Method and device for outputting torque of walking assistance device
A method and device for outputting a torque of a walking assistance device is provided. The method and device may determine a degree of progress in a gait cycle based on data received through wireless communication, calculate a torque corresponding to the determined degree of progress, and output the torque to a driver of the walking assistance device. However, when the data received through wireless communication is not updated data, the method and device may determine reference data based on a reference pattern, and update the data using the determined reference data.
1. A method of outputting a torque of a walking assistance device, the method comprising:
loading data associated with the walking assistance device, the data being received via wireless communication, the loading including,
determining whether the data is updated,
determining a reference pattern among a plurality of stored reference patterns based on a current walking mode of the walking assistance device,
determining reference data of the reference pattern based on the data in response to the data not being updated, and
updating the data using the reference data;
determining a degree of progress in a gait cycle based on the data;
calculating a torque corresponding to the degree of progress; and
outputting the torque to a driver of the walking assistance device.
2. The method of claim 1 , wherein the data received through the wireless communication has a periodic pattern corresponding to the gait cycle.
3. The method of claim 1 , wherein the determining whether the data is updated data comprises:
determining whether the data is updated data using an identifier of the data.
4. The method of claim 3 , wherein the identifier of the data includes at least one of a field indicating whether the data has been loaded, and a timestamp of the data.
5. The method of claim 1 , wherein the determining the reference data of the reference pattern comprises:
generating a normalized pattern by normalizing pieces of data including the data in a set period to correspond to the reference pattern;
determining a target interval of the reference pattern such that the target interval corresponds to the normalized pattern; and
determining the reference data based on the target interval.
6. The method of claim 5 , wherein the generating of the normalized pattern comprises:
normalizing a minimum value and a maximum value of the pieces of data in the set period such that the minimum value and the maximum value of the pieces of data correspond to a minimum value and a maximum value of the reference pattern, respectively.
7. The method of claim 5 , wherein the set period corresponds to one period of the reference pattern.
8. The method of claim 5 , wherein the determining the reference data based on the target interval comprises:
setting last data in the target interval as the reference data.
9. The method of claim 1 , wherein the data is a measurement of a joint angle of a user of the walking assistance device.
10. The method of claim 9 , wherein the joint angle is at least one of a shoulder joint angle, a hip joint angle, a knee joint angle, and an ankle joint angle of the user.
11. A non-transitory computer-readable medium comprising computer-readable instructions executable by a computer to output a torque of a walking assistance device by,
loading data associated with the walking assistance device, the data being received via wireless communication, the loading including,
determining whether the data is updated,
determining a reference pattern among a plurality of stored reference patterns based on a current walking mode of the walking assistance device,
determining reference data of the reference pattern based on the data in response to the data not being updated, and
updating the data using the reference data;
determining a degree of progress in a gait cycle based on the data;
calculating a torque corresponding to the degree of progress; and
outputting the torque to a driver of the walking assistance device.
12. A device for outputting a torque of a walking assistance device, the device comprising:
a memory configured to store a program; and
a processor configured to execute the program to output a torque by,
loading data associated with the walking assistance device, the loading including,
determining whether the data is updated,
determining a reference pattern among a plurality of stored reference patterns based on a current walking mode of the walking assistance device,
determining reference data of the reference pattern based on the data in response to the data not being updated, and
updating the data using the reference data;
determining a degree of progress in a gait cycle based on the data;
calculating a torque corresponding to the degree of progress; and
outputting the torque to a driver of the walking assistance device.
13. A data updating method to update data having a periodic pattern, the data updating method comprising:
loading data received through wireless communication;
determining whether the data is updated data;
determining a reference pattern among a plurality of stored reference patterns;
determining reference data of the reference pattern based on the data, in response to the data not being updated; and
updating the data using the reference data.
14. The data updating method of claim 13 , wherein the determining whether the data is updated data comprises:
determining whether the data is updated data using an identifier of the data.
15. The data updating method of claim 14 , wherein the identifier of the data includes at least one of a field indicating whether the data has been loaded and a timestamp of the data.
16. The data updating method of claim 13 , wherein the determining the reference data of the reference pattern comprises:
generating a normalized pattern by normalizing pieces of data including the data in a set period to correspond to the reference pattern;
determining a target interval of the reference pattern such that the target interval corresponds to the normalized pattern; and
determining the reference data based on the target interval.
17. The data updating method of claim 16 , wherein the generating of the normalized pattern comprises:
normalizing a minimum value and a maximum value of the pieces of data in the set period such that the minimum value and the maximum value of the pieces of data correspond to a minimum value and a maximum value of the reference pattern, respectively.
18. The data updating method of claim 16 , wherein the set period corresponds to one period of the reference pattern.
19. The data updating method of claim 16 , wherein the determining the reference data based on the target interval comprises:
setting last data in the target interval to be the reference data.
20. The data updating method of claim 13 , wherein
the data is a measurement of a joint angle of a user of a walking assistance device, the walking assistance device configured to calculate a torque based on the data.
21. The data updating method of claim 20 , wherein the joint angle is at least one of a shoulder joint angle, a hip joint angle, a knee joint angle, and an ankle joint angle of the user.
22. The data updating method of claim 20 , wherein the walking assistance device is configured to determine a degree of progress in a gait cycle of the walking assistance device based on the data, and to calculate the torque based on the degree of progress.
23. A non-transitory computer-readable medium comprising computer-readable instructions executable to cause a computer to update data having a periodic pattern by,
loading data received through wireless communication;
determining whether the data is updated data;
determining a reference pattern among a plurality of stored reference patterns;
determining reference data of the reference pattern based on the data, in response to the data not being updated; and
updating the data using the reference data.