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：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：US10034811B2

公开(公告)日：2018-07-31

申请号：US14988382

申请日：2016-01-05

Applicant: Samsung Electronics Co., Ltd.

Inventor： Jusuk Lee

IPC: A61F2/70 ,  A61H3/00 ,  B25J13/08 ,  A61H1/02 ,  B25J9/12 ,  B25J9/00 ,  A61F5/01

CPC classification number: A61H3/00 ,  A61F2/70 ,  A61F5/0102 ,  A61F2005/0155 ,  A61F2250/0074 ,  A61H1/0244 ,  A61H2201/0165 ,  A61H2201/1215 ,  A61H2201/164 ,  A61H2201/165 ,  A61H2201/5005 ,  A61H2201/5007 ,  A61H2201/5048 ,  A61H2201/5058 ,  A61H2201/5061 ,  A61H2201/5069 ,  A61H2201/5071 ,  A61H2201/5079 ,  A61H2201/5084 ,  A61H2201/5097 ,  A61H2230/605 ,  B25J9/0006 ,  B25J9/126 ,  B25J13/085 ,  B25J13/088

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.

公开(公告)号：US11951066B2

公开(公告)日：2024-04-09

申请号：US16412867

申请日：2019-05-15

Applicant: Samsung Electronics Co., Ltd.

Inventor： Keehong Seo ,  Youngjin Park ,  Jusuk Lee ,  Hyundo Choi ,  Seungyong Hyung

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

CPC classification number: A61H3/00 ,  A61B5/112 ,  A61B5/1121 ,  A61B5/6828 ,  A61B5/6829 ,  A61B5/7267 ,  A61B5/7275 ,  A61H1/0262 ,  A61B2562/0219 ,  A61H2003/007 ,  A61H2201/5061 ,  A61H2201/5084 ,  A61H2205/10 ,  A61H2230/625

Abstract: A method and apparatus for assisting walking of a user is provided. Information related to a motion of a user wearing a walking assistance apparatus is measured by an inertial measurement unit (IMU), a gait phase of the user corresponding to the measured information is predicted using data learned in advance through machine learning, an assistance torque to be provided to the user is determined based on the predicted gait phase, and a driver is controlled to output the assistance torque.

公开(公告)号：US11752393B2

公开(公告)日：2023-09-12

申请号：US16817090

申请日：2020-03-12

Applicant: Samsung Electronics Co., Ltd.

Inventor： Jusuk Lee ,  Youn Baek Lee ,  Bokman Lim ,  Seungyong Hyung ,  Kyung-Rock Kim ,  Keehong Seo

IPC: A61B5/11 ,  A61B5/00 ,  A63B26/00 ,  A61H1/02 ,  A63B24/00

CPC classification number: A63B26/003 ,  A61B5/112 ,  A61B5/1117 ,  A61B5/7275 ,  A61H1/0244 ,  A63B24/0087 ,  A63B2220/54 ,  A63B2220/803 ,  A63B2220/836

Abstract: A balance training method using a wearable device, and the wearable device are disclosed. The balance training method using the wearable device configured to provide a walking assist function includes executing a balance training mode of the wearable device and supplying an irregular pattern torque to an actuator of the wearable device at a time point or in a time period in the balance training mode.

公开(公告)号：US11633320B2

公开(公告)日：2023-04-25

申请号：US16678543

申请日：2019-11-08

Applicant: Samsung Electronics Co., Ltd.

Inventor： Youngjin Park ,  Jusuk Lee ,  Hyundo Choi ,  Seungyong Hyung

IPC: A61H3/00 ,  B25J9/00 ,  B25J13/08 ,  B25J9/16 ,  G06F17/16

Abstract: A method for controlling an ankle-type walking assistance device may include measuring an angle of a joint of the walking assistance apparatus, calculating an angular velocity and a linear velocity of a frame of the walking assistance device using an inertial measurement unit (IMU) attached to the frame, generating a dynamics model for the walking assistance device based on the angle of the joint, the angular velocity and the linear velocity of the frame, calculating a disturbance applied to the walking assistance device based on the dynamics model, and controlling the walking assistance device based on the calculated force, equivalent, or wrench.

公开(公告)号：US20180071910A1

公开(公告)日：2018-03-15

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 ,  G05B19/042 ,  A61H3/00 ,  A61B5/11 ,  A61H1/02

CPC classification number: B25J9/0006 ,  A61B5/112 ,  A61H1/0244 ,  A61H3/00 ,  A61H2201/1215 ,  A61H2201/1628 ,  A61H2201/164 ,  A61H2201/165 ,  A61H2201/501 ,  A61H2201/5061 ,  A61H2201/5064 ,  A61H2201/5069 ,  A61H2201/5079 ,  A61H2201/5084 ,  A61H2201/5097 ,  A61H2230/085 ,  A61H2230/605 ,  A61H2230/625 ,  G05B19/042 ,  G05B2219/36435 ,  G05B2219/40305 ,  Y10S901/09

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：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.