公开(公告)号：US12268922B2

公开(公告)日：2025-04-08

申请号：US17082107

申请日：2020-10-28

Applicant: SAMSUNG ELECTRONICS CO., LTD.

Inventor： Kyung-Rock Kim ,  Keehong Seo ,  Youngbo Shim ,  Youn Baek Lee ,  Jongwon Lee ,  Jusuk Lee ,  Bokman Lim ,  Byungjune Choi

IPC: B25J9/00 ,  A61H3/00 ,  A63B21/00

Abstract: An exercise assist method includes receiving a user input signal comprising exercise setting information from an external device; measuring, based on the user input signal, a joint angle of a hip joint of a user wearing an exercise assist device configured to assist a user in performing a leg movement; and controlling torque of the exercise assist device to be applied to a leg of the user based on the measured joint angle and the exercise setting information.

公开(公告)号：US11590048B2

公开(公告)日：2023-02-28

申请号：US16520769

申请日：2019-07-24

Applicant: Samsung Electronics Co., Ltd.

Inventor： Bokman Lim ,  Kyung-Rock Kim ,  Jusuk Lee ,  Jun-Won Jang

IPC: A61H3/00 ,  G16H50/20

Abstract: A method and device for controlling a walking assist device is disclosed. The method includes determining a first state variable for a gait state of a user wearing the walking assist device based on a gait of the user, obtaining a second state variable which is smoothed and time-delayed from the first state variable, obtaining a third state variable by applying a torque control variable to the second state variable, and determining an assist torque to be provided by the walking assist device based on the obtained third state variable.

公开(公告)号：US11219572B2

公开(公告)日：2022-01-11

申请号：US14682694

申请日：2015-04-09

Applicant: Samsung Electronics Co., Ltd.

Inventor： Bokman Lim ,  Youngbo Shim ,  Kyung-Rock Kim ,  Jusuk Lee ,  Jun-Won Jang

IPC: A61H3/00 ,  A61H1/02

Abstract: A method and apparatus for controlling a walking assistance apparatus are provided. The apparatus may include a detector configured to detect a first step of a user, based on measured right and left hip joint angle information, a reconstructor unit configured to reconstruct knee joint information matched to the right and left hip joint angle information based on knee joint trajectory information in response to the user's steps, and a torque generator configured to generate a first torque applied to a first leg corresponding to the first step. The torque generator may generate the first torque, based on a second torque applied to a second leg that is opposite to the first leg and that corresponds to a second step preceding the first step.

公开(公告)号：US20190083002A1

公开(公告)日：2019-03-21

申请号：US15867006

申请日：2018-01-10

Applicant: Samsung Electronics Co., Ltd.

Inventor： Jun-Won JANG ,  Kyung-Rock Kim ,  Youngbo Shim ,  Jusuk Lee ,  Bokman Lim

IPC: A61B5/11 ,  A61B5/024 ,  A61B5/00 ,  A61B5/0488 ,  A61H3/00

Abstract: A walking assistance device may be controlled using a personalized gait policy. A preset event is detected during a current gait cycle based on state information associated with a motion of the walking assistance device, a reward value of state information associated with the motion is evaluated at a point in time at which the event is detected, and a personalized gait policy is updated based on state information associated with the motion when updating of the personalized gait policy is determined to be required based on the reward value.

公开(公告)号：US12121489B2

公开(公告)日：2024-10-22

申请号：US17095129

申请日：2020-11-11

Applicant: Samsung Electronics Co., Ltd.

Inventor： Jusuk Lee ,  Kyung-Rock Kim ,  Keehong Seo ,  Bokman Lim ,  Jun-Won Jang

IPC: A61H3/00 ,  A61B5/00 ,  A61B5/103 ,  A61B5/11 ,  A61F2/68 ,  A61F2/70 ,  A61F2/50 ,  A61H1/02

CPC classification number: A61H3/00 ,  A61B5/1038 ,  A61B5/1116 ,  A61B5/4023 ,  A61B5/4836 ,  A61B5/746 ,  A61F2/68 ,  A61F2/70 ,  A61B5/1036 ,  A61B5/1121 ,  A61B5/6831 ,  A61B5/7455 ,  A61F2002/5038 ,  A61H1/0244 ,  A61H2003/007 ,  A61H2201/1215 ,  A61H2201/1628 ,  A61H2201/164 ,  A61H2201/165 ,  A61H2201/1671 ,  A61H2201/5061 ,  A61H2201/5069 ,  A61H2201/5071 ,  A61H2201/5084 ,  A61H2205/088 ,  A61H2205/106 ,  A61H2230/625

Abstract: A method and apparatus for helping a user walk may verify whether the user is in a standing state and calculate a torque that controls balance of the user, and an assistance force for controlling balance may be provided for the user based on the torque generated by an actuator.

公开(公告)号：US11919156B2

公开(公告)日：2024-03-05

申请号：US17070895

申请日：2020-10-14

Applicant: Samsung Electronics Co., Ltd.

Inventor： Kyung-Rock Kim ,  Youngbo Shim ,  Sunghwan Ahn ,  Jusuk Lee ,  Bokman Lim ,  Jun-Won Jang

IPC: B25J9/00 ,  A61B5/00 ,  A61B5/11 ,  A61H1/02 ,  A61H3/00 ,  G01P13/00

CPC classification number: B25J9/0006 ,  A61B5/1116 ,  A61B5/1122 ,  A61B5/1123 ,  A61B5/6823 ,  A61B5/6828 ,  A61B5/7264 ,  A61H1/0244 ,  A61H3/00 ,  A61B5/7207 ,  A61B2562/0219 ,  A61H2003/007 ,  A61H2201/1215 ,  A61H2201/165 ,  A61H2201/5058 ,  A61H2201/5069 ,  A61H2201/5084 ,  A61H2201/5097 ,  G01P13/00

Abstract: A method and apparatus for recognizing a motion of a user are provided. The apparatus may map each of right leg angle information and left leg angle information to context information by comparing each of the right leg angle information and left leg angle information to a comparison value and/or preset threshold, may generate a motion event corresponding to the context information based on a criterion, and may recognize the motion of the user based on the motion event and a previous motion of the user.

公开(公告)号：US11865709B2

公开(公告)日：2024-01-09

申请号：US16679895

申请日：2019-11-11

Applicant: Samsung Electronics Co., Ltd.

Inventor： Youngbo Shim ,  Sunghwan Ahn ,  Seungyong Hyung ,  Youngjin Park ,  Keehong Seo ,  Bokman Lim

IPC: A61H3/00 ,  B25J9/00 ,  A61F2/70 ,  B25J9/16 ,  A61H1/02

CPC classification number: B25J9/0006 ,  A61F2/70 ,  A61H3/00 ,  B25J9/1671 ,  A61F2002/701 ,  A61F2002/704 ,  A61H1/024 ,  A61H1/0244 ,  A61H2003/007 ,  A61H2201/165 ,  A61H2201/5061 ,  A61H2201/5069 ,  A61H2201/5071 ,  A61H2201/5084 ,  A61H2230/105 ,  A61H2230/625 ,  Y10S901/46

Abstract: Provided is an assisting torque setting apparatus and method, wherein the apparatus is configured to calculate an evaluation value of at least one index based on gait data of a user, set a stable assisting torque based on the evaluation value, set a basic assisting torque corresponding to a gait motion of the user based on the gait data, and set a final assisting torque based on the stable assisting torque and the basic assisting torque.

公开(公告)号：US11109778B2

公开(公告)日：2021-09-07

申请号：US15861832

申请日：2018-01-04

Applicant: Samsung Electronics Co., Ltd.

Inventor： Bokman Lim ,  Youngjin Park ,  Keehong Seo

IPC: A61B5/11 ,  A61H1/02 ,  A61B5/00 ,  A61H3/00 ,  A61F2/68 ,  A61F2/70

Abstract: A walking assistance method may include measuring a current gait motion of a user, defining a state variable based on the current gait motion, setting a delay that is a feedback element for the state variable, and generating a torque profile based on the state variable and the delay.

公开(公告)号：US10315308B2

公开(公告)日：2019-06-11

申请号：US15818038

申请日：2017-11-20

Applicant: Samsung Electronics Co., Ltd.

Inventor： Keehong Seo ,  Jusuk Lee ,  Bokman Lim

IPC: B25J9/00 ,  A61H3/00 ,  A61B5/11 ,  G05B19/042 ,  A61H1/02

Abstract: A method and apparatus for calculating a torque of a walking assistance device, the method including receiving a measured joint angle, obtaining a gait parameter with respect to a transition among a predetermined number of gait states based on the joint angle, obtaining a gait cycle based on the joint angle, and obtaining an output torque based on the gait cycle and the gait parameter, is provided.

公开(公告)号：US20180116827A1

公开(公告)日：2018-05-03

申请号：US15439075

申请日：2017-02-22

Applicant: Samsung Electronics Co., Ltd.

Inventor： Bokman Lim ,  Kyung-Rock Kim ,  Youngbo Shim ,  Jun-Won Jang ,  Seungyong Hyung

IPC: A61F2/68 ,  A63B24/00 ,  A63B21/00 ,  A63B23/04 ,  A61H3/00 ,  A61B5/11

CPC classification number: A61F2/68 ,  A61B5/112 ,  A61B2505/09 ,  A61B2562/0219 ,  A61B2562/0247 ,  A61B2562/0252 ,  A61B2562/0261 ,  A61H3/00 ,  A61H2003/007 ,  A61H2201/165 ,  A61H2201/1652 ,  A61H2201/5069 ,  A61H2201/5079 ,  A63B21/4009 ,  A63B21/4011 ,  A63B23/0405 ,  A63B24/0006 ,  A63B24/0087 ,  A63B2024/0009

Abstract: A gait assistance apparatus including at least one sensor configured to sense a step motion of a user, and an operator configured to determine assistance forces of a right step and a left step of the user based on step motion information of the user and adjust the assistance force for at least one of the right step or the left step of the user based on a result of proportionally adding together the assistance forces of the right step and the left step based on a variable ratio may be provided.