Walking assistant device and method of controlling walking assistant device
US10005179B2 · kind B2 · utility
Assignee
Inventors
Key dates
| Filing date | Jan 7, 2015 |
| Grant date | Jun 26, 2018 |
| Priority date | — |
| Expiry date | Feb 21, 2036 |
Classification
- Technology area (CPC A)Human Necessities
- CPC primaryA61H2230/605
- WIPO fieldMedical technology
- WIPO sectorInstruments
Abstract
A walking assistant device may calculate a walking cycle by measuring only motion of a specific joint without a force/torque sensor (F/T sensor) of a foot, and a method of controlling the walking assistant device. The method may include measuring motion of a hinge to which different support frames are connected; overlapping a reference trajectory corresponding to the measured motion and modulation trajectories that have been modulated from the reference trajectory; correcting the overlapping trajectory to correspond to the measured motion; determining assistant torque corresponding to a phase of the corrected trajectory; and providing the determined assistant torque to the support frame.
Source: USPTO / EPO open patent data. Objective bibliographic and citation counts.