System and method for controlling joint angle of knee-joint type walking training robot
US10456317B2 · kind B2 · utility
Assignee
Inventors
Key dates
| Filing date | Nov 19, 2014 |
| Grant date | Oct 29, 2019 |
| Priority date | — |
| Expiry date | Oct 27, 2036 |
Classification
- Technology area (CPC G)Physics
- CPC primaryG05B2219/45109
- WIPO fieldMedical technology
- WIPO sectorInstruments
Abstract
The present invention relates to a system and a method for controlling a joint angle of a knee-joint type walking training robot which estimates a walking stage of a person receiving rehabilitation for walking and actively responds to the walking stage on the basis thereof. The present invention can easily control the joint angle of the knee-joint type walking training robot by providing a configuration comprising: a pressure measuring device for measuring the pressure on the sole of a walker's foot by using a pressure sensor; and a joint angle estimating device for estimating the joint angle of a knee-joint by extracting movement time of the walk and the length of the part of the sole contacting the ground on the basis of the sole's pressure measured by the pressure measuring device.
Source: USPTO / EPO open patent data. Objective bibliographic and citation counts.