Method and apparatus for controlling a walking assistance apparatus

1. An apparatus for controlling a walking assistance apparatus, the apparatus comprising:

at least one processor configured to,

detect a start of a first step of a user based on right and left hip joint angle information measured using right and left hip joint angle sensors,

determine whether the first step is in an exception state, the exception state being an abnormal walking state of a gait cycle of the user, and

determine whether a compensation counter has reached a desired compensation count threshold;

a torque generator configured to generate at least one first torque based on at least one second torque, the detected start of the first step, results of the determining whether the first step is in the exception state, and results of the determining whether the compensation counter has reached a desired compensation count threshold,

the at least one first torque applied to a first leg of the user corresponding to the first step, and the at least one second torque previously generated by the torque generator and applied to a second leg of the user corresponding to a second step, the second step preceding the first step; and wherein the at least one processor is further configured to,

determine the at least one first torque to assist the first step is not applied when the first step is in the exception state,

determine the at least one first torque to assist the first step is not applied when a transition between consecutive walking states is not performed, and

increment the compensation counter based on the detected start of the first step, the results of the determining whether the first step is in the exception state, and the results of the determining whether the compensation counter has reached the desired compensation count threshold, the incrementing the compensation counter including causing the torque generator to reduce the at least one first torque.

2. The apparatus of claim 1 , wherein the at least one processor is configured to detect a step transition from the second step to the first step.

3. The apparatus of claim 1 , wherein the torque generator is configured to determine a profile of the at least one first torque, based on the at least one second torque.

4. The apparatus of claim 1 , wherein the at least one processor is further configured to determine, based on the at least one second torque, a point in time at which the at least one first torque is applied, a point in time at which the at least one first torque reaches a peak, and a duration of the at least one first torque.

5. The apparatus of claim 4 , wherein the at least one processor is further configured to:

reconstruct knee joint information matched to the right and left hip joint angle information based on knee joint trajectory information in response to walking.

6. The apparatus of claim 5 , wherein the at least one processor is configured to detect a landing point in time of a foot of the user based on the reconstructed knee joint information.

7. The apparatus of claim 6 , wherein the torque generator is configured to determine a point in time at which the at least one first torque is applied as a landing point in time of a foot of the second leg.

8. The apparatus of claim 4 , wherein the at least one processor is configured to determine a point in time at which the at least one first torque reaches a peak as a point in time at which a hip joint angular acceleration of the second leg has a maximum value.

9. The apparatus of claim 1 , wherein the at least one processor is configured to detect the first step using a finite state machine (FSM), the FSM including FSM states based on the gait cycle of the user.

10. The apparatus of claim 9 , wherein a FSM transition condition between the FSM states is set based on right and left hip joint angles or right and left hip joint angular velocities.

11. The apparatus of claim 1 , wherein

the at least one first torque includes a torque to push one of the first leg or the second leg and a torque to pull the other leg;

the torque to pull the other leg is generated based on the at least one second torque; and

the torque to push the one of the first leg or the second leg is estimated based on the torque to pull the other leg.

12. The apparatus of claim 1 , wherein

the torque generator is configured to reduce the at least one first torque applied to the first leg of the user in response to the compensation counter not reaching the desired compensation count threshold.

13. A method of controlling a walking assistance apparatus, the method comprising:

detecting a start of a first step of a user based on right and left hip joint angle information measured using right and left hip joint angle sensors;

determining whether the first step is in an exception state, the exception state being an abnormal walking state of a gait cycle of the user;

determining whether a compensation counter has reached a desired compensation count threshold, and

incrementing the compensation counter based on the detected start of the first step, results of the determining whether the first step is in the exception state, and results of the determining whether the compensation counter has reached the desired compensation count threshold; and

generating at least one first torque applied to a first leg of the user corresponding to the first step,

wherein the generating includes generating the at least one first torque based on at least one second torque, the detected start of the first step, the results of the determining whether the first step is in the exception state, and the results of the determining whether the compensation counter has reached the desired compensation count threshold,

the at least one second torque previously generated by the torque generator and applied to a second leg of the user corresponding to a second step, the second step preceding the first step, and

wherein the determining whether the first step is in the exception state includes determining the at least one first torque to assist the first step is not applied when the first step is in the exception state, and determining the at least one first torque to assist the first step is not applied when a transition between consecutive walking states is not performed; and wherein the incrementing the compensation counter further includes causing the torque generator to reduce the at least one first torque.

14. The method of claim 13 , wherein the generating includes determining a profile of the at least one first torque based on the at least one second torque.

15. The method of claim 13 , wherein the generating includes determining, based on the at least one second torque, a point in time at which the at least one first torque is applied, a point in time at which the at least one first torque reaches a peak, and a duration of the at least one first torque.

16. The method of claim 15 , further comprising:

reconstructing knee joint information matched to the right and left hip joint angle information based on knee joint trajectory information in response to walking.

17. The method of claim 16 , wherein the detecting includes detecting a landing point in time of a foot of the user based on the reconstructed knee joint information.

18. The method of claim 17 , wherein the generating includes determining a point in time at which the at least one first torque is applied as a landing point in time of a foot of the second leg.

19. The method of claim 15 , wherein the generating includes determining a point in time at which the at least one first torque reaches a peak as a point in time at which a hip joint angular acceleration of the second leg has a maximum value.

20. The method of claim 13 , wherein the detecting includes detecting the first step using a finite state machine (FSM), the FSM including FSM states based on the gait cycle of the user.