JP2019055176A - 個人化された歩行ポリシーを更新する方法及び装置 - Google Patents
個人化された歩行ポリシーを更新する方法及び装置 Download PDFInfo
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- JP2019055176A JP2019055176A JP2018117922A JP2018117922A JP2019055176A JP 2019055176 A JP2019055176 A JP 2019055176A JP 2018117922 A JP2018117922 A JP 2018117922A JP 2018117922 A JP2018117922 A JP 2018117922A JP 2019055176 A JP2019055176 A JP 2019055176A
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Abstract
Description
図1及び図2は一例に係る歩行補助装置を示す。
以下、図3及び図4を参照して歩行ポリシーに基づいて動作する歩行補助装置及びその動作方法が説明される。
以下、図6〜図12を参照して歩行ポリシー更新装置が個人化された歩行ポリシーを更新する方法について詳細に説明する。
300:制御部
600:歩行ポリシー更新装置
Claims (29)
- 歩行補助装置を制御する方法であって、
個人化された歩行ポリシーに基づいて現在歩行サイクルの間に前記歩行補助装置を制御するためのアシストプロファイルを生成するステップと、
前記アシストプロファイルに基づいて前記歩行補助装置を制御するステップと、
を含み、
前記個人化された歩行ポリシーは、
前記現在歩行サイクルの以前に発生する以前歩行サイクル内で測定された前記歩行補助装置の動きに関する状態情報を受信するステップと、
現在歩行サイクルのうち第1イベントを検出するステップと、
前記第1イベントが検出された時点で、前記動きに関する状態情報のリウォード値を評価するステップと、
前記リウォード値及び前記動きに関する状態情報に基づいて前記個人化された歩行ポリシーを選択的に更新するステップと、
により生成される、
歩行補助装置制御方法。 - 前記歩行補助装置の前記動きに関する状態情報は、前記歩行補助装置の股関節角度の変化軌跡、膝関節角度の変化軌跡、及び足首関節角度の変化軌跡のうちの1つ以上を含む、
請求項1に記載の歩行補助装置制御方法。 - 前記第1イベントは、
前記歩行補助装置の先行足の股関節角度が最大であるイベントと、
前記歩行補助装置の両足が交差するイベントと、
前記歩行補助装置の先行足が地面に接触するイベントと、
前記歩行補助装置の後行足が地面から離れるイベントと、
のいずれか1つを含む、
請求項1または2に記載の歩行補助装置制御方法。 - 前記以前歩行サイクルは、前記第1イベントに対応する以前イベントが検出された時点から前記第1イベントが検出された時点までであり、
前記現在歩行サイクルは、前記第1イベントが検出された時点から前記第1イベントに対応する次にイベントが検出された時点までである、
請求項1ないし3いずれか一項に記載の歩行補助装置制御方法。 - 前記リウォード値は、以前歩行ポリシーによって生成された以前アシストプロファイルに基づいた前記動きに関する状態情報に関するものであり、
前記以前歩行ポリシーは、前記個人化された歩行ポリシー以前に有効な歩行ポリシーである、
請求項1ないし4いずれか一項に記載の歩行補助装置制御方法。 - 前記個人化された歩行ポリシーを生成するステップは、前記以前歩行ポリシーの神経網を構成しているパラメータの加重値を変更することによって前記個人化された歩行ポリシーの神経網を更新するステップを含む、
請求項5に記載の歩行補助装置制御方法。 - 前記個人化された歩行ポリシーを更新するステップは、
前記歩行補助装置の左足のための左足歩行ポリシーを更新するステップと、
前記歩行補助装置の右足のための右足歩行ポリシーを更新するステップと、
のうち少なくとも1つを含む、
請求項1に記載の歩行補助装置制御方法。 - 前記左足歩行ポリシーを更新するステップは、
前記左足の曲げモードのための左側曲げ歩行ポリシーを更新するステップと、
前記左足の伸ばしモードのための左側伸ばし歩行ポリシーを更新するステップと、
のうち少なくとも1つを含む、
請求項7に記載の歩行補助装置制御方法。 - 前記アシストプロファイルを生成するステップは、前記動きに関する状態情報及び前記個人化された歩行ポリシーに基づいて前記アシストプロファイルを生成するステップを含む、
請求項1に記載の歩行補助装置制御方法。 - 前記歩行補助装置を制御するステップは、
前記現在歩行サイクルのうち第2イベントを検出するステップと、
前記第2イベントが検出された時点で、前記アシストプロファイルに基づいて前記歩行補助装置を制御するステップと、
を含む、
請求項1に記載の歩行補助装置制御方法。 - 前記歩行補助装置を制御するステップは、前記アシストプロファイルにより前記歩行補助装置の少なくとも1つの駆動部がトルクを発生させるよう前記歩行補助装置を制御するステップを含む、
請求項10に記載の歩行補助装置制御方法。 - 前記歩行補助装置を制御するステップは、前記アシストプロファイルにより前記歩行補助装置がユーザに機能的な電気的な刺激を提供するステップを含む、
請求項10に記載の歩行補助装置制御方法。 - 前記歩行補助装置の前記動きに関する状態情報を受信するステップは、前記動きに関する状態情報として前記歩行補助装置の1つ以上のセンサから測定値を受信するステップを含み、
前記第1イベントは前記測定値に基づいて検出される、
請求項1に記載の歩行補助装置制御方法。 - 前記リウォード値は、前記動きに関する状態情報の歩行対称性、前記動きに関する状態情報に対する電力消費量、前記動きに関する状態情報の歩行安定性、代謝エネルギー、及び外部フィードバックのうちの1つ以上を含む、
請求項1に記載の歩行補助装置制御方法。 - 前記歩行対称性は、前記歩行補助装置によるユーザの歩幅及びステップ持続期間のうち少なくとも1つに基づいて算出される、
請求項14に記載の歩行補助装置制御方法。 - 前記個人化された歩行ポリシーは、前記歩行補助装置によって更新される、
請求項1に記載の歩行補助装置制御方法。 - 前記個人化された歩行ポリシーは、前記歩行補助装置と有線又は無線で通信するサーバによって更新される、請求項1に記載の歩行補助装置制御方法。
- 前記方法は、さらに、
前記歩行補助装置が前記サーバから前記個人化された歩行ポリシーを受信するステップ、を含む、
請求項17に記載の歩行補助装置制御方法。 - 前記アシストプロファイルに基づいて前記歩行補助装置を制御するステップは、前記アシストプロファイルを前記歩行補助装置に送信するステップを含む、
請求項17に記載の歩行補助装置制御方法。 - 前記アシストプロファイルに基づいて前記歩行補助装置を制御するステップは、
前記アシストプロファイルに基づいて前記歩行補助装置の駆動部を制御する制御信号を生成するステップと、
前記制御信号を前記歩行補助装置に送信するステップと、
を含む、
請求項17に記載の歩行補助装置制御方法。 - 請求項1ないし請求項20のいずれか一項に記載の方法を実行するプログラムを収録したコンピュータで読み出し可能な記録媒体。
- 歩行補助装置であって、
前記歩行補助装置を制御するプログラムが記録されたメモリと、
前記プログラムを行うプロセッサと、
を含み、
前記プログラムは、
個人化された歩行ポリシーに基づいて現在歩行サイクルの間に前記歩行補助装置を制御するためのアシストプロファイルを生成するステップと、
前記アシストプロファイルに基づいて前記歩行補助装置を制御するステップと、
を行い、
前記個人化された歩行ポリシーは、
前記現在歩行サイクルの以前に発生する以前歩行サイクル内で測定された前記歩行補助装置の動きに関する状態情報を受信するステップと、
現在歩行サイクルのうち第1イベントを検出するステップと、
前記第1イベントが検出された時点で、前記動きに関する状態情報のリウォード値を評価するステップと、
前記リウォード値及び前記動きに関する状態情報に基づいて前記個人化された歩行ポリシーを選択的に更新するステップと、
により生成される、
歩行補助装置。 - 前記個人化された歩行ポリシーは前記歩行補助装置によって更新される、
請求項22に記載の歩行補助装置。 - 前記個人化された歩行ポリシーは、前記歩行補助装置と有線又は無線で通信するサーバによって更新され、
前記歩行補助装置は、前記サーバから前記個人化された歩行ポリシーを受信する、
請求項22に記載の歩行補助装置。 - 個人化された歩行ポリシーを更新するサーバによって実行される歩行補助装置制御方法であって、
以前歩行サイクル内で測定された歩行補助装置の動きに関する状態情報を受信するステップと、
現在歩行サイクルのうちイベントを検出するステップと、
前記イベントが検出された時点で、前記動きに関する状態情報のリウォード値を評価するステップと、
前記リウォード値及び前記動きに関する状態情報に基づいて前記個人化された歩行ポリシーを選択的に更新するステップと、
前記個人化された歩行ポリシーに基づいて、アシストプロファイル又はアシストプロファイルパラメータを生成するステップと、
前記アシストプロファイル又はアシストプロファイルパラメータを前記歩行補助装置に送信するステップと、
を含み、
前記歩行補助装置は、前記アシストプロファイル又はアシストプロファイルパラメータによって制御される、
歩行補助装置制御方法。 - 現在歩行サイクルの間に歩行補助装置を制御する個人化された歩行ポリシーを更新するサーバであって、
前記歩行補助装置を制御するプログラムが記録されたメモリと、
前記プログラムを実行するプロセッサと、
を含み、
前記プログラムにより前記プロセッサは、
前記現在歩行サイクルの以前に発生する以前歩行サイクル内で測定された歩行補助装置の動きに関する状態情報を受信するステップと、
前記現在歩行サイクルのうちイベントを検出するステップと、
前記イベントが検出された時点で、前記動きに関する状態情報のリウォード値を評価するステップと、
前記リウォード値及び前記動きに関する状態情報に基づいて前記個人化された歩行ポリシーを選択的に更新するステップと、
前記個人化された歩行ポリシーに基づいて、アシストプロファイル又はアシストプロファイルパラメータを生成するステップと、
前記歩行補助装置を制御するために前記アシストプロファイル又はアシストプロファイルパラメータを前記歩行補助装置に送信するステップと、
を行う、
サーバ。 - 現在歩行サイクルの間に歩行補助装置を制御するための個人化された歩行ポリシーを更新する方法であって、
前記現在歩行サイクルの以前に発生する以前歩行サイクルに対する前記歩行補助装置の状態情報を受信するステップと、
イベントが発生する場合、前記状態情報に基づいて前記個人化された歩行ポリシーを評価するステップと、
前記評価に基づいて前記歩行補助装置の歩行中に選択的に前記歩行ポリシーを更新するステップと、
を含む、
歩行補助装置制御方法。 - 前記個人化された歩行ポリシーを評価するステップは、歩行対称性、電力消費量、歩行安定性、代謝エネルギー、及び外部フィードバックのうちの1つ以上に基づいて前記個人化された歩行ポリシーを評価するステップを含む、
請求項27に記載の歩行補助装置制御方法。 - 前記歩行ポリシーは、前記歩行補助装置と有線又は無線で通信するサーバによって更新される、
請求項27または28に記載の歩行補助装置制御方法。
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KR20200085083A (ko) | 2019-01-04 | 2020-07-14 | 삼성전자주식회사 | 보행 보조 장치의 제어 방법 및 장치 |
CN110227236A (zh) * | 2019-05-11 | 2019-09-13 | 北京工业大学 | 一种针对脑卒中偏瘫用户的下肢康复服务*** |
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TWI798770B (zh) * | 2020-08-03 | 2023-04-11 | 財團法人工業技術研究院 | 步態評估系統及步態評估方法 |
US11173093B1 (en) | 2020-09-16 | 2021-11-16 | Dephy, Inc. | Systems and methods for an active exoskeleton with local battery |
CN112472530B (zh) * | 2020-12-01 | 2023-02-03 | 天津理工大学 | 一种基于步行比趋势变化的奖励函数建立方法 |
KR102604835B1 (ko) * | 2021-05-26 | 2023-11-22 | 대한민국 | 표면 근전도 기반 힘 피드백 재활 방법 및 시스템 |
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