Apparatus and method for recognizing gait motion
First Claim
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1. An apparatus for recognizing a gait motion, the apparatus comprising:
- at least one sensor configured to sense acceleration information and right and left hip joint angle information of a user;
a controller configured to,detect a landing point in time of a foot of the user based on the sensed acceleration information, the landing point in time is a time point at which a foot of the user lands, and further detect a prediction horizon as the landing point in time when a difference between a mean acceleration for a base horizon set based on a previous step duration horizon and a mean acceleration for the prediction horizon is greater than or equal to a threshold value,infer a gait motion based on the sensed right and left hip joint angle information of the user, the right and left hip joint angle information sensed at the landing point in time,detect a landing leg between both legs of the user based on the inferred gait motion, andoutput a control signal based on at least one of the inferred gait motion and the detected landing leg; and
a driver configured to drive a hip joint of the user based on the control signal.
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Abstract
An apparatus and method for recognizing a gait motion by detecting a landing point in time of a foot of a user based on sensed acceleration information, inferring a gait motion based on right and left hip joint angle information of the user sensed at the detected landing point in time of the foot of the user, and detecting a landing leg between both legs of the user based on the inferred gait motion may be provided.
11 Citations
15 Claims
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1. An apparatus for recognizing a gait motion, the apparatus comprising:
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at least one sensor configured to sense acceleration information and right and left hip joint angle information of a user; a controller configured to, detect a landing point in time of a foot of the user based on the sensed acceleration information, the landing point in time is a time point at which a foot of the user lands, and further detect a prediction horizon as the landing point in time when a difference between a mean acceleration for a base horizon set based on a previous step duration horizon and a mean acceleration for the prediction horizon is greater than or equal to a threshold value, infer a gait motion based on the sensed right and left hip joint angle information of the user, the right and left hip joint angle information sensed at the landing point in time, detect a landing leg between both legs of the user based on the inferred gait motion, and output a control signal based on at least one of the inferred gait motion and the detected landing leg; and a driver configured to drive a hip joint of the user based on the control signal. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8, 9)
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10. A walking assistance apparatus comprising:
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a driving mechanism configured to drive a right hip joint and a left hip joint of a user; a sensor configured to sense right and left hip joint angle information; an inertial measurement unit (IMU) sensor configured to sense acceleration information in response to walking of the user; and a controller configured to detect a landing point in time of a foot of the user based on the sensed acceleration information, infer a gait motion of the user based on the right and left hip joint angle information of the user sensed at the detected landing point in time of the foot of the user, detect a landing leg based on the inferred gait motion, and control the driving mechanism based on at least one of the inferred gait motion of the user and the detected landing leg, wherein the controller is further configured to detect a prediction horizon as the landing point in time when a difference between a mean acceleration for a base horizon set based on a previous step duration horizon and a mean acceleration for the prediction horizon is greater than or equal to a threshold value. - View Dependent Claims (11, 12)
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13. A method of recognizing a gait motion, the method comprising:
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sensing, by at least one sensor, acceleration information of a user; detecting, by a controller, a landing point in time of a foot of a user based on the sensed acceleration information; sensing, by the at least one sensor, right and left hip joint angle information of the user at the detected landing point in time of the foot of the user; inferring, by the controller, a gait motion based on the sensed right and left hip joint angle information of the user; detecting, by the controller, a landing leg between both legs of the user based on the inferred gait motion; outputting a control signal based on at least one of the inferred gait motion and the detected landing leg; and driving a hip joint of the user based on the control signal, wherein the detecting a landing point in time includes detecting a prediction horizon as the landing point in time when a difference between a mean acceleration for a base horizon set based on a previous step duration horizon and a mean acceleration for the prediction horizon is greater than or equal to a threshold value. - View Dependent Claims (14, 15)
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Specification