
Kyung-Rock Kim, Yongin-si (KR); Youngbo Shim, Seoul (KR); Sunghwan Ahn, Seoul (KR); Jusuk Lee, Hwaseong-si (KR); Bokman Lim, Yongin-si (KR); and Jun-Won Jang, Seoul (KR)
Assigned to SAMSUNG ELECTRONICS CO., LTD., Gyeonggi-do (KR)
Filed by Samsung Electronics Co., Ltd., Suwon-si (KR)
Filed on Oct. 14, 2020, as Appl. No. 17/070,895.
Application 17/070,895 is a continuation of application No. 14/686,323, filed on Apr. 14, 2015, granted, now 10,835,442.
Claims priority of application No. 10-2014-0141512 (KR), filed on Oct. 20, 2014.
Prior Publication US 2021/0022945 A1, Jan. 28, 2021
Int. Cl. B25J 9/00 (2006.01); A61B 5/00 (2006.01); A61B 5/11 (2006.01); A61H 1/02 (2006.01); A61H 3/00 (2006.01); G01P 13/00 (2006.01)
CPC B25J 9/0006 (2013.01) [A61B 5/1116 (2013.01); A61B 5/1122 (2013.01); A61B 5/1123 (2013.01); A61B 5/6823 (2013.01); A61B 5/6828 (2013.01); A61B 5/7264 (2013.01); A61H 1/0244 (2013.01); A61H 3/00 (2013.01); A61B 5/7207 (2013.01); A61B 2562/0219 (2013.01); A61H 2003/007 (2013.01); A61H 2201/1215 (2013.01); A61H 2201/165 (2013.01); A61H 2201/5058 (2013.01); A61H 2201/5069 (2013.01); A61H 2201/5084 (2013.01); A61H 2201/5097 (2013.01); G01P 13/00 (2013.01)] 20 Claims
OG exemplary drawing
 
1. A method of recognizing a motion of a user wearing a physical assistance apparatus, the method comprising:
determining, using at least one processor, a right leg angle information of a right leg of the user and a left leg angle information of the left leg of the user based on sensing information obtained from a sensor of the physical assistance apparatus;
determining, using the at least one processor, a motion event performed by the user based on the right leg angle information and the left leg angle information;
recognizing, using the at least one processor, a current motion performed by the user the user based on the motion event and a previous motion performed by the user the user;
controlling, using the at least one processor, a driver of the physical assistance apparatus to provide motion assistance to the user based on the recognized current motion; and
the determining of the motion event including,
determining the motion event as an ascending event or a descending event based on a moving direction of the right leg and a moving direction of the left leg, and
the recognizing of the current motion including,
recognizing the current motion as a stand-to-sit motion or a sit-to-stand motion based on whether the previous motion corresponds to a standing motion or a sitting motion, and whether the motion event is determined as the ascending event or the descending event.