KR20160079627A - Method and apparatus for setting assistant torque - Google Patents

Abstract

Disclosed are a method and an apparatus for setting assistance force. According to an embodiment of the present invention, the apparatus for setting assistance force sets stability assistance force based on an evaluation value after calculating the evaluation value of at least one index, based on walking data of a user. In addition, after setting a basic assistance force in accordance with walking motions of the user, based on the walking data, final assistance force is set based on the stability assistance force and the basic assistance force.

Description

[0001] METHOD AND APPARATUS FOR SETTING ASSISTANT TORQUE [0002]

The following embodiments relate to an auxiliary force setting method and apparatus.

Recently, as the aging society becomes more and more widespread, there are increasing numbers of people who are suffering from pain and discomfort due to problems in the joints. There is a growing interest in the walking aids that enable the elderly or patients with uncomfortable joints to walk smoothly. In addition, gait assist devices for strengthening the muscular strength of the human body for military purposes have been developed.

For example, the walking aiding apparatus includes a body frame mounted on a body of a user, a pelvis frame coupled to a lower side of the body frame to enclose the user's pelvis, a femur frame mounted on a thigh and a calf, Frame, and foot frame. The pelvis frame and the femoral frame are rotatably connected by the hip joint. The femur frame and the calf frame are connected by a knee joint so as to be rotatable. The calf frame and the foot frame are rotatably connected by an ankle joint.

The assist force setting device according to an embodiment includes a walking data receiving unit receiving walking data of a user; A stable assist force setting unit that sets a stable assist force using an evaluation value of at least one index based on the walking data; A basic assist force setting unit for setting a basic assist force according to the user's walking motion based on the walking data; And a final assist force setting unit for setting a final assist force based on the stable assist force and the basic assist force.

Wherein the stability assisting force setting unit comprises: an index evaluating unit for calculating an evaluation value of at least one index based on the walking data; A weight computing unit for computing a weight for the at least one index based on the difference between the evaluation value and the threshold corresponding to the at least one index; And a stable assist force calculating unit for calculating the stable assist force by applying the weight to the initial stable assist force corresponding to the at least one index.

The at least one index may include at least one of a gait symmetry indicating a degree of symmetry of the legs of the user, a stride length of the user, a stride width, A foot clearance indicating an interval, a landing speed or a walk ratio indicating a speed at which the user's foot touches the ground, or a walking ratio.

The index evaluating unit may classify the walking data based on the stride and calculate an evaluation value of the at least one index based on the walking data classified on the basis of the stride.

The index evaluating unit may compare the evaluation value with the threshold value to determine whether the user's walking is stable based on the at least one index.

The index evaluating unit may estimate the similarity of the trajectory of the right hip joint angle and the trajectory of the left hip joint angle of the user among the walking data and may determine the similarity as the evaluation value of the walking symmetry.

The index evaluator may estimate the similarity of the locus of the left hip joint angle and the locus of the right hip joint angle using dynamic time warping (DTW).

Wherein the index evaluating unit estimates an average stride length by calculating an average of a left hip joint angle range and a right hip joint angle range of the walking data for a plurality of strides and compares the average stride length with the stride length It can be determined as an evaluation value.

Wherein the index evaluating unit extracts a maximum flexion angle of a left hip joint and a maximum bending angle of a right hip joint from the walking data for a plurality of strides and extracts a maximum bending angle of the left hip joint and a maximum bending angle of the right hip The maximum bending angle of the joint can be determined as an evaluation value for the foot clearance.

The weight computing unit may calculate the weight by normalizing the difference between the evaluation value and the threshold value.

The weight calculation unit may set the weight of the index determined to be stable by the user in the index evaluation unit to zero.

The stable-assistance-force calculation unit may set the initial stable-assist force based on the walking data.

The stable assist force arithmetic unit may set the initial stable assist force for the walking symmetry based on the difference of the trajectory of the left hip joint angle and the right hip joint angle among the walking data.

The stable assist force arithmetic unit may extract an intersection point at which the left leg and the right leg of the user intersect using the trajectory of the left hip joint angle and the trajectory of the right hip joint angle among the walking data, The peak torque during the time can be set to the initial stable assist force for the stride length.

The stable assist force arithmetic unit may extract a time point at which the swing leg of the user approaches the ground using the locus of the left hip joint angle and the locus of the right hip joint angle among the walking data, The peak torque for a predetermined time from the approaching point can be set as the initial stable assist force for the foot clearance.

The assist force setting device according to an embodiment further includes a walking motion recognition unit for recognizing the walking operation of the user on the basis of the walking data, wherein the basic assist force setting unit includes: , It is possible to set the basic assist force to zero.

Wherein the basic assist force setting unit estimates the periodicity of the user's gait operation by applying the gait data to an adaptive oscillator (AO), and outputs an assist force corresponding to the periodicity of the gait operation to the basic assist force Can be set.

The basic assist force setting unit may model the walking operation of the user as a plurality of states, apply the walking data to a finite state machine (FSM) It is possible to recognize the walking state corresponding to the operation and set the auxiliary force according to the recognized walking state as the basic auxiliary force.

The final assist force setting unit may set the final assist force by adding the stable assist force and the basic assist force.

The final assist force setting unit may set a value having a larger absolute value among the stable assist force and the basic assist force as the final assist force.

According to an embodiment, the auxiliary force setting device includes an index evaluation unit that calculates an evaluation value of at least one index indicating the user's walking stability based on the user's walking data; A weight computing unit for computing a weight for the at least one index based on the difference between the evaluation value and the threshold corresponding to the at least one index; And an assist force setting unit that sets the stable assist force by applying the weight to the initial stable assist force corresponding to the at least one index.

The stable assist force setting unit may set the initial stable assist force based on the walking data.

The auxiliary force setting device may further include a basic assist force setting unit for setting a basic assist force based on the walking operation of the user based on the walking data, The final assist force can be set based on the stable assist force.

The walking assistance apparatus according to an embodiment includes a walking data receiving unit for receiving walking data of a user; A stable assistance force setting unit for calculating an evaluation value of at least one index based on the walking data and setting a stable assistance force based on the evaluation value; A basic assist force setting unit for setting a basic assist force according to the user's walking motion based on the walking data; A final assist force setting unit for setting a final assist force based on the stable assist force and the basic assist force; And a drive control unit for controlling the driving of the walking aiding apparatus based on the final assist force.

According to an embodiment of the present invention, there is provided an assist force setting method comprising: receiving walking data of a user; Calculating an evaluation value of at least one index based on the walking data, and setting a stable assist force based on the evaluation value; Setting a basic assist force according to the user's walking motion based on the walking data; And setting a final assist force based on the stable assist force and the basic assist force.

According to an embodiment of the present invention, there is provided an auxiliary force setting method comprising: calculating an evaluation value of at least one index indicating a user's walking stability based on user's walking data; Calculating a weight for the at least one index based on the evaluation value and the difference of the thresholds corresponding to the at least one index; And setting the stable assist force by applying the weight to the initial stable assist force corresponding to the at least one index.

According to an embodiment of the present invention, there is provided a walking assistance method comprising: receiving walking data of a user; Calculating an evaluation value of at least one index based on the walking data, and setting a stable assist force based on the evaluation value; Setting a basic assist force according to the user's walking motion based on the walking data; Setting a final assist force based on the stable assist force and the basic assist force; And controlling the driving of the gait according to the final assist force

.

1 is a view for explaining a walking assistance apparatus according to an embodiment.
2 is a block diagram illustrating an auxiliary force setting device according to an embodiment.
3 is a block diagram showing an auxiliary force setting device according to another embodiment.
4 is a block diagram showing an auxiliary force setting device according to another embodiment.
5 is a flowchart illustrating an operation of setting a final assist force according to an embodiment.
6 is a diagram for explaining the setting of the basic assist force according to an embodiment.
7 is a view for explaining evaluation value calculation for walking symmetry according to an embodiment.
8 is a view for explaining the setting of the initial stability assisting force for the walking symmetry according to the embodiment.
9 is a view for explaining the setting of the initial stable assist force for the stride length according to an embodiment.
10 is a diagram for explaining the setting of the initial stable assisting force for the foot clearance according to the embodiment.
FIG. 11 is a diagram for explaining the setting of an assist force according to an embodiment.
12 is a view for explaining an interface for providing an auxiliary force according to an embodiment.
13 is a block diagram showing a walking assistance apparatus according to an embodiment.
FIG. 14 is a method flow chart illustrating an auxiliary force setting method according to an embodiment.
15 is a method flow chart showing an auxiliary force setting method according to another embodiment.
16 is a method flow diagram illustrating a walking assistance method in accordance with one embodiment.

In the following, embodiments will be described in detail with reference to the accompanying drawings. Like reference symbols in the drawings denote like elements.

Various modifications may be made to the embodiments described below. It is to be understood that the embodiments described below are not intended to limit the embodiments, but include all modifications, equivalents, and alternatives to them.

The terms used in the examples are used only to illustrate specific embodiments and are not intended to limit the embodiments. The singular expressions include plural expressions unless the context clearly dictates otherwise. In this specification, the terms "comprises" or "having" and the like refer to the presence of stated features, integers, steps, operations, elements, components, or combinations thereof, But do not preclude the presence or addition of one or more other features, integers, steps, operations, elements, components, or combinations thereof.

Unless defined otherwise, all terms used herein, including technical or scientific terms, have the same meaning as commonly understood by one of ordinary skill in the art to which this embodiment belongs. Terms such as those defined in commonly used dictionaries are to be interpreted as having a meaning consistent with the contextual meaning of the related art and are to be interpreted as either ideal or overly formal in the sense of the present application Do not.

In the following description of the present invention with reference to the accompanying drawings, the same components are denoted by the same reference numerals regardless of the reference numerals, and redundant explanations thereof will be omitted. In the following description of the embodiments, a detailed description of related arts will be omitted if it is determined that the gist of the embodiments may be unnecessarily blurred.

1 is a view for explaining a walking assistance apparatus according to an embodiment.

Referring to FIG. 1, the walking aiding device 100 may be mounted on a user to assist the user in walking. The walking assistance apparatus 100 includes a driver 110, a sensor unit 120, an IMU (Inertial Measurement Unit) sensor 130, and a controller 140. 1, a hip-type walking aiding device is shown, but the present invention is not limited thereto, and the present invention can be applied to both a shape supporting the entire lower limb and a shape supporting a part of the lower limb. In addition, it can be applied to a form supporting a part of a leg, a form supporting a knee, a form supporting an ankle, and a form supporting a body.

The driver 110 drives both hip joints of the user and may be located in the right and left hip portions of the user.

The sensor unit 120 measures both hip joint angle information of the user at the time of walking. Both hip joint angle information sensed by the sensor unit 120 may include at least one of an angle of both hip joints, a difference of both hip joint angles, and both hip joint motion directions. In one embodiment, the sensor portion 120 may be located within the driver 110.

In another embodiment, the sensor portion 120 may include a potentiometer. The potentiometer can sense at least one of an R axis, an L axis joint angle, or an R axis and an L axis joint angular velocity according to a user's walking motion.

The IMU sensor 130 measures acceleration information and attitude information when the user is walking. For example, the IMU sensor 130 may sense at least one of an X-axis, a Y-axis, a Z-axis acceleration or an X-axis, Y-axis, and Z-axis angular velocity according to a user's walking motion. The walking aiding device 100 can detect the landing time of the user's foot based on the acceleration information measured by the IMU sensor 130. [ However, if the sensor unit 120 includes a sensor (for example, a pressure sensor, a force sensor) capable of detecting a landing timing of the foot, It is possible to detect the landing time of the user's foot by using a sensor capable of detecting the landing time.

In addition to the above-described sensor unit 120 and the IMU sensor 130, the walking assistant 100 may also include other sensors (for example, an electromyogram sensor, an electromyogram sensor, etc.) capable of sensing changes in the user's exercise amount, Sensor (ElectroMyoGram sensor: EMG sensor).

The controller 140 controls the driver 110 so that the driver 110 outputs an assist force (or auxiliary torque) to assist the user in walking. For example, in the hip-type walking aid 110, the driver 110 may be two, and the controller 140 may be controlled by a driver (not shown) such that the driver 110 outputs an assist force corresponding to the driver 110 110, respectively. Based on the control signal output from the controller 140, the driver 110 may output an assist force. At this time, the assist force may be set by the outside, and the controller 140 may set the assist force.

2 is a block diagram illustrating an auxiliary force setting device according to an embodiment.

Referring to FIG. 2, the assist force setting device 200 may be a separate device physically independent of the walking aiding device, or may be implemented as a logical model within the walking aiding device. Hereinafter, the basic unit of walking may be a step or a stride. A step can be divided into one heel strike. Here, the hill strike indicates a state in which the sole of the user touches the ground. The stride may also be composed of two steps.

The assist force setting device 200 includes a walking data receiving unit 210, a stable assist force setting unit 220, a basic assist force setting unit and a final assistance force setting unit 240.

The walking data receiving unit 210 receives the walking data that senses a change in the user's exercise amount due to the walking operation from the sensor. The walking data receiving unit 210 may receive the walking data from the sensor that measures the user's walking motion or may receive the walking data from the external device. For example, the walking data receiving unit 210 may receive information (e.g., R axis, L axis joint angle or R axis, L axis joint angular velocity) of both hip joints of the user from the potentiometer, (X-axis, Y-axis, Z-axis acceleration or X-axis, Y-axis, Z-axis angular velocity) about the motion directions of both hip joints. In addition, the walking data receiving unit 210 can receive the walking data from a plurality of IMU sensors or a plurality of potentiometers. In one embodiment, the walking data receiving unit 210 is not limited to the IMU sensor, the potentiometer, or the EMG sensor, and can receive the walking data from all the sensors capable of sensing changes in the user's exercise amount due to the walking operation. For example, the walking data receiving unit 210 can receive the EMG data indicating the change in the EMG of the user following the walk from the EMG sensor. In addition, the walking data receiving unit 210 may receive pressure data or force data corresponding to the user's walking from the pressure sensor or the force sensor.

The walking data receiving unit 210 may also receive the user's walking data from an external device including a sensor for measuring the user's walking motion through the communication interface. Hereinafter, the communication interface may be a wireless LAN (WLAN), a wireless fidelity (WFI) direct, a digital living network alliance (DLNA), a wireless broadband (Wibro), a world interoperability for microwave access (Wimax), a high speed downlink packet access And a short-range communication interface such as Bluetooth, Radio Frequency Identification (RFID), Infrared Data Association (IrDA), UWB (Ultra Wideband), ZigBee and NFC . In addition, the communication interface may represent any interface (e.g., a wired interface) capable of communicating with an external device.

The stable assist force setting unit 220 can set the stable assist force using the evaluation value of at least one index based on the walking data. The stability assisting force setting unit 220 includes an index evaluating unit, a weight calculating unit, and a stabilizing assisting force calculating unit.

The index evaluating unit calculates an evaluation value of at least one index indicating the walking stability of the user based on the walking data of the user. The at least one index may include at least one of a gait symmetry, a stride length, a stride width, a foot clearance, a landing speed, or a walk ratio One can be included.

In one embodiment, the index evaluator may classify the walk data based on the stride and calculate the evaluation value of at least one index based on the classified walk data. For example, the index evaluator may classify the walking data based on the stride using the Z-axis acceleration obtained from the IMU sensor. In another example, the index evaluating unit receives a sensing value when a user's foot touches the ground surface from a pressure sensor or a force sensor attached to the foot of the user, and classifies the walking data based on the stride using the received sensing value . However, the present invention is not limited to this, and the index evaluating unit may use the walking data classified on the basis of the step, or may use the walking data classified on the basis of another unit.

The walking symmetry represents the degree to which both legs of the user are symmetrical. The user's legs swing or stand when the user is walking, but when the load on the user's muscles becomes unbalanced, either one of the user's legs becomes vulnerable and the balancing of the left and right legs It may not be maintained. To maintain balancing of the left leg and the right leg, the index evaluator may include the walking symmetry in the index.

The stride length (or stride length) represents the length of one stride in the user's walking motion. For example, the stride length may indicate the length of the left / right leg from the fixed left / right leg to the time that the left / right leg is fixed after swinging. When the user's muscle strength is lowered, the stride length is reduced. Accordingly, since the user can not sufficiently utilize the dynamic energy of the body for walking, the muscle burden may be caused and the muscle strength may be decreased. To prevent this vicious cycle, the index evaluator may include the stride length in the index.

The stride width may indicate the width of one stride in the user's walking motion. When the user's strength is lowered, the user may want to take the width of both legs wide to maintain balance. In this case, a heavy load is applied to the aduction / abduction muscles of the hip joint to balance the left and right of the body, but the user may fall if the abduction / abduction muscles of the hip joint can not bear the load . To avoid this risk, the index evaluator may include the stride width in the index.

The foot clearance represents the distance between the user's foot and the ground (for example, the maximum height between the foot and the ground in one stride, the maximum height between the user's foot end and the ground). A normal user can bend the ankle of a swinging leg sufficiently when walking. On the other hand, when the muscular strength of the ankle muscles is weak, the user is unable to flex the invention of the swinging leg when the user walks, so that the user's foot hits the obstacle on the ground. To avoid such a risk, the index evaluator may include a foot clearance in the index.

The landing speed represents the speed at which the user's foot touches the ground. The normal user can decelerate the speed at the time when the leg swinging at the time of landing on the ground, thereby increasing the contact force of the leg with respect to the ground, and the legs can absorb the impact of the ground. On the other hand, a user with a weak muscle strength can not sufficiently decelerate the speed of the leg at the time of landing on the ground, so that the user can slip and fall. To avoid such a risk, the index evaluator may include the landing speed in the index.

In addition, the walking ratio can be defined as a ratio of stride length to cadence. Here, Cadence can represent the number of strides with respect to a predetermined reference time. The walking rate can be used as an indicator of how efficiently the user is walking.

The index evaluator may set a threshold value for determining whether the user's walking is stable based on each index. The index evaluation unit compares the evaluation value with the threshold value for each index, and can determine whether or not the user's walking is stable based on each index.

In one embodiment, the index evaluator may estimate the similarity of the trajectory of the left hip joint angle and the trajectory of the right hip joint angle among the walking data, and may determine the estimated similarity as the evaluation value of the walking symmetry. At this time, the locus of the left hip joint angle and the locus of the right hip joint angle may be one step difference.

The index evaluating unit can determine the evaluation value of the walking symmetry using the following equation (1).

[Equation 1]

은 n번째 스트라이드에서의 보행 대칭성의 평가값을 나타내고, DTW는 다이나믹 타임 와핑(Dynamic Time Warping: DTW) 기법을 나타내고,

은 n번째 스트라이드에서의 왼쪽 힙 관절 각도의 궤적을 나타내고,

은 n번째 스트라이드에서의 오른쪽 힙 관절 각도의 궤적을 나타내고,

은 보행 대칭성에 대응하는 임계값을 나타낼 수 있다.here,

Represents the evaluation value of the walking symmetry in the nth stride, DTW represents the dynamic time warping (DTW) technique,

Represents the trajectory of the left hip joint angle at the nth stride,

Represents the locus of the right hip joint angle in the nth stride,

May represent a threshold value corresponding to the walking symmetry.

및

가 각각 측정되는 시간들 간에는 한 번의 스텝에 걸리는 시간만큼 차이가 날 수 있다.Because the left and right legs swing alternately,

And

May differ by the amount of time taken in a single step.

가 임계값

이하인 경우, 인덱스 평가부는 n번째 스트라이드에서, 보행 대칭성을 기준으로 사용자의 보행이 안정하다고 판단할 수 있고, 평가값

가 임계값

보다 큰 경우, 인덱스 평가부는 n번째 스트라이드에서, 보행 대칭성을 기준으로 사용자의 보행이 불안정하다고 판단할 수 있다.The index evaluator can estimate the similarity between the trajectory of the left hip joint angle in the nth stride on the left and the trajectory of the right nth right hip joint angle on the right side using dynamic time warping. The index evaluating unit may determine the estimated similarity as an evaluation value of the walking symmetry in the n-th stride. Further, the index evaluating unit

Lt; / RTI >

The index evaluating unit can determine that the user's walking is stable based on the walking symmetry in the nth stride,

Lt; / RTI >

The index evaluator can determine that the user's walking is unstable based on the walking symmetry at the nth stride.

In one embodiment, the index evaluator may estimate the average stride length using the left hip joint angular extent and the right hip joint angular extent, and determine the average stride length as the evaluation value for the stride length. At this time, the index evaluator may calculate the average of the left hip joint angular range and the right hip joint angular range for a plurality of strides, and estimate the calculated average as the average stride length, in order to improve accuracy. In another embodiment, the index evaluator may receive a sensing value when a user's foot touches the ground from a pressure sensor or force sensor mounted at the feet of the user, and the index evaluator uses the received sensing value to calculate the average stride The length may be estimated.

The index evaluator can determine the evaluation value of the stride length using the following equation (2).

&Quot; (2) "

는 왼쪽(오른쪽) 다리의 스트라이드 길이의 m번째 평가값을 나타내고,

은 n개의 스트라이드에서의 왼쪽(오른쪽) 힙 관절 각도 범위를 나타내고,

은 왼쪽(오른쪽) 다리의 스트라이드 길이에 대응하는 임계값을 나타낼 수 있다.here,

Represents the mth evaluation value of the stride length of the left (right) leg,

Represents the left (right) hip joint angular range in n strides,

May represent a threshold corresponding to the stride length of the left (right) leg.

For example, if n is 100, the index evaluator can calculate the average of the left hip joint angular range and the right hip joint angular range in 100 strides. In this case, the index evaluator can estimate the range between the maximum value and the minimum value of the left hip joint angle as the left hip joint angle range, and estimate the range between the maximum value and the minimum value of the right hip joint angle as the right hip joint angle range can do.

이 임계값

이상인 경우, 인덱스 평가부는 스트라이드 길이를 기준으로 사용자의 보행이 안정하다고 판단할 수 있고, 평가값

이 임계값

보다 작은 경우, 인덱스 평가부는 스트라이드 길이를 기준으로 사용자의 보행이 불안정하다고 판단할 수 있다.In addition,

This threshold

The index evaluating unit can judge that the user's walking is stable based on the stride length,

This threshold

The index evaluating unit can determine that the user's walking is unstable based on the stride length.

In one embodiment, the index evaluator extracts the maximum flexion angle of the left hip joint from the walking data and the maximum bending angle of the right hip joint, and calculates the maximum bending angle of the left hip joint and the maximum bending angle of the right hip joint It can be determined as an evaluation value for the foot clearance. A normal user lifts the foot end of the swinging leg using the ankle muscles while the legs of the legs that have weakened the ankle muscles lift the entire swinging leg using the hip joint muscles so that the legs of the swinging leg You can raise the end low. Accordingly, the maximum bending angle of the left hip joint and the maximum bending angle of the right hip joint can indicate whether or not the ankle muscular muscle is normal, so that the index evaluating unit can determine the maximum bending angle of the left hip joint and the maximum bending angle Can be determined as the evaluation value of the foot clearance.

The index evaluating unit can determine the evaluation value of the foot clearance using the following expression (3).

&Quot; (3) "

는 왼쪽(오른쪽) 다리의 풋 클리어런스의 m번째 평가값을 나타내고,

은 n개의 스트라이드에서의 왼쪽(오른쪽) 다리의 굽힘 각도들을 나타내고,

는 왼쪽(오른쪽)다리의 굽힘 각도들 중 최대 굽힘 각도를 나타내고,

는 왼쪽(오른쪽) 다리의 풋 클리어런스에 대응하는 임계값을 나타낼 수 있다.here,

Represents the mth evaluation value of the foot clearance of the left (right) leg,

Represents the bending angles of the left (right) leg in the n strides,

Represents the maximum bending angle among the bending angles of the left (right) leg,

May represent a threshold value corresponding to the foot clearance of the left (right) leg.

For example, when n is 100, the index evaluator can extract the maximum bending angle of the left hip joint and the maximum bending angle of the right hip joint in 100 strides.

가 임계값

이상인 경우 인덱스 평가부는 풋 클리어런스를 기준으로 사용자의 보행이 안정하다고 판단할 수 있고, 평가값

가 임계값

보다 작은 경우 인덱스 평가부는 풋 클리어런스를 기준으로 사용자의 보행이 불안정하다고 판단할 수 있다.In addition,

Lt; / RTI >

, The index evaluating unit can judge that the user's walking is stable on the basis of the foot clearance,

Lt; / RTI >

The index evaluating unit can determine that the user's walking is unstable based on the foot clearance.

The weight computing unit may calculate a weight for at least one index based on the difference between the evaluation value of at least one index and the threshold value corresponding to at least one index. The weight computing unit may calculate a weight for at least one index by normalizing a difference between an evaluation value of at least one index and a threshold value corresponding to at least one index, as shown in Equation (4) below.

&Quot; (4) "

는 왼쪽(오른쪽) 다리의 인덱스 i의 k번째 가중치를 나타내고,

는 왼쪽(오른쪽) 다리의 인덱스 i의 k번째 평가값을 나타내고,

는 왼쪽(오른쪽) 다리의 왼쪽(오른쪽) 다리의 k번째 임계값을 나타내고,

는 왼쪽(오른쪽) 다리의 인덱스 i의 정규화 값(normalizing value)을 나타낼 수 있다. 수학식 4에 따라, 인덱스의 평가값과 임계값의 차이가 클수록 가중치는 증가될 수 있다. 일 실시예에서, 가중치 연산부는 인덱스 평가부에서 사용자의 보행이 안정한 것으로 판단된 인덱스에 대한 가중치를 0으로 설정할 수 있다.here,

Represents the kth weight of the index i of the left (right) leg,

Represents the kth evaluation value of the index i of the left (right) leg,

Represents the kth threshold of the left (right) leg of the left (right) leg,

May represent the normalizing value of the index i of the left (right) leg. According to Equation (4), the larger the difference between the evaluation value of the index and the threshold value, the more the weight can be increased. In one embodiment, the weight calculation unit may set the weight of the index determined to be stable by the user in the index evaluation unit to zero.

The stable-assist force arithmetic unit may calculate a stable assist force by applying a weight to the initial stable-assist force corresponding to at least one index. Here, the stable assist force may represent a force provided by the walking aiding apparatus so that the user can stably walk, and the initial stable assist force represents an initial value of the stable assist force, which corresponds to each of the at least one index have. The initial stability assisting force may be set in advance, or the stabilization assisting force arithmetic operation unit may be set based on the walking data.

In one embodiment, the stable assist force operation unit can set an initial stable assist force for gait symmetry based on the difference between the locus of the left hip joint angle and the locus of the right hip joint angle in the walking data. The stability assisting force calculating unit may set the initial stability assisting force for the walking symmetry according to the following equations (5) to (7).

The starting point of the stride of the left leg and the stride of the right leg may differ by the time required for one step. The difference between the left hip joint angle and the right hip joint can be calculated in consideration of the above time difference.

According to an aspect, a variable p may be used to account for the above time difference. The variable p may be a variable that normalizes the stride trajectory. For example, the variable p may refer to the position of the entire stride trajectory with the start of the stride as zero and the end of the stride as one.

The time at which the stride is performed using the variable p can be defined as NST (Normalized Stride Time).

In the same NST, the difference between the left hip joint angle and the right hip joint angle can be calculated using Equation (5) below.

&Quot; (5) "

θ _r (p) and θ _l (p) represent the right hip joint angle and left hip joint angle at p NST, respectively.

An assist force for improving asymmetry can be calculated using Equation (6) and Equation (7) below.

&Quot; (6) "

는 오른쪽 다리(왼쪽 다리)의 스트라이드 시작 시각이고,

는 1 번의 스트라이드의 시간을 나타낼 수 있다.

는

이후의 시각 t에 대해 오른쪽 다리(왼쪽 다리)의 스트라이드 궤적에서의 NST를 나타낼 수 있다.

Is the stride start time of the right leg (left leg)

Can represent the time of one stride.

The

The NST in the stride trajectory of the right leg (left leg) can be represented with respect to the later time t.

&Quot; (7) "

는 시각 t에 따라 왼쪽 다리에 제공하는 보행 대칭성에 대한 초기 안정 보조력을 나타내고,

는 시각 t에 따라 오른쪽 다리에 제공하는 보행 대칭성에 대한 초기 안정 보조력을 나타내고,

는 왼쪽 다리에 제공하는 보행 대칭성에 대한 초기 안정 보조력의 게인을 나타내고,

는 오른쪽 다리에 제공하는 보행 대칭성에 대한 초기 안정 보조력의 게인을 나타낸다.here,

Represents the initial stabilizing assist force for the walking symmetry provided to the left leg according to the time t,

Represents the initial stability assisting force for the walking symmetry provided to the right leg according to the time t,

Represents the gain of the initial stabilizing assist force against the walking symmetry provided to the left leg,

Represents the gain of the initial stabilizing assist force on the walking symmetry provided to the right leg.

이후의 보조력이 결정될 수 있다.Using equation (7)

Subsequent assistance forces can be determined.

가 업데이트 될 수 있고, 보행 대칭성에 대한 안정 보조력이 반복적으로 계산될 수 있다.According to one aspect, after one stride ends, the time at which the next stride begins and

Can be updated, and a stable assist force for gait symmetry can be calculated repetitively.

및

는 미리 설정될 수 있다. 수학식 7에 따라, 왼쪽 힙 관절 각도의 궤적 및 오른쪽 힙 관절 각도의 궤적의 차이가 발생하는 경우, 안정 보조력 연산부는 왼쪽 힙 관절의 각도 궤적과 오른쪽 힙 관절의 각도 궤적의 차이를 상쇄하도록 초기 안정 보조력을 설정할 수 있다.Also,

And

Can be set in advance. According to Equation (7), when there is a difference in the trajectory of the left hip joint angle and the right hip joint angle, the stable assist force calculation unit calculates the initial trajectory of the left hip joint angle and the right hip joint angle in order to cancel the difference between the angular trajectory of the left hip joint and the angular trajectory of the right hip joint The stabilizing assist force can be set.

In one embodiment, the stability assisting force computation section extracts the intersection points at which the user's left and right legs intersect, and calculates a peak torque for a predetermined time from the intersection point as an initial stable assist force for the stride length Can be set. Here, the predetermined time and the peak torque can be set in advance. The stabilization assist force operation unit can set the initial stabilization assist force for the stride length according to Equation (8) below.

&Quot; (8) "

는 시각 t에 따라 왼쪽 다리에 제공하는 스트라이드 길이에 대한 초기 안정 보조력을 나타내고,

는 시각 t에 따라 오른쪽 다리에 제공하는 스트라이드 길이에 대한 초기 안정 보조력을 나타내고,

은 시각 t에 따른 왼쪽 힙 관절의 각도의 궤적을 나타내고,

는 시각 t에 따른 오른쪽 힙 관절의 각도의 궤적을 나타내고,

은 왼쪽 다리의 스트라이드 길이의 평가값을 나타내고,

는 오른쪽 다리의 스트라이드 길이의 평가값을 나타낼 수 있다. 또한,

는 왼쪽 다리에 제공되는 스트라이드 길이에 대한 피크 토크를 나타내고,

는 오른쪽 다리에 제공되는 스트라이드 길이에 대한 피크 토크를 나타내고,

는 왼쪽 다리에 제공되는 스트라이드 길이에 대한 초기 안정 보조력을 제공하는 소정의 시간을 나타내고,

는 오른쪽 다리에 제공되는 스트라이드 길이에 대한 초기 안정 보조력을 제공하는 소정의 시간을 나타낼 수 있다. 수학식 8에 따라, 안정 보조력 연산부는 시각 t에 따른 왼쪽 힙 관절의 각도의 궤적

와 시각 t에 따른 오른쪽 힙 관절의 각도의 궤적

을 이용하여 교차 시점을 추출하고, 교차 시점부터 소정의 시간

및

동안 왼쪽 다리와 오른쪽 다리가 서로 벌어지도록 피크 토크

및

를 제공할 수 있다.here,

Represents the initial stabilizing assist force for the stride length provided to the left leg according to the time t,

Represents an initial stability assisting force for the stride length provided to the right leg according to the time t,

Represents the trajectory of the angle of the left hip joint according to the time t,

Represents the trajectory of the angle of the right hip joint according to the time t,

Represents the evaluation value of the stride length of the left leg,

Can represent the evaluation value of the stride length of the right leg. Also,

Represents the peak torque with respect to the stride length provided on the left leg,

Represents the peak torque with respect to the stride length provided on the right leg,

Represents a predetermined time that provides an initial stable assist force for the stride length provided on the left leg,

May represent a predetermined time to provide an initial stable assist force for the stride length provided on the right leg. According to Equation (8), the stable assist force arithmetic section calculates the trajectory of the angle of the left hip joint according to the time t

And the locus of the angle of the right hip joint according to time t

The intersection point is extracted from the point of intersection,

And

Peak torque so that the left leg and the right leg spread apart

And

Can be provided.

In one embodiment, the stabilizing assist force operation section extracts a point at which the user's swinging leg approaches the ground, and calculates a peak torque for a predetermined time from the time when the swinging leg approaches the ground, You can set the force. Here, the predetermined time and the peak torque can be set in advance. The stability assisting force arithmetic unit can set the initial stability assisting force for the foot clearance according to the following equation (9).

&Quot; (9) "

는 시각 t에 따라 오른쪽 다리에 제공하는 풋 클리어런스에 대한 초기 안정 보조력을 나타내고,

은 시각 t에 따른 왼쪽 힙 관절의 각도의 궤적을 나타내고,

는 시각 t에 따른 오른쪽 힙 관절의 각도의 궤적을 나타내고,

은 왼쪽 다리의 풋 클리어런스의 평가값을 나타내고,

은 오른쪽 다리의 풋 클리어런스의 평가값을 나타낼 수 있다. 또한,

은 왼쪽 다리에 제공되는 풋 클리어런스에 대한 피크 토크를 나타내고,

은 오른쪽 다리에 제공되는 풋 클리어런스에 대한 피크 토크를 나타내고,

는 왼쪽 다리에 제공되는 풋 클리어런스에 대한 초기 안정 보조력을 제공하는 소정의 시간을 나타내고,

는 오른쪽 다리에 제공되는 풋 클리어런스에 대한 초기 안정 보조력을 제공하는 소정의 시간을 나타낼 수 있다. 수학식 9에 따라, 안정 보조력 연산부는 왼쪽 힙 관절의 각도의 궤적

와 시각 t에 따른 오른쪽 힙 관절의 각도의 궤적

을 이용하여 사용자의 스윙하는 다리가 지면에 다가가는 시점을 추정하고, 사용자의 스윙하는 다리가 지면에 다가가는 시점부터 소정의 시간

및

동안 왼쪽 다리 및 오른쪽 다리를 더 높여주도록 피크 토크

및

를 제공할 수 있다.here, Represents the initial stability assisting force for the foot clearance provided to the left leg according to the time t,

Represents the initial stability assisting force for the foot clearance provided to the right leg according to the time t,

Represents the trajectory of the angle of the left hip joint according to the time t,

Represents the trajectory of the angle of the right hip joint according to the time t,

Represents the evaluation value of the foot clearance of the left leg,

Can indicate the evaluation value of the foot clearance of the right leg. Also,

Represents the peak torque for the foot clearance provided on the left leg,

Represents the peak torque for the foot clearance provided on the right leg,

Represents a predetermined time to provide an initial stabilizing assist force for the foot clearance provided on the left leg,

May represent a predetermined time that provides an initial stability assisting force for the foot clearance provided on the right leg. According to Equation (9), the stable assist force calculation unit calculates the trajectory of the angle of the left hip joint

And the locus of the angle of the right hip joint according to time t

And estimates the time when the user's swinging leg approaches the ground and estimates the time at which the user's swinging leg approaches the ground,

And

Peak torque to increase left and right legs

And

Can be provided.

In addition, the stable-assist force arithmetic unit can set a stable assist force by applying a weight to the initial stable-assist force for each at least one index. In one embodiment, the stable-assistance-force calculation unit can determine the stable assist force using the following equation (10).

&Quot; (10) "

은 n번째 스트라이드에 왼쪽(오른쪽) 다리에 제공되는 안정 보조력을 나타내고,

는 왼쪽(오른쪽) 다리의 인덱스 i의 k번째 가중치를 나타내고,

는 왼쪽(오른쪽) 다리에 제공되는 인덱스 i에 대한 초기 안정 보조력을 나타낼 수 있다.here,

Represents the stabilizing assist force provided to the left (right) leg in the nth stride,

Represents the kth weight of the index i of the left (right) leg,

Can represent the initial stability assisting force for index i provided on the left (right) leg.

In one embodiment, the stable-assistance-force computation unit may set the stabilization assist force in a period of one stride. At this time, the evaluation value and the period in which the weight is calculated may be different for each index. For example, the stabilization assist force calculating unit can calculate the evaluation value and the weight for the walk symmetry for each stride, and calculate the evaluation value and the weight for the stride length and foot clearance for every 100 strides. In this case, when the stabilizing assist force is set in a period of one stride, the evaluation value and the weight of the walking symmetry are calculated for each stride, and the calculated value is used to evaluate the stride length and foot clearance The values and weights may use the previously computed values.

The basic assist force setting unit 230 can set the basic assist force based on the user's walking motion based on the walking data. Here, the basic assistant force may mean an assistant force that is basically set by the assistant force setting device 200 in order to assist the user's walking without considering the evaluation value of at least one index. The basic assist force setting unit 230 can set the basic assist force using an AO (Adaptive Oscillator) based basic assist force setting technique or a FSM (finite state machine) based basic assist force setting technique have. At this time, whether the basic assist force setting unit 230 selects a basic assist force setting technique such as the AO-based basic assist force setting technique or the FSM-based basic assistant force setting technique may be selected externally through a communication interface, The basic assist force setting unit 230 may analyze and select a user's strength level or gait pattern.

In accordance with the AO-based basic assist force setting technique, the basic assist force setting unit 230 estimates the periodicity (e.g., frequency pattern, phase pattern) of the user's gait operation by applying the walking data to the AO, The auxiliary force corresponding to the periodicity of the operation can be set as the basic auxiliary force. At this time, the assist force corresponding to each periodicity can be set in advance. For example, the basic assist force set according to the AO-based basic assist force setting technique may be suitable for a user who regularly performs a walk or a user who performs a walk at a walking speed of a normal walker.

According to the FSM-based assist force setting method, the basic assist force setting unit 230 may pre-model a plurality of walking states, and may include a walking operation of the user among the plurality of walking states modeled by applying the walking data to the FSM The corresponding walking state can be recognized. Also, the basic assist force setting unit 230 can set the assist force according to the recognized walking state as the basic assist force. At this time, the assist force corresponding to each walking state can be set in advance. For example, the basic assist force set according to the FSM-based basic assist force setting technique may be suitable for a user who is walking irregularly or a user who can not walk at a walking speed of a normal pedestrian.

The assistance force setting device 200 may further include a walking motion recognition unit that recognizes the user's walking motion based on the walking data.

The walking motion recognizing section can judge whether or not the user performs the walking motion based on the walking data. When it is determined by the walking motion recognition unit that the user performs the walking operation, the basic assist force setting unit 230 can set the basic assist force based on the walking data. In addition, when it is determined by the walking motion recognition unit that the user does not perform the walking operation, the basic assist force setting unit 230 can set the basic assist force to zero.

The final assist force setting unit 240 can set the final assist force based on the basic assist force and the stabilization assist force. In one embodiment, the final assist force setting unit 240 may set the final assist force by adding the basic assist force and the stable assist force. Also, the final assist force setting unit 240 may set a value having a larger absolute value among the basic assist force and the stable assist force as the final assist force. Further, in another embodiment, the final assist force setting unit 240 can set only the stable assist force to the final assist force. The final assist force setting unit 240 may set the final assist force by combining the basic assist force and the stabilization assist force by other methods.

In one embodiment, the final assist force setting unit 240 uses the communication interface to transmit information on the stable assist force, information on the basic assist force, or information on the final assist force to an external device (for example, A walking aid, a server).

In addition, the final assist force setting unit 240 can control the walking aiding device such that the walking aiding device outputs a stable assist force or a final assist force. Accordingly, the walking aiding apparatus controlled by the final assist force setting unit 240 can assist the user to stably walk according to the stabilizing assist force or the final assist force, thereby preventing the risk of falling of the user.

3 is a block diagram showing an auxiliary force setting device according to another embodiment.

Referring to FIG. 3, the auxiliary force setting apparatus 300 includes an index evaluating unit 310, a weight calculating unit 320, and an auxiliary force setting unit 330.

The index evaluating unit 310 can calculate an evaluation value of at least one index indicating the user's walking stability based on the user's walking data. Here, the at least one index may include at least one of walking symmetry, stride length, stride width, foot clearance, landing speed, or walking ratio.

The index evaluating unit 310 may classify the walking data based on the stride and calculate the evaluation value of at least one index based on the classified walking data. At this time, the index evaluating unit 310 calculates the evaluation value of the walking symmetry using the above-described equation (1), calculates the evaluation value of the stride length by using the above-mentioned equation (2) The evaluation value of the foot clearance can be calculated. In addition, the index evaluating unit 310 may compare the evaluation value and the threshold value for each index, and determine whether the user's walking is stable based on each index.

The weight computing unit 320 may calculate a weight for at least one index based on the difference between the evaluation value of the at least one index and the threshold value corresponding to at least one index. At this time, the weight calculator 320 may calculate a weight for at least one index by normalizing the difference between the evaluation value of at least one index and the threshold value corresponding to at least one index, as shown in Equation (4) have.

The assist force setting unit 330 may set a stable assist force by applying a weight to the initial stable assist force corresponding to at least one index.

The assist force setting unit 330 may set an initial stable assist force based on the walking data and apply a weight to the initial stable assist force to set a stable assist force. For example, the assist force setting unit 330 sets an initial stable assist force for walking symmetry using Equation (7) described above, sets an initial stable assist force for the stride length using Equation (8) , The initial stability assisting force for the foot clearance can be set using the above-mentioned Equation (9).

In addition, the assist force setting unit 330 may set a stable assist force by applying a weight to the initial stable assist force for each at least one index. For example, the assist force setting unit 330 may determine the stable assist force using Equation (10).

In addition, the assist force setting device 300 may include a basic assist force setting unit for setting a basic assist force in accordance with the user's walking motion based on the walking data.

The basic assist force setting unit sets the basic assist force according to the user's walking motion based on the walking data. The basic assist force setting unit can set the basic assist force using the AO-based basic assist force setting method or the FSM-based basic assistant setting method. At this time, whether to select the basic assist force setting technique among the basic assist force setting part AO-based basic assist force setting method or the FSM-based basic assistant force setting method can be selected from the outside through the communication interface, The strength level of the additional user or the gait pattern may be analyzed and selected.

According to the AO-based basic assist force setting method, the basic assist force setting unit estimates the periodicity of the user's walking motion by applying the walking data to the AO, and sets the assist force corresponding to the periodicity of the walking motion as the basic assist force have.

According to the FSM-based assist force setting method, the basic assist force setting unit may pre-model a plurality of walking states, and may include a walking state corresponding to the user's walking operation among a plurality of walking states modeled by applying the walking data to the FSM Can be recognized. Further, the basic assist force setting unit can set the assist force according to the recognized walking state as the basic assist force.

In addition, the assist force setting unit 330 can set the final assist force based on the basic assist force and the stable assist force. In one embodiment, the assist force setting unit 330 may set the final assist force by adding the basic assist force and the stable assist force. Also, the assist force setting unit 330 may set a value having a larger absolute value among the basic assist force and the stable assist force as the final assist force. Further, in another embodiment, the assist force setting unit 330 can set only the stable assist force to the final assist force. Alternatively, the assist force setting unit 330 may set the final assist force by combining the basic assist force and the stable assist force in different ways.

4 is a block diagram showing an auxiliary force setting device according to another embodiment.

4, the assistance force setting apparatus 400 includes a walking data extracting unit 410, an operation estimating unit 420, a selecting unit 430, a basic assist force setting unit 440, a stabilizing assist force setting unit 450 and a final assist force setting unit 460.

The walking data extracting unit 410 includes a hip joint estimating unit 411 and a direction estimating unit 412. The hip joint estimator 411 can estimate information about the angles of both hip joints, the velocity of both hip joints, and the angular velocity of both hip joints. For example, the hip joint estimator 411 may receive biaxial joint angular data and biaxial joint angular velocity data from a potentiometer. As another example, the hip joint estimator 411 may receive information about angles, velocities, or angular velocities of both hip joints from a motor encoder. The hip joint estimator 411 may estimate information about the hip joint using information received from the potentiometer or the motor encoder.

The direction estimating unit 412 can estimate information about both hip joint motion directions. For example, the direction estimating unit 420 receives X-axis, Y-axis, Z-axis acceleration data and X-axis, Y-axis, and Z-axis angular velocity data according to the user's walking motion from the IMU sensor, Data can be used to estimate the direction of motion of both hip joints.

The operation estimation unit 420 includes an operation reconstruction unit 421, an operation recognition unit 422, and an environment recognition unit 423. The motion reconstruction unit 421 can estimate the attitude of the user by using the walking data acquired by the walking data extraction unit 410. [ For example, the motion reconstruction unit 421 may estimate the knee or ankle posture using information about the hip joint acquired by the hip joint estimator 411. [

The motion recognition unit 422 can estimate a motion of the user (for example, a standing motion, a sitting motion, and a walking motion) by using the walking data acquired by the walking data extraction unit 410. [

The environment recognition unit 423 can estimate the walking environment of the user by using the walking data acquired by the walking data extracting unit 410. [ For example, the environment recognition unit 423 can recognize the flat environment, the upward gradient environment, the downward gradient environment, the upward stair environment, and the down stair environment using the gait data acquired by the gait data extraction unit 410. [ However, the present invention is not limited to this, and the environment recognition unit 423 may recognize a walking environment other than the five walking environments described above.

The selection unit 430 selects a technique for setting the basic assist force. For example, the selector 430 may select the AO-based basic assist force setting technique or the FSM-based basic assist force setting technique. At this time, the selecting unit 430 may select the basic assist force setting technique from the outside through the communication interface, or may analyze and select the user's strength level or gait pattern.

The basic assist force setting unit 440 includes a walking period estimation unit 441, a first basic assist force setting unit 442, a walking state recognition unit 443, and a second basic assist force setting unit 444.

When the AO-based basic assist setting method is selected in the selecting unit 430, the walking period estimating unit 441 can estimate the periodicity of the user's walking motion by applying the walking data to the AO. For example, the walking period estimating unit 441 can extract the periodic frequency pattern or phase pattern according to the user's walking by applying the walking data to the AO. The first basic assist force setting unit 442 can set the assist force corresponding to the periodicity of the walking operation as the basic assist force. For example, the first basic assist force setting unit 442 can preset an assist force corresponding to each of a plurality of frequency (phase) patterns and a plurality of frequency (phase) patterns. The first basic assist force setting unit 442 extracts a frequency (phase) pattern corresponding to the frequency (phase) pattern estimated by the walking period estimating unit 441 from a plurality of frequency (phase) patterns, Phase) pattern from the auxiliary force corresponding to each of the plurality of patterns.

When the FSM-based basic assist setting method is selected in the selecting unit 430, the walking period estimating unit 441 recognizes the walking state corresponding to the user's walking operation among a plurality of walking states modeled by applying the walking data to the FSM can do. For example, the walking state recognition unit 443 can model a plurality of walking states in advance. For example, the walking state recognition unit 443 can classify the walking state into a state in which the right leg swings, a state in which both legs cross each other, a state in which the left leg swings, and a modeled walking state. The walking state recognition unit 443 can recognize the walking state of the user by applying the walking data to the FSM. In addition, the walking state recognition unit 443 can recognize the user's walking state by using the posture of the user estimated by the operation reconstruction unit 421. [ The walking state recognition unit 443 can extract the walking state corresponding to the recognized walking state among the plurality of modeled walking states.

The second basic assist force setting unit 444 can set the assist force corresponding to the extracted walking state among the plurality of modeled walking states as the basic assist force. At this time, the assist force corresponding to each walking state can be set in advance.

The stability assisting force setting unit 450 includes an index evaluating unit 451, a weight calculating unit 452, and a stabilizing assisting force determining unit 453. [

The index evaluation unit 451 may classify the walk data on the basis of the stride and calculate the evaluation value of at least one index based on the classified walk data. At this time, the index evaluating unit 451 calculates the evaluation value of the walking symmetry using the above-described equation (1), calculates the evaluation value of the stride length by using the above-mentioned equation (2) The evaluation value of the foot clearance can be calculated. In addition, the index evaluating unit 451 compares the evaluation value with the threshold value for each index, and can determine whether the user's walking is stable based on each index.

In one embodiment, when the motion recognition unit 422 recognizes that the user does not walk, it is not necessary to set the stable assist force, so the index evaluation unit 451 calculates the evaluation value for at least one index .

The weight computing unit 452 may calculate a weight for at least one index based on the difference between the evaluation value of the at least one index and the threshold value corresponding to at least one index. At this time, the weight computing unit 452 may calculate a weight for at least one index by normalizing the difference between the evaluation value of at least one index and the threshold value corresponding to at least one index, as shown in Equation (4) have. The stability assisting force determining unit 453 can set the initial stabilizing assist force based on the walking data and set the stabilizing assist force by applying the weight to the initial stabilizing assist force. For example, the stability assisting force determiner 453 sets the initial stability assisting force for the walking symmetry using Equation (7) described above, and sets the initial stability assisting force for the stride length using Equation (8) , And the initial stability assisting force for the foot clearance can be set using the above-mentioned Equation (9).

The stable assist force determining unit 453 can determine the stable assist force by applying a weight to the initial stable assist force for each at least one index. For example, the stable assist force determiner 453 can determine the stable assist force using Equation (10).

The final assist force setting unit 460 can set the final assist force based on the basic assist force set in the basic assist force setting unit 440 and the stabilization assist force set in the stabilization assist force setting unit 450. [ The final assist force setting unit 460 may set the final assist force by adding the basic assist force and the stable assist force or may set the final assist force to a value having a larger absolute value among the basic assist force and the stable assist force. Further, the final assist force setting unit 460 may set only the stable assist force as the final assist force.

5 is a flowchart illustrating an operation of setting a final assist force according to an embodiment.

Referring to FIG. 5, the assistance force setting device recognizes the user's walking motion (510). The assist force setting device can acquire the walking data from the sensor that senses the user's movement and can estimate the user's operation using the obtained walking data.

The assist force setting device determines whether the user is walking (520). When it is determined that the user does not walk, the assist force setting device sets the stable assist force to 0 (560).

If it is determined that the user is walking, the assist force setting device calculates an evaluation value of at least one index (530). For example, the assist force setting device may calculate an evaluation value of gait symmetry using Equation (1) described above, calculate an evaluation value of stride length using Equation (2) described above, and use Equation (3) The evaluation value of the foot clearance can be calculated.

Further, the assist force setting apparatus calculates a weight for at least one index (540). The assist force setting apparatus may calculate a weight for at least one index based on the difference between the evaluation value of at least one index and the threshold value corresponding to at least one index. At this time, the auxiliary force setting apparatus may calculate a weight for at least one index by normalizing the difference between the evaluation value of at least one index and the threshold value corresponding to at least one index, as in Equation (4) .

Further, the assist force setting device sets a stable assist force (550). The assist force setting device can set the initial stabilizing assist force based on the walking data and set the stabilizing assist force by applying the weight to the initial stabilizing assist force. For example, the assist force setting device sets the initial stable assist force for walking symmetry using Equation (7), sets the initial stable assist force for the stride length using Equation (8) described above, Equation (9) can be used to set the initial stability assisting force for the foot clearance. Also, the assist force setting device can set a stable assist force by applying a weight to the initial stable assist force for each at least one index. For example, the assist force setting device can determine the stable assist force using Equation (10).

Further, the assist force setting device sets a basic assist force in accordance with the user's walking motion based on the walking data (570). The auxiliary force setting device can set the basic assist force using the AO-based basic assist force setting technique or the FSM-based basic assist force setting technique. According to the AO-based basic assist force setting technique, the assistance force setting device estimates the periodicity of the user's walking motion by applying the walking data to the AO, and sets the assist force corresponding to the periodicity of the walking motion as the basic assist force have. According to the FSM-based assist force setting technique, the assist force setting device can model a plurality of walking states in advance, and applies the walking data to the FSM, State can be recognized. Further, the basic assist force setting unit can set the assist force according to the recognized walking state as the basic assist force.

Further, the assist force setting device sets the final assist force by combining the stable assist force and the basic assist force (580). The assist force setting device may set the final assist force by adding the basic assist force and the stable assist force or may set the final assist force to a value larger than the absolute value of the basic assist force and the stable assist force. Further, the assist force setting device may set only the stable assist force as the final assist force.

6 is a diagram for explaining the setting of the basic assist force according to an embodiment.

Referring to FIG. 6, the graph shows a change in walking data according to the user's walking. The horizontal axis of the graph represents time, and the vertical axis represents the hip joint angle or the hip joint speed.

At point 611, the right leg can stop the swing, at point 612, the left leg can swing to intersect with the right leg, at point 613, the left leg can stop the swing, at point 614, And the right leg at the time point 615 can stop the swing as at the time point 611. [ In other words, the walking motion at the time 611 to the time point 615 represents stride, the walking motion at the time point 611 to the time point 613 represents the step for the right leg, and the walking motion at the time point 613 to the time point 615, Lt; / RTI > The broken line 621 represents the left hip joint angle, the solid line 622 represents the right hip joint angle, the dashed line 631 represents the left hip joint speed, and the solid line 632 represents the right hip joint speed.

In one embodiment, the assist force setting device may pre-model each of the four walking states at time points 611, 612, 613, and 614, respectively. The auxiliary force setting device applies both hip joint angle information (621, 622) and both hip joint speed information (631, 632) to the FSM according to the FSM-based assist force setting technique, It is possible to recognize the walking state corresponding to the walking operation. The auxiliary force setting device may set an auxiliary force corresponding to four modeled walking conditions in advance, and the auxiliary force setting device may set an assist force according to the walking state recognized as the user's walking motion among the four modeled walking states It can be set as the basic assist force.

In another embodiment, the assist force setting device applies both hip joint angle information (621, 622) and both hip joint speed information (631, 632) to the AO in accordance with the AO-based basic assist force setting technique, It is possible to estimate the periodicity (for example, a phase pattern) of the walking motion. The assist force setting apparatus can set the assist force corresponding to each periodicity in advance and set the assist force corresponding to the periodicity of the estimated walking operation as the basic assist force.

7 is a view for explaining evaluation value calculation for walking symmetry according to an embodiment.

Referring to FIG. 7, graph (a) shows a change in the hip joint angle according to the user's walking. The horizontal axis of the graph (a) represents time, and the vertical axis represents the hip joint angle.

At point 711, the left leg can stop the swing, at point 712, the right leg can swing to cross the left leg, at point 713, the right leg can stop the swing, at point 714, And at the point 715 the left leg may stop swinging. Also, at the time point 716, the right leg may swing and intersect with the left leg, and at the time point 717, the right leg may stop the swing as at the time point 713. The walking operation at the time point 711 to the time point 715 represents one stride to the right leg and the walking operation at the time point 713 to the time point 717 represents one stride to the left leg. The walking operation at the time point 711 to the starting point 713 and the walking operation at the time point 715 to the starting point 717 represent steps of the left leg, and the walking operation at the time point 713 to the time point 715 represents the step of the right leg. Solid line 721 represents the right hip joint angle, and dashed line 722 represents the left hip joint angle.

The auxiliary force setting device can estimate the similarity between the locus 721 of the right hip joint angle and the locus 722 of the left hip joint angle and determine the estimated similarity as the evaluation value of the walking symmetry. The assist force setting apparatus can calculate the trajectory of the right hip joint angle at the point of time 711 to the point 715 and the difference of the trajectory of the left hip joint angle at the point of time 713 to the point 717. At this time, the locus of the right hip joint angle at the time 711 to the time point 715 and the locus of the left hip joint angle at the time 713 to the time 717 may be one step interval.

The graph (b) shows the difference (733) between the locus of the right hip joint angle (solid line 731) at the time 711 to the time point 715 and the locus of the left hip joint angle (dotted line 732) at the time 713 to the time point 717. In the graph (b), the horizontal axis represents NST and the vertical axis represents the hip joint angle.

The assist force setting device can calculate the evaluation value of the walking symmetry using the above-described equation (1). The auxiliary force setting device applies the dynamic time warping to the difference 733 between the locus 731 of the right hip joint angle and the locus 732 of the left hip joint angle to determine the locus 731 of the right hip joint angle and the left hip joint angle & The estimated degree of similarity can be calculated as the evaluation value of the walking symmetry at the point of time 711 to the point of time 717. [ Further, the assist force setting device can determine whether the user's walking is stable based on the walking symmetry by comparing the evaluation value with the threshold value for the walking symmetry.

8 is a view for explaining the setting of the initial stability assisting force for the walking symmetry according to the embodiment.

Referring to FIG. 8, graph (a) shows the change of the hip joint angle according to the user's walking, and graph (b) shows the initial stability assist force according to the user's walking. The horizontal axis of graph (a) represents NST, and the vertical axis represents the hip joint angle. The abscissa of the graph (b) represents NST, and the ordinate represents the initial stability assisting force.

At point 811, the right leg can stop the swing, at point 812 the left leg can swing to intersect with the right leg, at point 813 the left leg can stop the swing, at point 814 the right leg swings, And the right leg at the time point 815 can stop the swing as at the time point 811. [ The walking motion at the time point 811 to the time point 815 represents stride, the walking motion at the time point 811 to the time point 813 represents the step for the right leg, and the walking motion at the time point 813 to the time point 815 can represent the step for the left leg have.

In the graph (a), a solid line 821 indicates the right hip joint angle, a dotted line 822 indicates the left hip joint angle, a solid line 861 indicates an initial stable assist force to provide the right leg, It may indicate the initial stabilizing force provided to the left leg.

The assist force setting device multiplies the difference between the locus 821 of the right hip joint angle and the locus 822 of the left hip joint angle appearing on the NST axis by the predetermined gain according to the above Equations 5 to 7, Can be set. To set the initial stable assist force 861 to provide the right leg, the assist force setting device provides the right hip with the left hip joint angle trajectory 822 minus the right hip joint angle trajectory 821 It is possible to multiply the gain of the initial stabilizing assist force. Further, in order to set the initial stable assist force 862 to be provided to the left leg, the assist force setting device sets the value of the right hip joint angle 821 to the value obtained by subtracting the locus 822 of the left hip joint angle from the left leg It is possible to multiply the gain of the initial stabilizing assist force to be provided.

The initial stabilizing assist force for the right leg can be applied from time point 811, and the initial stabilizing assist force for the left leg can be applied from time point 813.

  Accordingly, the assist force setting device provides the initial stable assist force 861 to the right leg so as to cancel the difference between the locus 822 of the left hip joint angle and the locus 821 of the right hip joint angle, The initial stability assisting force 862 can be set.

9 is a view for explaining the setting of the initial stable assist force for the stride length according to an embodiment.

Referring to FIG. 9, the graph shows an initial stability assisting force according to the user's walking. The abscissa of the graph represents NST, and the ordinate represents the initial stabilizing assist force.

At point 911, the right leg can stop the swing, at point 912, the left leg can swing to cross the right leg, at point 913, the left leg can stop the swing, at point 914, And at the time 915, the right leg can stop the swing as at the time 911. [ The walking operation at the time point 911 to the time point 915 represents the stride, the walking motion at the time point 911 to the time point 913 represents the step for the right leg, and the walking motion at the time point 913 to the time point 915 can represent the step for the left leg have. In the graph, the solid line 921 indicates the initial stabilizing assist force provided to the right leg, and the dotted line 922 indicates the initial stabilizing assist force provided to the left leg.

The auxiliary force setting device extracts the intersection points of the right and left legs using the trajectory of the angle of the left hip joint and the angle of the right hip joint according to Equation (8) described above, Can be set to the initial stability assisting force with respect to the stride length. Here, the predetermined time and the peak torque can be set in advance. In the example of Fig. 9, the assist force setting device can extract the viewpoint 912 and the viewpoint 914 at the intersection of the right leg and the left leg. The assisting force setting device includes an initial stabilizing assist force 921 that provides the right leg with a peak torque to the left leg and the right leg for a predetermined time from a time point 912 and a time point 914 and an initial stabilizing assist force 922 ) Can be set. Accordingly, the assisting force setting device sets the initial stable assist force 921 to provide the left leg and the right leg to the right leg for a predetermined time from the time point 912 and the time point 914, and the initial stable assist force 922).

10 is a diagram for explaining the setting of the initial stable assisting force for the foot clearance according to the embodiment.

Referring to FIG. 10, the graph shows an initial stability assisting force according to the user's walking. The abscissa of the graph represents NST, and the ordinate represents the initial stabilizing assist force.

At point 1011, the right leg can stop the swing, at point 1012, the left leg can swing to intersect with the right leg, at point 1013, the left leg can stop the swing, at point 1014, And at the point 1015, the right leg can stop the swing like the point 1011. [ The walking operation at the time point 1011 to the time point 1015 represents the stride, the walking motion at the time point 1011 to the time point 1013 represents the step for the right leg, and the walking motion at the time point 1013 to the time point 1015 can represent the step for the left leg have. In the graph, the solid line 1021 indicates the initial stabilizing assist force provided to the right leg, and the dotted line 1022 indicates the initial stabilizing assist force provided to the left leg.

The assistance force setting device extracts a point at which the user's swinging leg approaches the ground using the trajectory of the angle of the left hip joint and the angle of the right hip joint according to Equation (9) It is possible to set the initial stability assisting force for the foot clearance that is the peak torque for a predetermined time from the point of approaching the ground. Here, the predetermined time and the peak torque can be set in advance. In the example of FIG. 10, the auxiliary force setting device extracts the time point between the point of time 1012 and the point of time 1013 as the point of approaching the left leg to the ground, and the point of time between the point of time 1014 and the point of time 1015, Can be extracted.

The assist force setting device sets the initial stable assist force 1022 to provide the left leg with a peak torque to the left leg for a predetermined time from the time point between the time point 1012 and the time point 1013, To provide the right leg with a peak torque to the right leg for a predetermined period of time. Accordingly, the assist force setting device sets the initial stable assist force 1022 so that the left leg is further raised for a predetermined time from the time point between the time point 1012 and the time point 1013, The initial stable assist force 1021 can be set so as to raise the right leg further.

FIG. 11 is a diagram for explaining the setting of an assist force according to an embodiment.

11, an assist force setting device may be included in the walking aid device 1110 or an external device (e.g., a server) 1120.

In one embodiment, when the assist force setting device is included in the walking assistant device 1110, the assist force setting device may be configured to measure a change in the user's exercise amount due to the walking motion from the sensor included in the walking assistant device 1110 Data can be received. The assist force setting device can calculate the evaluation value of at least one index based on the walking data and calculate a weight for at least one index based on the evaluation value and the difference of the thresholds corresponding to at least one index . At this time, the assist force setting device can receive information on the threshold value corresponding to at least one index from the external device 1120 through the communication interface. The assist force setting device may set an initial stable assist force corresponding to at least one index based on the walking data and apply a weight to the initial stable assist force to set a stable assist force. The assist force setting device can set the basic assist force based on the walking data, and can set the final assist force by combining the basic assist force and the stable assist force. The assist force setting device can control the walking aid 1110 to output the final assist force. Also, the assist force setting device may transmit the walking data of the user, the evaluation value of at least one index, the weight, the initial stable assist force, the basic assist force, and the final assist force to the external device 1120 through the communication interface.

In another embodiment, when the assist force setting device is included in the external device 1120, the assist force setting device uses the communication interface to allow the sensor included in the walking aid device 1110 to sense a change in the user's momentum And can receive one piece of walking data from the walking aid device 1110. [ The assist force setting device calculates an evaluation value of at least one index based on the received walking data and calculates a weight for at least one index based on the evaluation value and the difference of the threshold value corresponding to at least one index . Here, the threshold value corresponding to at least one index may be predetermined. The assist force setting device may set an initial stable assist force corresponding to at least one index based on the walking data and apply a weight to the initial stable assist force to set a stable assist force. The assist force setting device can set the basic assist force based on the walking data, and can set the final assist force by combining the basic assist force and the stable assist force. The assist force setting device can transmit a control signal to the walking aid 1110 through the communication interface so that the walking assistance device 1110 is driven in accordance with the final assistance force. The walking aid device 1110 may output the final assist force in accordance with the control signal.

12 is a view for explaining an interface for providing an auxiliary force according to an embodiment.

12, the walking aiding device 1210 can select an operation mode from the wearable device 1220 or the mobile device 1230 using a communication interface.

According to one aspect, the operating mode may include a first operating mode and a second operating mode. The first mode of operation may be a mode in which the walking aids 1210 provide assistance to the user for walking. The second mode of operation may be a mode in which the walking aid 1210 provides assistance to the user to prevent falls.

For example, an assist force for fall prevention may not be considered when the first operation mode is selected. As another example, if the second mode of operation is selected, the walking aiding device 1210 may calculate the final assist force in which both the assist force for walking and the assist force for fall prevention are considered.

According to another aspect, the walking aiding device 1210 can receive walking data from a sensor (not shown) that senses a change in the user's exercise amount due to the walking operation. The sensor may be connected to the walking aid 1210 using wireline or wireless communication.

The walking aid device 1210 can calculate the evaluation value of the index based on the walking data. The walking aid 1210 may calculate a weight for the index based on the difference between the evaluation value and the threshold value corresponding to the index. The walking aiding device 1210 can set an initial stable assist force corresponding to the index based on the walking data and set a stable assist force by applying a weight to the initial stable assist force. The walking assistant 1210 can set the basic assist force based on the walking data, and can set the final assist force by combining the basic assist force and the stable assist force. The walking aid device 1210 may output a final assist force set when the first mode is selected.

According to yet another aspect, the walking aids 1210 are coupled to the wearable device 1220 or the mobile device 1230 via a communication interface to provide an evaluation of the index, an initial stable assist force, a stable assist force, Information about the power can be transmitted. The wearable device 1220 or the mobile device 1230 can display information received from the walking aid device 1110. [ For example, as in the example of FIG. 12, wearable device 1220 or mobile device 1230 may display information that an index for stride length has been reflected to set a final assist force.

13 is a block diagram showing a walking assistance apparatus according to an embodiment.

13, the walking aiding apparatus 1300 includes a walking data receiving unit 1310, a stable assistant force setting unit 1320, a basic assistant force setting unit 1330, a final assistant force setting unit 1340, 1350).

The walking data receiving unit 1310 receives the user's walking data.

The stabilization assist force setting unit 1320 sets the stable assist force using the evaluation value of at least one index based on the walking data.

The basic assist force setting unit 1330 sets the basic assist force according to the user's walking motion based on the walking data.

The final assist force setting unit 1340 sets a final assist force on the basis of the stable assist force and the basic assist force.

The walking data receiving unit 210, the stabilizing assist force setting unit 1320, the walking assistant setting unit 1330, and the final assist force setting unit 1340 shown in FIG. 2 are connected to the walking data receiving unit 1310, the stabilizing assist force setting unit 1320, 220, the basic assist force setting unit 230, and the final assist force setting unit 240 may be applied as they are, so that a detailed description will be omitted.

The drive control section 1350 can control the driving of the walking aiding apparatus based on the final assist force. In one embodiment, the walking aid includes a driver that drives both hip joints of the user, and the driver can control the driver to output a final assist force. For example, the drive control unit 1350 may transmit a control signal to the driver so that the driver outputs a gain corresponding to the final assist force. In this case, the driver can output a gain corresponding to the final assist force in accordance with the control signal. Thus, the walking aid assists the user to walk stably according to the final assist force, thereby preventing the risk of the user falling.

FIG. 14 is a method flow chart illustrating an auxiliary force setting method according to an embodiment.

Referring to FIG. 14, the assist force setting device may receive the user's walking data (1410).

Further, the assist force setting device may set the stable assist force using the evaluation value of at least one index based on the walking data (1420).

Further, the assist force setting device may set the basic assist force according to the user's walking motion based on the walking data (1430).

In addition, the assist force setting device can set the final assist force based on the stable assist force and the basic assist force (1440).

The auxiliary force setting method according to the embodiment shown in FIG. 14 can be applied to the method described with reference to FIGS. 1 to 13 as it is, so that a detailed description will be omitted.

15 is a method flow chart showing an auxiliary force setting method according to another embodiment.

Referring to FIG. 15, the assist force setting device may calculate an evaluation value of at least one index indicating the user's walking stability based on the user's walking data (1510).

Further, the assist force setting apparatus may calculate a weight for at least one index based on the evaluation value and the difference of the thresholds corresponding to at least one index (1520).

In addition, the assist force setting apparatus may set a stable assist force by applying a weight to the initial stable assist force corresponding to at least one index (1530).

In the auxiliary force setting method according to another embodiment shown in FIG. 15, the contents described in FIG. 1 through FIG. 13 may be applied as they are, so that a detailed description will be omitted.

16 is a method flow diagram illustrating a walking assistance method in accordance with one embodiment.

Referring to FIG. 16, the walking aid can receive the user's walking data (1610).

Further, the walking assist device can set the stable assist force using the evaluation value of at least one index based on the walking data (1620).

Further, the walking assist device can set the basic assist force according to the user's walking motion based on the walking data (1630).

In addition, the walking assist device can set the final assist force based on the stable assist force and the basic assist force (1640).

In addition, the walking aiding apparatus can control the driving of the walking aiding apparatus based on the final assist force (1650).

The gait assisting method according to another embodiment shown in FIG. 16 can be applied to the steps illustrated in FIG. 1 through FIG. 13 as they are, so that a detailed description will be omitted.

While the present invention has been particularly shown and described with reference to exemplary embodiments thereof, it is to be understood that the invention is not limited to the disclosed exemplary embodiments. For example, it is to be understood that the techniques described may be performed in a different order than the described methods, and / or that components of the described systems, structures, devices, circuits, Lt; / RTI > or equivalents, even if it is replaced or replaced.

Claims (28)

A walking data receiving unit for receiving walking data of a user;
A stable assist force setting unit that sets a stable assist force using an evaluation value of at least one index based on the walking data;
A basic assist force setting unit for setting a basic assist force according to the user's walking motion based on the walking data; And
A final assist force setting unit for setting a final assist force based on the stable assist force and the basic assist force,
/ RTI >
Auxiliary power setting device.
The method according to claim 1,
Wherein the stable assist force setting unit comprises:
An index evaluation unit for calculating an evaluation value of at least one index based on the walking data;
A weight computing unit for computing a weight for the at least one index based on the difference between the evaluation value and the threshold corresponding to the at least one index; And
A stable assist force calculating unit for calculating the stable assist force by applying the weight to the initial stable assist force corresponding to the at least one index,
/ RTI >
Auxiliary power setting device.
3. The method of claim 2,
Wherein the at least one index comprises:
A stride length of the user, a stride width, a foot clearance (foot) indicating a distance between the user's foot and the ground, a foot symmetry indicating a degree of symmetry of both legs of the user, a landing speed or a walk ratio indicating a speed at which the user's foot touches the ground,
Auxiliary power setting device.
The method of claim 3,
The index evaluating unit may include:
Classifying the walking data based on the stride,
Calculating an evaluation value of the at least one index based on the walk data classified on the basis of the stride,
Auxiliary power setting device.
5. The method of claim 4,
The index evaluating unit may include:
And comparing the evaluation value with the threshold value to determine whether the user's walking is stable based on the at least one index.
Auxiliary power setting device.
5. The method of claim 4,
The index evaluating unit may include:
Estimating a similarity between a trajectory of the left hip joint angle and a trajectory of the right hip joint angle among the walking data,
Determining the degree of similarity as an evaluation value of the walking symmetry,
Auxiliary power setting device.
The method according to claim 6,
The index evaluating unit may include:
Estimating the similarity of the locus of the left hip joint angle and the locus of the right hip joint angle using dynamic time warping (DTW)
Auxiliary power setting device.
5. The method of claim 4,
The index evaluating unit may include:
Estimating an average stride length by calculating an average of a left hip joint angle range and a right hip joint angle range of the walking data for a plurality of strides,
Determining an average stride length as an evaluation value for the stride length,
Auxiliary power setting device.
5. The method of claim 4,
The index evaluating unit may include:
Extracting a maximum flexion angle of the left hip joint and a maximum bending angle of the right hip joint from the walking data for a plurality of strides,
Determining a maximum bending angle of the left hip joint and a maximum bending angle of the right hip joint as an evaluation value for the foot clearance,
Auxiliary power setting device.
3. The method of claim 2,
The weight computing unit may include:
Calculating a weight value by normalizing the difference between the evaluation value and the threshold value,
Auxiliary power setting device.
6. The method of claim 5,
The weight computing unit may include:
Wherein the index evaluation unit sets a weight for an index determined to be stable by the user as 0,
Auxiliary power setting device.
5. The method of claim 4,
The stable-assist force arithmetic unit may include:
And setting the initial stable assist force based on the walking data,
Auxiliary power setting device.
13. The method of claim 12,
The stable-assist force arithmetic unit may include:
Setting the initial stable assist force for the walking symmetry based on a difference between a locus of a left hip joint angle and a locus of a right hip joint angle among the walking data,
Auxiliary power setting device.
13. The method of claim 12,
The stable-assist force arithmetic unit may include:
Extracting an intersection point at which the left leg and the right leg of the user intersect using the trajectory of the left hip joint angle and the trajectory of the right hip joint angle among the walking data,
And setting a peak torque for the predetermined time from the intersection point to the initial stable assisting force for the stride length.
Auxiliary power setting device.
13. The method of claim 12,
The stable-assist force arithmetic unit may include:
Extracting a point of time when the swing leg of the user approaches the ground by using the locus of the left hip joint angle and the locus of the right hip joint angle among the walking data,
And sets a peak torque for a predetermined time from the time when the swinging leg approaches the ground to the initial stable assisting force for the foot clearance.
Auxiliary power setting device.
The method according to claim 1,
And a gait operation recognition unit for recognizing the gait operation of the user based on the gait data,
Further comprising:
Wherein the basic assist force setting unit comprises:
When the walking operation recognizing unit recognizes that the user does not perform the walking operation, sets the basic assist force to 0,
Auxiliary power setting device.
The method according to claim 1,
Wherein the basic assist force setting unit comprises:
Estimating the periodicity of the user's gait operation by applying the gait data to an adaptive oscillator (AO)
And setting an auxiliary force corresponding to the periodicity of the walking operation to the basic auxiliary force,
Auxiliary power setting device.
The method according to claim 1,
Wherein the basic assist force setting unit comprises:
Modeling the walking operation of the user into a plurality of states,
The walking data is applied to a finite state machine (FSM) to recognize a walking state corresponding to a walking operation of the user among the plurality of modeled walking states,
And setting an assist force according to the recognized walking state as the basic assist force,
Auxiliary power setting device.
The method according to claim 1,
Wherein the final assist force setting unit comprises:
And the final auxiliary force is set by adding the stable auxiliary force and the basic auxiliary force,
Auxiliary power setting device.
The method according to claim 1,
Wherein the final assist force setting unit comprises:
And the absolute value of the stable assist force and the basic assist force is set to the final assist force,
Auxiliary power setting device.
An index evaluating unit for calculating an evaluation value of at least one index indicating the walking stability of the user based on the user's walking data;
A weight computing unit for computing a weight for the at least one index based on the difference between the evaluation value and the threshold corresponding to the at least one index; And
An auxiliary force setting unit for setting a stable auxiliary force by applying the weight to the initial stable auxiliary force corresponding to the at least one index,
/ RTI >
Auxiliary power setting device.
22. The method of claim 21,
Wherein the stable assist force setting unit comprises:
And setting the initial stable assist force based on the walking data,
Auxiliary power setting device.
22. The method of claim 21,
And a basic assist force setting unit for setting a basic assist force based on the user's walking motion based on the walking data,
Further comprising:
Wherein the auxiliary force setting unit comprises:
And setting a final assist force based on the basic assist force and the stable assist force,
Auxiliary power setting device.
A walking data receiving unit for receiving walking data of a user;
A stable assistance force setting unit for calculating an evaluation value of at least one index based on the walking data and setting a stable assistance force based on the evaluation value;
A basic assist force setting unit for setting a basic assist force according to the user's walking motion based on the walking data;
A final assist force setting unit for setting a final assist force based on the stable assist force and the basic assist force; And
A driving control unit for controlling driving of the walking aiding apparatus based on the final assist force,
/ RTI >
Walking aids.
Receiving walking data of a user;
Calculating an evaluation value of at least one index based on the walking data, and setting a stable assist force based on the evaluation value;
Setting a basic assist force according to the user's walking motion based on the walking data; And
Setting a final assist force based on the stable assist force and the basic assist force
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How to set auxiliary power.
Calculating an evaluation value of at least one index indicating the walking stability of the user based on the user's walking data;
Calculating a weight for the at least one index based on the evaluation value and the difference of the thresholds corresponding to the at least one index; And
Setting a stable assist force by applying the weight to the initial stable assist force corresponding to the at least one index
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How to set auxiliary power.
Receiving walking data of a user;
Calculating an evaluation value of at least one index based on the walking data, and setting a stable assist force based on the evaluation value;
Setting a basic assist force according to the user's walking motion based on the walking data;
Setting a final assist force based on the stable assist force and the basic assist force; And
Controlling the driving of the walking assist device based on the final assist force
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Walking aids.
27. A computer-readable recording medium on which a program for performing the method of any one of claims 25 to 27 is recorded.

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