Harness, Dickey & Pierce, P.L.C.
Method and apparatus for walking assist
Provided is a method and device for walking assistance that may estimate a state vector of a foot of a user and a variance matrix corresponding to the state vector, adjust a probability of a contact sensor based on at least one estimate included in the estimated state vector in response to receiving a contact signal from the contact sensor, calculate a combination rate between a measurement value of an acceleration sensor and the estimated state vector based on a measurement error matrix including the adjusted probability, update the estimated state vector and the estimated variance matrix based on the calculated combination rate, determine whether the foot lands on the ground based on the updated state vector and the updated variance matrix, and change an operation mode of a walking assistance device based on a result of the determination.
Samsung Electronics Co., Ltd.
G A A A A A G A A A A A A A B G A
G16H A61H A61H A61H A61H A61H G16H A61H A61H A61F A61B A61H A61B A61H B25J G16H A61H
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Seungyong Jusuk Hyun Do
Hyung Lee Choi