Method and apparatus for calculating torque of walking assistance device

• US 9,868,204 B2
• Filed: 01/19/2016
• Issued: 01/16/2018
• Est. Priority Date: 08/11/2015
• Status: Active Grant

• Current Assignee: Samsung Electronics Co. Ltd.
• Original Assignee: Samsung Electronics Co. Ltd.
• Inventors: Seo, Keehong, Lee, Jusuk, Lim, Bokman
• Primary Examiner(s): Sample, Jonathan L
• Application Number:
  US15/000,638
• Publication Number:
  US 20170043476A1
• Time in Patent Office: 728 Days
• Field of Search: 700245-264, 601 34- 35, 623 24, 623 25, 623 27, 623 32, 623 39, 901 1, 901 46
• CPC Class Codes: A61B 5/112 Gait analysis
• CPC Class Codes: A61H 1/0244 Hip A61H1/0255 takes precedence
• CPC Class Codes: A61H 2201/1215 Rotary drive
• CPC Class Codes: A61H 2201/1628 Pelvis
• CPC Class Codes: A61H 2201/164 Feet or leg, e.g. pedal
• CPC Class Codes: A61H 2201/165 Wearable interfaces
• CPC Class Codes: A61H 2201/501 connected to external computer devices or networks
• CPC Class Codes: A61H 2201/5061 Force sensors
• CPC Class Codes: A61H 2201/5064 Position sensors
• CPC Class Codes: A61H 2201/5069 Angle sensors
• CPC Class Codes: A61H 2201/5079 Velocity sensors
• CPC Class Codes: A61H 2201/5084 Acceleration sensors
• CPC Class Codes: A61H 2201/5097 wireless
• CPC Class Codes: A61H 2230/085 used as a control parameter for the apparatus
• CPC Class Codes: A61H 2230/605 used as a control parameter for the apparatus
• CPC Class Codes: A61H 2230/625 used as a control parameter for the apparatus
• CPC Class Codes: A61H 3/00 Appliances for aiding patients or disabled persons to walk about apparatus for helping babies to walk A47D13/04; orthopaedic devices for correcting deformities of, or supporting, limbs A61F5/0102; exercising apparatus for the feet or toes A63B23/10; stairways or ramps E04F11/00
• CPC Class Codes: B25J 9/0006 Exoskeletons, i.e. resembling a human figure
• CPC Class Codes: G05B 19/042 using digital processors G05B19/05 takes precedence
• CPC Class Codes: G05B 2219/36435 Electromyographical, myoelectric control signal
• CPC Class Codes: G05B 2219/40305 : Exoskeleton, human robot interaction, extenders
• CPC Class Codes: Y10S 901/09 : Closed loop, sensor feedback controls arm movement

Abstract

A method and apparatus for calculating a torque of a walking assistance device, the method including receiving a measured joint angle, obtaining a gait parameter with respect to a transition among a predetermined number of gait states based on the joint angle, obtaining a gait cycle based on the joint angle, and obtaining an output torque based on the gait cycle and the gait parameter, is provided.

Claims

1. A method of calculating an output torque of a walking assistance device via a controller connected to one or more sensors, the method comprising:

sensing, via signals from the one or more sensors, a joint angle associated with a joint of a user;

determining a gait cycle by applying the joint angle to a particularly shaped adaptive oscillator (PSAO);

determining a gait parameter with respect to a transition among predefined gait states by applying the joint angle to a finite state machine (FSM);

calculating the output torque based on the gait cycle and the gait parameter, the calculating including,

correcting the gait cycle using the gait parameter as a reference value to generate a corrected gait cycle; and

calculating the output torque corresponding to the corrected gait cycle, and

instructing a driver to apply the output torque to a support of the walking assistance device associated with the joint of the user.

2. The method of claim 1, wherein the determining the gait cycle comprises:

calculating a first gait frequency based on the joint angle; and

determining the gait cycle based on the first gait frequency.

3. The method of claim 1, wherein the determining the gait parameter comprises:

determining a current one of the gait states based on a previous one of the gait states and the joint angle;

determining if the transition among the gait states occurred based on the previous one of the gait states and the current one of the gait states; and

determining the gait parameter in response to a determination that the transition occurred.

4. The method of claim 3, wherein

the determining the gait parameter further includes determining a second gait cycle as the gait parameter, and

the calculating the output torque includes calculating the output torque based on the gait cycle and the second gait cycle.

5. The method of claim 4, wherein the determining the second gait cycle comprises:

defining a value preset with respect to the current one of the gait states as a value of the second gait cycle.

6. The method of claim 3, wherein

the determining the gait parameter includes calculating a second gait frequency as the gait parameter, and

the calculating the output torque includes calculating the output torque based on the gait cycle and the second gait frequency.

7. The method of claim 6, wherein the calculating of the second gait frequency comprises:

calculating the second gait frequency based on a period of the transition.

8. The method of claim 3, wherein the determining the current one of the gait states comprises:

determining a gait state corresponding to the joint angle, among the gait states with respect to the joint angle, to be the current one of the gait states.

9. The method of claim 1, wherein the calculating the output torque comprises:

determining whether a difference between the gait cycle and the gait parameter is greater than or equal to a threshold; and

calculating the output torque based on the gait parameter in response to a determination that the difference is greater than or equal to the threshold.

10. The method of claim 1, wherein the calculating the output torque comprises:

determining whether a difference between the gait cycle and the gait parameter is greater than or equal to a threshold; and

calculating the output torque based on the gait cycle and the gait parameter, if the difference is less than the threshold.

11. The method of claim 1, wherein the calculating the output torque comprises:

determining whether a condition is satisfied; and

calculating the output torque based on the gait parameter, if the condition is satisfied.

12. The method of claim 11, wherein the condition is an initial stage of walking.

13. The method of claim 12, wherein the condition is determined as the initial stage of walking when a current one of the gait states has been determined less than a set number of times.

14. The method of claim 1, wherein the calculating the output torque comprises:

determining a final gait cycle based on the gait cycle and the gait parameter; and

calculating the output torque corresponding to the final gait cycle.

15. The method of claim 1, wherein the joint angle is an angle of at least one of a hip joint, a knee joint, and an ankle joint.

16. A torque calculating apparatus comprising:

one or more sensors configured to sense a joint angle associated with a joint of a user;

a receiver configured to receive a measurement of the joint angle; and

a processor configured to,

determine a gait cycle by applying the joint angle to a particularly shaped adaptive oscillator (PSAO);

determine a gait parameter with respect to a transition among predefined gait states by applying the joint angle to a finite state machine (FSM);

calcuate output torque based on the gait cycle and the gait parameter by,

correcting the gait cycle using the gait parameter as a reference value to generate a corrected gait cycle; and

calculating the output torque corresponding to the corrected gait cycle, and

instruct a driver to apply the output torque to a support of a walking assistance device associated with the joint of the user.

17. A torque calculating method via a controller connected to one or more sensors, the method comprising:

sensing, via signals from the one or more sensors, a joint angle associated with a joint of a user;

obtaining a first gait cycle based on a measured joint angle using a particularly shaped adaptive oscillator (PSAO);

obtaining a second gait cycle with respect to a transition among predefined gait states based on the joint angle using a finite state machine (FSM);

calculating a final gait cycle based on the first gait cycle and the second gait cycle when the transition occurs;

calculating a torque corresponding to the final gait cycle; and

instructing a driver to apply the torque to a support of a walking assistance device associated with the joint of the user.

18. A method of calculating a torque to apply to a walking assistance device via a controller connected to one or more sensors, the method comprising:

sensing, via signals from the one or more sensors, a joint angle associated with a joint of a user;

determining a current gait state within a gait cycle of the user based on the joint angle by,

setting a phase of an oscillator of a particularly shaped adaptive oscillator (PSAO) as the current gait state, if the oscillator has a fundamental frequency corresponding to a gait frequency, and

setting a phase of a finite state machine (FSM) as the current gait state by overriding the PSAO, if the gait cycle has completed less than a threshold number of times;

calculating the torque based on the current gait state; and

instructing a driver to apply the torque to a support of the walking assistance device associated with the joint of the user.

19. The method of claim 18, wherein the calculating the torque calculates the torque using the PSAO and the FSM.

20. The method of claim 19, further comprising:

determining, using the PSAO, the current gait state based on a trajectory of the joint angle associated with the joint of the user.