公开(公告)号：US20180228684A1

公开(公告)日：2018-08-16

申请号：US15634332

申请日：2017-06-27

Applicant: Samsung Electronics Co., Ltd.

Inventor： Youngjin Park ,  Keehong Seo ,  Bokman Lim ,  Seungyong Hyung

IPC: A61H3/00

CPC classification number: A61H3/00 ,  A61H1/0237 ,  A61H2003/007 ,  A61H2201/0165 ,  A61H2201/1207 ,  A61H2201/1246 ,  A61H2201/163 ,  A61H2201/1642 ,  A61H2201/165 ,  A61H2201/5007 ,  A61H2201/5061 ,  A61H2201/5064 ,  A61H2201/5069 ,  A61H2201/5071 ,  A61H2201/5079 ,  A61H2203/0406 ,  A61H2203/0493 ,  A61H2205/06 ,  A61H2205/062 ,  A61H2205/065 ,  A61H2205/10 ,  B25J9/0006 ,  B62D57/032

Abstract: A motion assistance apparatus including a proximal support configured to support a proximal part of a user, a distal support configured to support a distal part of the user, a support assembly configured to connect the proximal support and the distal support and adjust a separation distance between the proximal support and the distal support and a rotation angle of the distal support, and a controller configured to control the support assembly based on a virtual dual spring-mass model designed using the proximal support as a body of mass, the controller including a first virtual spring configured to connect the proximal support and a first portion of the distal support and a second virtual spring configured to connect the proximal support and a second portion of the distal support is disclosed.