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Wearable robot and control method thereof

  • US 10,201,437 B2
  • Filed: 12/02/2014
  • Issued: 02/12/2019
  • Est. Priority Date: 01/15/2014
  • Status: Active Grant
First Claim
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1. A control method of a wearable robot, the wearable robot including a plurality of joints, the control method comprising:

  • generating a reference trajectory in a two-dimensional state space, the reference trajectory being a trajectory which the plurality of joints are required to follow when the wearable robot assists a wearer with walking;

    sensing motion of the wearer by sensing at least whether one or more of a toe and a heel portion of one or more foot rests associated with the wearable robot is in contact with a ground using a pair of pressure sensors;

    estimating a gait phase of the wearer of the wearable robot in the two-dimensional state space based on at least results of the sensing by the pair of pressure sensors;

    determining a distance between each of the multiple data points in the reference trajectory and the estimated gait phase in the two-dimensional state space;

    detecting a gait phase as one of the multiple data points within the reference trajectory such that the detected gait phase has a minimum distance from the estimated gait phase in the two-dimensional state space; and

    synchronizing motion of the wearable robot with the results of sensing motion of the wearer by the pair of pressure sensors by,generating a control signal associated with a driving velocity of a driver of the wearable robot based on the detected gait phase within the reference trajectory such that the estimated gait phase gradually converges to the detected gait phase, anddriving the driver according to the control signal.

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