公开(公告)号：US20170189259A1

公开(公告)日：2017-07-06

申请号：US15368316

申请日：2016-12-02

Applicant: NATIONAL CHIAO TUNG UNIVERSITY

Inventor： Kai-Tai SONG ,  Shang-Yang WU ,  Sin-Yi JIANG

IPC: A61H3/04

CPC classification number: A61H3/04 ,  A61B5/11 ,  A61B5/112 ,  A61B5/1126 ,  A61B5/6887 ,  A61H2003/043 ,  A61H2201/0173 ,  A61H2201/1207 ,  A61H2201/1635 ,  A61H2201/5007 ,  A61H2201/5043 ,  A61H2201/5058 ,  A61H2201/5064 ,  A61H2201/5069 ,  A61H2201/5079

Abstract: A method for controlling a walking assistant apparatus includes: scanning a user so as to generate information associated with gait of the user; detecting a torque applied to a torque sensor; estimating a speed of the user based on the information; calculating a compliant motion speed, and a compliant rotational speed; and controlling the motion unit to move at the compliant motion speed and to turn at the compliant rotational speed. This disclosure provides an autonomous obstacle avoidance mechanism; by combining the obstacle avoidance mechanism and the compliance controls, the walking-assistance apparatus is able to help user prevent from collisions with obstacles when walking in an environment with obstacles.