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TORQUE OUTPUT TIMING ADJUSTMENT METHOD AND APPARATUS

  • US 20170128235A1
  • Filed: 06/22/2016
  • Published: 05/11/2017
  • Est. Priority Date: 11/11/2015
  • Status: Active Grant
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.

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