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公开(公告)号：US20230031376A1
公开(公告)日：2023-02-02
申请号：US17955033
申请日：2022-09-28
发明人： Bokman LIM , Kyungrock KIM , Jungsik HWANG
摘要： Provided are a method and apparatus for adjusting a control parameter value in association with a torque output to provide a force to a user, which, when the user performs a test walk while wearing a wearable device, assesses suitability of the control parameter value used for outputting the torque based on the torque output through the test walk and state information of a joint of the user and adjusts the control parameter value such that the user feels convenience in walking, in order to adjust the control parameter value.
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公开(公告)号：US20210200302A1
公开(公告)日：2021-07-01
申请号：US17132018
申请日：2020-12-23
发明人： Seungyong HYUNG , Kyungrock KIM , Segon ROH , Bokman LIM
IPC分类号： G06F3/01 , A63F13/211 , A61B5/11 , A61B5/00
摘要： A wearable device receives control information for controlling the wearable device from a virtual reality (VR) device, determines force output information corresponding to a walking environment of a user in a VR based on the received control information, and outputs force feedback based on the determined force output information.
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公开(公告)号：US20210100715A1
公开(公告)日：2021-04-08
申请号：US17123633
申请日：2020-12-16
发明人： Bokman LIM , Kyung-Rock KIM , Youngbo SHIM , Jusuk LEE , Jun-Won JANG
摘要： 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.
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公开(公告)号：US20160101515A1
公开(公告)日：2016-04-14
申请号：US14682694
申请日：2015-04-09
发明人： Bokman LIM , Youngbo SHIM , Kyung-Rock KIM , Jusuk LEE , Jun-Won JANG
CPC分类号： A61H1/0237 , A61H1/0244 , A61H3/00 , A61H2201/018 , A61H2201/165 , A61H2201/5061 , A61H2201/5069 , A61H2201/5079
摘要： A method and apparatus for controlling a walking assistance apparatus are provided. The apparatus may include a detector configured to detect a first step of a user, based on measured right and left hip joint angle information, a reconstructor unit configured to reconstruct knee joint information matched to the right and left hip joint angle information based on knee joint trajectory information in response to the user's steps, and a torque generator configured to generate a first torque applied to a first leg corresponding to the first step. The torque generator may generate the first torque, based on a second torque applied to a second leg that is opposite to the first leg and that corresponds to a second step preceding the first step.
摘要翻译： 提供一种用于控制步行辅助装置的方法和装置。 该装置可以包括检测器，其被配置为基于测量的左髋关节角度信息来检测用户的第一步骤，重建单元，被配置为基于膝关节重建与左髋关节角度信息和左髋关节角度信息匹配的膝关节信息 响应于用户的步骤的轨迹信息，以及扭矩发生器，被配置为产生施加到对应于第一步骤的第一腿的第一扭矩。 扭矩发生器可以基于施加到与第一腿相对的第二腿的第二扭矩产生第一扭矩，并且对应于第一步骤之前的第二步骤。
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公开(公告)号：US20230310251A1
公开(公告)日：2023-10-05
申请号：US18206640
申请日：2023-06-07
发明人： Bokman LIM , Youn Baek LEE , Jongwon LEE , Jusuk LEE
CPC分类号： A61H3/00 , A61B5/112 , A61B5/4836 , A61B5/7203 , A61H2201/165 , A61H2201/5007 , A61H2201/5069
摘要： A wearable device is disclosed. The wearable device may process a state variable defined based on motion information of a user, determine an interactive mode of the wearable device based on a gain associated with a magnitude of a torque of the wearable device, select a motion type from among motion types of the determined interactive mode based on a gait parameter of the user, determine a control factor for the torque based on the selected motion type, and generate the torque based on the processed state variable, the gain, and the determined control factor.
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公开(公告)号：US20210121741A1
公开(公告)日：2021-04-29
申请号：US16817090
申请日：2020-03-12
发明人： Jusuk LEE , Youn Baek LEE , Bokman LIM , Seungyong HYUNG , Kyung-Rock KIM , Keehong SEO
摘要： 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.
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公开(公告)号：US20180146890A1
公开(公告)日：2018-05-31
申请号：US15489126
申请日：2017-04-17
发明人： Kyung-Rock KIM , Joon-Kee CHO , Youngbo SHIM , Bokman LIM , Taesin HA
CPC分类号： A61H3/00 , A61B5/1121 , A61B5/6823 , A61B5/6828 , A61B5/7264 , A61B2562/0219
摘要： A gait state recognizing apparatus may include an inertial measurement unit (IMU) sensor configured to measure a movement of at least one leg of a user and a processor configured to calculate a rotation angle and an angular velocity of the at least one leg based on the measured movement of the at least one leg, and the processor may be configured to calculate the rotation angle of the at least one leg relative to a direction of gravity from the movement of the at least one leg and the angular velocity of the at least one leg relative to the direction of gravity based on a trend of the rotation angle.
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公开(公告)号：US20170020765A1
公开(公告)日：2017-01-26
申请号：US14972941
申请日：2015-12-17
发明人： Bokman LIM , Kyung-Rock KIM , Youngbo SHIM , Jusuk LEE , Jun-Won JANG
CPC分类号： A61H3/00 , A61H1/0244 , A61H2201/1215 , A61H2201/1628 , A61H2201/163 , A61H2201/164 , A61H2201/1642 , A61H2201/165 , A61H2201/1671 , A61H2201/5007 , A61H2201/5035 , A61H2201/5046 , A61H2203/0406
摘要： 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.
摘要翻译： 行走辅助方法可以包括接收从多个异常步态类型中选择的至少一种异常步态，并且基于至少一种异常步态类型不同地控制步行辅助装置。
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9.发明申请TORQUE PATTERN ADJUSTMENT APPARATUS AND METHOD FOR ADJUSTING TORQUE PATTERN USING THE SAME 审中-公开扭矩图案调整装置及使用该方法调整扭矩图案的方法公开(公告)号：US20160058646A1
公开(公告)日：2016-03-03
申请号：US14610731
申请日：2015-01-30
发明人： Keehong SEO , Byung-Kwon CHOI , Bokman LIM
IPC分类号： A61H3/00
摘要： An torque pattern adjustment apparatus including a display configured to display a first torque pattern corresponding to a gait cycle, and a generator configured to generate a second torque pattern by adjusting at least a portion of the first torque pattern in response to a reception of an input, and a torque pattern adjustment method using the same may be provided. The first torque pattern may be applied to a joint of a user.
摘要翻译： 一种扭矩模式调节装置，包括：显示器，被配置为显示与步态循环相对应的第一扭矩模式;以及发电机，其被配置为通过响应于输入的接收来调整所述第一扭矩模式的至少一部分来产生第二扭矩模式 ，并且可以提供使用该扭矩模式调整方法的扭矩模式调整方法。 第一扭矩图案可以应用于用户的接头。
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公开(公告)号：US20230046031A1
公开(公告)日：2023-02-16
申请号：US17973181
申请日：2022-10-25
发明人： Bokman LIM , Keehong SEO , Jusuk LEE
IPC分类号： A61H1/02
摘要： A method, performed by a wearable device, of outputting a torque includes obtaining a first angle of a first joint of a first leg of a user and a second angle of a second joint of a second leg of the user, calculating a first adjustment angle, based on an offset angle set for the first angle and the first joint, determining a first state factor associated with the first angle and the second angle, based on the first adjustment angle and the second angle, determining a first value of a parameter for adjusting at least one of a magnitude, a direction, and timing of a torque to be output, determining a first torque value, based on the first state factor and the first value of the parameter, and controlling a motor driver of the wearable device to output the first torque value.
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