Method of controlling walking assistance device and electronic device performing the method
US11633320B2 · kind B2 · utility
Assignee
Inventors
Key dates
| Filing date | Nov 8, 2019 |
| Grant date | Apr 25, 2023 |
| Priority date | — |
| Expiry date | Sep 4, 2041 |
Classification
- Technology area (CPC A)Human Necessities
- CPC primaryA61H2230/62
- WIPO fieldMedical technology
- WIPO sectorInstruments
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.
Source: USPTO / EPO open patent data. Objective bibliographic and citation counts.