MOTION ASSISTANCE APPARATUS AND CONTROL METHOD OF THE SAME
    242.
    发明申请
    MOTION ASSISTANCE APPARATUS AND CONTROL METHOD OF THE SAME 审中-公开
    运动辅助装置及其控制方法

    公开(公告)号:US20170065440A1

    公开(公告)日:2017-03-09

    申请号:US15047842

    申请日:2016-02-19

    Inventor: Taesin Ha

    Abstract: Example embodiments relate to a control method of a motion assistance apparatus including a fixing module attached to a user, a driving module fixed to the fixing module to generate rotation power, a supporting module configured to support a portion of a body of the user and driven by the driving module, a force sensor configured to measure a magnitude of force applied to the fixing module, and a controller configured to control the driving module, the method including generating, by the driving module, a driving torque to drive the supporting module, measuring a direction and a magnitude of force indicated by the force sensor, calculating a compensation torque to minimize the measured magnitude of force, and driving the driving module by adding the compensation torque to the driving torque.

    Abstract translation: 示例性实施例涉及一种运动辅助装置的控制方法,该运动辅助装置包括附接到使用者的固定模块,固定到固定模块以产生旋转动力的驱动模块,配置成支撑使用者身体的一部分并被驱动 通过所述驱动模块,构造成测量施加到所述固定模块的力的大小的力传感器以及被配置为控制所述驱动模块的控制器,所述方法包括由所述驱动模块生成用于驱动所述支撑模块的驱动扭矩, 测量由力传感器指示的力的方向和大小,计算补偿扭矩以最小化所测量的力的大小,以及通过将驱动模块与驱动扭矩相加来驱动驱动模块。

    METHOD AND APPARATUS FOR CALCULATING ASSISTANCE TORQUES
    243.
    发明申请
    METHOD AND APPARATUS FOR CALCULATING ASSISTANCE TORQUES 审中-公开
    计算辅助扭矩的方法和装置

    公开(公告)号:US20170056274A1

    公开(公告)日:2017-03-02

    申请号:US14988382

    申请日:2016-01-05

    Inventor: Jusuk LEE

    Abstract: A method may include: calculating a first assistance torque to be provided to a user wearing a walking assistance apparatus; measuring a degree of twisting of a portion of the apparatus; calculating a second assistance torque transferred to the user based on the degree of twisting; and/or calculating a third assistance torque based on the first and second assistance torques, the third assistance torque corresponding to correction of the twisting. An assistance torque calculation apparatus may include: a bend sensor configured to measure a degree of twisting of a portion of a walking assistance apparatus; and/or a processor configured to calculate a first assistance torque to be provided to a user wearing the walking assistance apparatus, configured to calculate a second assistance torque transferred to the user based on the degree of twisting, and/or configured to calculate a third assistance torque based on the first and second assistance torques.

    Abstract translation: 一种方法可以包括:计算提供给穿着步行辅助装置的用户的第一辅助扭矩; 测量所述装置的一部分的扭转程度; 基于扭转程度计算传递给用户的第二辅助扭矩; 和/或基于第一和第二辅助扭矩来计算第三辅助扭矩,所述第三辅助扭矩对应于扭转的校正。 辅助扭矩计算装置可以包括:弯曲传感器,被配置为测量步行辅助装置的一部分的扭转程度; 和/或处理器,被配置为计算要提供给穿着步行辅助装置的用户的第一辅助扭矩,所述第一辅助扭矩被配置为基于所述扭转程度计算传递给所述用户的第二辅助扭矩,和/或被配置为计算第三辅助扭矩 基于第一和第二辅助扭矩的辅助扭矩。

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