公开(公告)号：US10702440B2

公开(公告)日：2020-07-07

申请号：US15012528

申请日：2016-02-01

Applicant: Samsung Electronics Co., Ltd.

Inventor： Kyung-Rock Kim ,  Youngjin Park ,  Youngbo Shim ,  Bokman Lim ,  Jun-Won Jang

IPC: A61H3/00 ,  A61F2/68 ,  A61H1/02 ,  A61F2/50

Abstract: A motion assistance apparatus including a fixing module to be attached to a waist of a user, a driving module provided in the fixing module to provide a torque to assist a motion of the user, a supporting module connected to the driving module to support a portion of a circumference of a leg of the user, and a controller configured to control the driving module to provide a torque to maintain a close contact between the supporting module and the leg of the user while the user is not walking.

公开(公告)号：US10449106B2

公开(公告)日：2019-10-22

申请号：US15631125

申请日：2017-06-23

Applicant: Samsung Electronics Co., Ltd.

Inventor： Jun-Won Jang

IPC: G05B15/00 ,  G05B19/00 ,  A61H3/00 ,  A61B5/11 ,  B25J9/00 ,  B62D57/032 ,  A61B5/00 ,  A61B5/107 ,  B25J9/16 ,  B25J13/08 ,  A61B5/0488

Abstract: Walking assistance apparatuses and methods of controlling the walking assistance apparatus are provided. The walking assistance apparatus may recognize a type of a gait task of a user, and may assist a gait of the user to be suitable for the recognized gait task. The walking assistance apparatus may recognize the gait task as various categories using a pre-trained recognizer.

公开(公告)号：US09737240B2

公开(公告)日：2017-08-22

申请号：US14556841

申请日：2014-12-01

Applicant: Samsung Electronics Co., Ltd.

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

IPC: A61B5/11 ,  A61B5/00 ,  A63B24/00 ,  A61H3/00 ,  A61H1/02 ,  G07C1/22

CPC classification number: A61B5/112 ,  A61B5/1122 ,  A61B5/7264 ,  A61H1/0244 ,  A61H3/00 ,  A61H2201/165 ,  A61H2201/5058 ,  A61H2201/5061 ,  A61H2201/5069 ,  A61H2201/5079 ,  A61H2201/5084 ,  G07C1/22

Abstract: An apparatus and method for recognizing a gait motion by detecting a landing point in time of a foot of a user based on sensed acceleration information, inferring a gait motion based on right and left hip joint angle information of the user sensed at the detected landing point in time of the foot of the user, and detecting a landing leg between both legs of the user based on the inferred gait motion may be provided.

公开(公告)号：US11744764B2

公开(公告)日：2023-09-05

申请号：US16171511

申请日：2018-10-26

Applicant: Samsung Electronics Co., Ltd.

Inventor： Jusuk Lee ,  Youngjin Park ,  Keehong Seo ,  Bokman Lim ,  Jun-Won Jang ,  Hyun Do Choi ,  Seungyong Hyung

IPC: A61H3/00 ,  A61H1/00

CPC classification number: A61H3/00 ,  A61H1/00 ,  A61H2003/007 ,  A61H2201/164 ,  A61H2201/5007 ,  A61H2201/5064 ,  A61H2201/5069 ,  A61H2201/5071 ,  A61H2201/5084 ,  A61H2230/085

Abstract: Provided is a method and device for assisting walking of a user that may receive a pressure value applied to a sole of a user from a pressure sensor, acquire acceleration information associated with a movement of the user from an acceleration sensor, determine a gait phase based on the pressure value and the acceleration information, determine an assist torque corresponding to the determined gait phase, and control a driver to output the assist torque.

公开(公告)号：US11631028B2

公开(公告)日：2023-04-18

申请号：US16439994

申请日：2019-06-13

Applicant: Samsung Electronics Co., Ltd.

Inventor： Jun-Won Jang ,  Kyung-Rock Kim ,  Taesin Ha

IPC: G06N20/00 ,  G06N3/00 ,  B25J9/16 ,  G05B19/4155 ,  G06N3/008

Abstract: A tendency of an action of a robot may vary based on learning data used for training. The learning data may be generated by an agent performing an identical or similar task to a task of the robot. An apparatus and method for updating a policy for controlling an action of a robot may update the policy of the robot using a plurality of learning data sets generated by a plurality of heterogeneous agents, such that the robot may appropriately act even in an unpredicted environment.

公开(公告)号：US10945908B2

公开(公告)日：2021-03-16

申请号：US14972941

申请日：2015-12-17

Applicant: Samsung Electronics Co., Ltd.

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

IPC: A61H3/00 ,  A61H1/02

Abstract: A walking assistance method may include receiving at least one abnormal gait type selected from a plurality of abnormal gait types, and differently controlling a walking assistance apparatus based on the at least one abnormal gait type. Therefore, the walking assistance method may effectively assist various types of abnormal gaits.

公开(公告)号：US10575761B2

公开(公告)日：2020-03-03

申请号：US14681847

申请日：2015-04-08

Applicant: Samsung Electronics Co., Ltd.

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

IPC: A61B5/11 ,  A61H3/00 ,  G06K9/00

Abstract: A method and apparatus for recognizing a gait motion are provided. The apparatus may set a gait motion recognition period based on measured right and left hip joint angle information, may input, to a trained neural network, right and left hip joint angle information and vertical acceleration information measured during the gait motion recognition period, and may recognize a gait motion.

公开(公告)号：US10420696B2

公开(公告)日：2019-09-24

申请号：US14982680

申请日：2015-12-29

Applicant: Samsung Electronics Co., Ltd.

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

IPC: A61H3/00 ,  A61H1/02 ,  A61B5/11

Abstract: A walking assistance method may include: detecting a landing time of a foot of a user; and/or initiating gait assistance based on a first joint location of a first leg of the user sensed at the landing time and a second joint location of the user sensed after the landing time. A walking assistance apparatus may include: a driver configured to perform gait assistance of a user; and/or a controller configured to control the driver to initiate the gait assistance based on a first joint location of a first leg of the user sensed at a landing time of a foot of the user and a second joint location sensed after the landing time.

公开(公告)号：US20190209413A1

公开(公告)日：2019-07-11

申请号：US16171511

申请日：2018-10-26

Applicant: Samsung Electronics Co., Ltd.

Inventor： Jusuk Lee ,  Youngjin Park ,  Keehong Seo ,  Bokman Lim ,  Jun-Won Jang ,  Hyun Do Choi ,  Seungyong Hyung

IPC: A61H3/00

CPC classification number: A61H3/00 ,  A61H2003/007 ,  A61H2201/164 ,  A61H2201/5007 ,  A61H2201/5064 ,  A61H2201/5069 ,  A61H2201/5071 ,  A61H2201/5084 ,  A61H2230/085

Abstract: Provided is a method and device for assisting walking of a user that may receive a pressure value applied to a sole of a user from a pressure sensor, acquire acceleration information associated with a movement of the user from an acceleration sensor, determine a gait phase based on the pressure value and the acceleration information, determine an assist torque corresponding to the determined gait phase, and control a driver to output the assist torque.