Walking assistance method and apparatuses performing the same

Patent metadata

Field	Value
Publication number	US-12318344-B2
Application number	US-202017123633-A
Country	US
Kind code	B2
Filing date	Dec 16, 2020
Priority date	Jul 23, 2015
Publication date	Jun 3, 2025
Grant date	Jun 3, 2025

Abstract

A walking assistance method may include receiving at least one abnormal gait type selected from a plurality of abnormal gait types, and differently controlling a walking assistance apparatus based on the at least one abnormal gait type.

First claim

What is claimed is:

1. A walking assistance method comprising:
receiving information of a selection of at least one abnormal gait type from among a plurality of abnormal gait types that are each selectable by a user via a user interface (UI);
obtaining, from a plurality of torque parameters stored in a memory, at least one torque parameter associated with the at least one abnormal gait type selected via the UI; and
based on the at least one torque parameter, transmitting, to a walking assistance apparatus, control information for controlling a driver of the walking assistance apparatus such that the walking assistance apparatus compensates for a functional disorder.

2. The method of claim 1 , wherein the controlling further comprises:
generating an assist torque profile based on the at least one torque parameter associated with the at least one abnormal gait type.

3. The method of claim 2 , the generating comprises:
generating the assist torque profile based on first torque parameters and second torque parameters, the first torque parameters corresponding to a first abnormal gait type of the at least one abnormal gait type, and the second torque parameters corresponding to a second abnormal gait type of the at least one abnormal gait type.

4. The method of claim 3 , wherein the generating of the assist torque profile based on the first torque parameters and the second torque parameters comprises:
combining the first torque parameters and the second torque parameters to generate the assist torque profile.

5. The method of claim 3 , wherein the generating of the assist torque profile based on the first torque parameters and the second torque parameters comprises:
adding the first torque parameters and the second torque parameters based on a weight to generate the assist torque profile.

6. The method of claim 1 , wherein the at least one abnormal gait type comprises:
at least one of a crouch gait, a steppage gait, an antalgic gait, an ataxic gait type, a festinating gait, a vaulting gait, a lurching gait, an equinus gait, a short leg gait, a hemiplegic gait, a circumduction gait, a tabetic gait, a neurogenic gait, a scissoring gait, and a Parkinsonian gait.

7. The method of claim 1 , further comprising:
displaying the plurality of abnormal gait types.

8. The method of claim 1 , further comprising:
storing torque parameters corresponding to each of assist torque profiles of the plurality of abnormal gait types.

9. The method of claim 8 , wherein the storing comprises:
computing, for each of the plurality of abnormal gait types, a first torque mapped to each joint of a user;
computing a second torque to be generated by the walking assistance apparatus for assisting a gait of the user,
generating a gait motion based on the first torque and the second torque;
calculating an objective function based on the gait motion; and
generating the torque parameters based on a result of the calculating.

10. The method of claim 9 , wherein the generating of the gait motion comprises:
performing a forward dynamics computation on the first torque and the second torque; and
generating the gait motion based on a result of the forward dynamics computation.

11. The method of claim 2 , the generating comprises:
generating the assist torque profile based on first torque parameters and second torque parameters, the first torque parameters corresponding an abnormal gait type, and the second torque parameters corresponding to a gait type.

12. An electronic apparatus comprising:
a memory; and
a controller configured to,
receive information of a selection of at least one abnormal gait type from among a plurality of abnormal gait types that are each selectable by a user via a user interface (UI),
obtain, from a plurality of torque parameters stored in the memory, at least one torque parameter associated with the at least one abnormal gait type selected via the UI, and
based on the at least one torque parameter, transmit, to a walking assistance apparatus, control information for controlling a driver of the walking assistance apparatus such that the walking assistance apparatus compensates for a functional disorder.

13. The electronic apparatus of claim 12 ,
wherein the controller is further configured to generate an assist torque profile based on the at least one torque parameter associated with the at least one abnormal gait type.

14. The electronic apparatus of claim 13 , wherein the controller is configured to generate the assist torque profile based on first torque parameters corresponding to a first abnormal gait type of the at least one abnormal gait type and second torque parameters corresponding to a second abnormal gait type of the at least one abnormal gait type.

15. The electronic apparatus of claim 14 , wherein the controller is configured to combine the first torque parameters and the second torque parameters to generate the assist torque profile.

16. The electronic apparatus of claim 14 , wherein the controller is configured to add the first torque parameters and the second torque parameters based on a weight to generate the assist torque profile.

17. The electronic apparatus of claim 12 , wherein the at least one abnormal gait type comprises:
at least one of a crouch gait, a steppage gait, an antalgic gait, an ataxic gait, a festinating gait, a vaulting gait, a lurching gait, an equinus gait, a short leg gait, a hemiplegic gait, a circumduction gait, a tabetic gait, a neurogenic gait, a scissoring gait, and a Parkinsonian gait.

18. The electronic apparatus of claim 12 , wherein the controller is configured to display the at least one abnormal gait type on a display.

19. The electronic apparatus of claim 12 , wherein the torque parameters are generated by calculating an objective function based on a gait motion generated using a first torque and a second torque, the first torque being a torque mapped to at least one joint of the user for each of the plurality of abnormal gait types, and the second torque being a torque to be generated by the walking assistance apparatus.

20. The electronic apparatus of claim 13 , wherein the controller is configured to generate the assist torque profile based on first torque parameters corresponding to an abnormal gait type and second torque parameters corresponding to a gait type.

Assignees

• Samsung Electronics Co Ltd

Inventors

• Lim Bokman
• Kim Kyung-Rock
• Shim Youngbo
• Lee Jusuk
• Jang Jun-Won

Classifications

• A61H2203/0406

  Standing on the feet · CPC title

• A61H2201/5007

  computer controlled · CPC title

• A61H2201/1642

  Holding means therefor · CPC title

• A61H2201/163

  holding means therefor · CPC title

• A61H2201/1215

  Rotary drive · CPC title