Torque output timing adjustment method and apparatus
First Claim
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1. A method of adjusting a torque output timing of a torque output by a walking assistance apparatus to a leg of a user, the method comprising:
- detecting a joint angle rate interval in which a joint angle rate of the leg of the user is maximized in a gait cycle of the leg;
detecting an assistance power interval in which an assistance power applied from the walking assistance apparatus to the leg is maximized in the gait cycle; and
adjusting a timing for outputting a torque to the leg based on the joint angle rate interval and the assistance power interval such that a difference between the joint angle rate interval and the assistance power interval is equal to a predefined offset.
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Abstract
Provided is a torque output timing adjustment method and apparatus, wherein an assistance power provided by a walking assistance apparatus is determined based on an output assistance power and a joint angle rate, a pattern of a joint angle rate varies for each user based on a gait pattern varying for each user, and an assistance torque provided to a user is adjusted in response to an adjustment of a torque output timing.
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Citations
18 Claims
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1. A method of adjusting a torque output timing of a torque output by a walking assistance apparatus to a leg of a user, the method comprising:
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detecting a joint angle rate interval in which a joint angle rate of the leg of the user is maximized in a gait cycle of the leg; detecting an assistance power interval in which an assistance power applied from the walking assistance apparatus to the leg is maximized in the gait cycle; and adjusting a timing for outputting a torque to the leg based on the joint angle rate interval and the assistance power interval such that a difference between the joint angle rate interval and the assistance power interval is equal to a predefined offset. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14)
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15. A torque output timing adjustment apparatus comprising:
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a sensor configured to measure a joint angle rate of a leg of a user wearing a walking assistance apparatus; and a processor configured to, detect a joint angle rate interval in which the joint angle rate of the leg is maximized in a gait cycle of the leg, detect an assistance power interval in which an assistance power applied from the walking assistance apparatus to the leg is maximized in the gait cycle, and adjust a timing for outputting a torque to the leg such that a difference between the joint angle rate interval and the assistance power interval is equal to a predefined offset. - View Dependent Claims (16, 17)
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18. A method of adjusting a torque output timing of a torque output by a walking assistance apparatus to a leg of a user, the method comprising:
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detecting a joint angle rate interval in which a joint angle rate of the leg of the user is maximized in a gait cycle of the leg; detecting a torque interval in which a torque applied from the walking assistance apparatus to the leg is maximized in the gait cycle; and adjusting a timing for outputting the torque to the leg based on the joint angle rate interval and the torque interval such that a difference between the joint angle rate interval and the torque interval is equal to a predefined offset.
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Specification