Walking assistance method and apparatuses

A walking assistance method and/or apparatuses configured to perform same are provided. A state variable may be defined based on a result obtained by measuring a gait motion of a user, and a torque profile may be generated based on the defined state variable, a gain and a delay. The generated torque profile may correspond to a torque profile to assist the gait motion, or a torque profile to provide a resistance to the gait motion.

BACKGROUND

At least one example embodiment relates to a walking assistance method and/or an apparatuses configured to perform same.

2. Description of the Related Art

With the onset of rapidly aging societies, an increased number of people who experience inconvenience and agony from joint problems is increasing, and accordingly an interest in motion assistance apparatuses that may enable the elderly or patients having joint problems to walk with less effort is growing. Also, motion assistance apparatuses to increase a muscular strength of a human body are being developed, for example, for military purposes.

For example, a motion assistance apparatus may include a body frame disposed on a trunk of a user, a pelvic frame coupled to a lower side of the body frame to cover a pelvis of the user, a femoral frame disposed on a thigh of the user, a sural frame disposed on a calf of the user, and a pedial frame disposed on a foot of the user. The pelvic frame and the femoral frame may be connected rotatably by a hip joint portion, and the femoral frame and the sural frame may be connected rotatably by a knee joint portion. Also, the sural frame and the pedial frame may be connected rotatably by an ankle joint portion.

The motion assistance apparatus may be controlled based on feed-forward based torque patterns at predicted gait phases, which may work well in steady state, but may cause problems in scenarios when it is difficult to predict the gait phases (e.g., when a user has a discontinuous or irregular gait pattern).

SUMMARY

Some example embodiments relate to an operating method of a walking assistance apparatus.

In some example embodiments, the operating method includes defining a state variable based on a result obtained by measuring a gait motion of a user; and generating a torque profile based on the state variable, a gain and a delay such that the torque profile assists the gait motion or resists the gait motion based on the gain.

In some example embodiments, the defining the state variable includes defining the state variable as a difference between a first function based on a first hip joint angle of the user and a second function based on a second hip joint angle.

In some example embodiments, each of the first function and the second function corresponds to a trigonometrical function

In some example embodiments, the generating the torque profile includes generating the torque profile to assist the gait motion by applying a first gain and the delay to the state variable in response to the gain being the first gain, and generating the torque profile to resist the gait motion by applying a second gain and the delay to the state variable in response to the gain being the second gain.

In some example embodiments, a sign of the first gain and a sign of the second gain are different from each other.

In some example embodiments, the generating the torque profile determines a direction of a torque based on the gain.

In some example embodiments, the generating the torque profile determines an output timing of torque based on the delay.

In some example embodiments, the gait motion of the user includes a left hip joint angle and a right hip joint angle of the user.

In some example embodiments, the method further includes outputting torque based on the torque profile.

In some example embodiments, the method further includes filtering the result obtained by measuring the gait motion of the user.

In some example embodiments, the generating the torque profile includes determining an output timing of torque associated with the torque profile based on the delay and a time delay associated with the filtering.

Some example embodiments relate to an operating method of a walking assistance apparatus.

In some example embodiments, the method includes measuring a gait motion of a user; defining a state variable based on the gait motion; generating a torque profile based on the state variable, a gain and a delay associated with the state variable; and outputting torque to resist the gait motion based on the torque profile.

In some example embodiments, the defining the state variable includes defining the state variable as a difference between a first function based on a first hip joint angle of the user and a second function based on a second hip joint angle.

In some example embodiments, each of the first function and the second function corresponds to a trigonometrical function.

In some example embodiments, the generating of the torque profile includes generating a first torque profile corresponding to a first leg of the user by applying the gain and the delay to the state variable; and generating a second torque profile corresponding to a second leg of the user by changing a sign of the torque profile corresponding to the second leg.

In some example embodiments, the generating the torque profile determines a direction of torque based on the gain.

In some example embodiments, the generating the torque profile determines an output timing of torque based on the delay.

In some example embodiments, the gait motion of the user includes a left hip joint angle and a right hip joint angle of the user.

In some example embodiments, the method further includes filtering the gait motion of the user.

In some example embodiments, the generating the torque profile determines an output timing of torque based on the delay and a time delay associated with the filtering.

Some example embodiments relate to a walking assistance apparatus.

In some example embodiments, the walking assistance apparatus includes a controller configured to, define a state variable based on a result obtained by measuring a gait motion of a user, and generate a torque profile based on the state variable, a gain and a delay such that the torque profile assists the gait motion or resists to the gait motion based on the gain.

Some example embodiments relate to a walking assistance apparatus.

In some example embodiments, the walking assistance apparatus includes a sensor configured to measure a gait motion of a user; and a controller configured to, define a state variable based on the gait motion, generate a torque profile based on the state variable, a gain and a delay that is associated with the state variable, and control a driver based on the torque profile such that the driver outputs torque to resist the gait motion based on the torque profile generated by the controller.

DETAILED DESCRIPTION

The following structural or functional descriptions of some example embodiments disclosed in the present disclosure are merely intended for the purpose of describing the example embodiments and the example embodiments may be implemented in various forms. The example embodiments are not meant to be limited, but it is intended that various modifications are also covered within the scope of the claims.

Various modifications may be made to the example embodiments. However, it should be understood that these embodiments are not construed as limited to the illustrated forms and include all changes, equivalents or alternatives within the idea and the technical scope of this disclosure.

Although terms of “first,” “second,” etc. are used to explain various components, the components are not limited to such terms. These terms are used only to distinguish one component from another component. For example, a first component may be referred to as a second component, or similarly, the second component may be referred to as the first component within the scope of the right according to the example embodiments of the inventive concepts of the present disclosure.

It should be noted that if it is described in the specification that one component is “connected” or “coupled” to another component, a third component may be “connected” or “coupled” between the first and second components, although the first component may be directly connected or coupled to the second component. In addition, it should be noted that if it is described in the specification that one component is “directly connected” or “directly coupled” to another component, a third component may not be present therebetween. Likewise, expressions, for example, “between” and “immediately between” and “adjacent to” and “immediately adjacent to” may also be construed as described in the foregoing

A user of the walking assistance apparatus may be a patient who has a difficulty in walking normally, that is, who walks abnormally, for example, a patient who suffers from a stroke, a Charcot-Marie-Tooth (CMT) disease or a Parkinson's disease. A pathological gait or abnormal gait may refer to a gait to preserve an abnormal or pathological gait pattern through an adaptation of a human body system by sacrificing a normal gait pattern because the normal gait pattern collapses as a result of a functional disorder due to, for example, a partial injury, a weakness, a loss of flexibility, a pain, a bad habit, and a neural or muscular injury. The abnormal gait may indicate, for example, a pathological gait including at least one of abnormal gait types that will be described below.

The abnormal gait types may include, for example, at least one of a crouch gait (or a genu recurvatum gait), a steppage gait (or a footdrop gait), an antalgic gait, an ataxic gait, a festinating gait, a vaulting gait, a lurching gait, an equinus gait, a short leg gait, a hemiplegic gait, a circumduction gait, a tabetic gait, a neurogenic gait, a scissoring gait, or a parkinsonian gait.

The crouch gait may refer to walking with a posture in which all hip joints, knee joints and ankle joints are bent to overcome a gait instability. The steppage gait may refer to walking with a posture in which toes point downward on the ground and a top of a foot is dropped to the ground. The antalgic gait may refer to waling to lessen a pain on a painful portion. The ataxic gait may refer to walking with an uneven stride, a wide space between feet, a shaken body, and an unstable step appearing intoxicated. The festinating gait may refer to walking with a posture in which a trunk leans forward with a small stride without moving arms and an increase in a gait velocity as if it is impossible to stop walking. The vaulting gait may refer to walking using a leg of a non-affected side, for example, a non-paralyzed side, instead of a leg of an affected side, for example, a paralyzed side, when a knee joint is not extendable.

The lurching gait may refer to all staggering gaits, and may include, for example, a waddling gait, a gluteus maximus gait, or a Trendelenburg gait. The waddling gait may refer to swaying from side to side while walking. The gluteus maximus gait may refer to walking with a posture in which a chest is bent backward to maintain a hip extension and a whole trunk is suddenly moved from time to time. The Trendelenburg gait may refer to walking with a posture in which a chest tilts toward an injured leg to maintain a center of gravity and to prevent a pelvis of an injured side from drooping when standing on the ground with an injured lower limb.

The equines gait may refer to walking using tiptoes while heels are not in contact with the ground. The hemiplegic gait may refer to walking with a posture in which, due to a stiffness, an entire body is slightly tilted to an affected side, a swing of an upper arm in the affected side is lost and a lower limb appears in a primitively curved form in a state in which a shoulder of the affected side descends. The circumduction gait may refer to walking with a posture in which an entire leg swings due to a difficulty in bending a knee. The scissoring gait may refer to crossing or grazing legs or knees against to one another with a squatting posture in a state in which the legs are slightly bent inward. The Parkinsonian gait may refer to walking as if shuffling a sole on the ground with an anterior flexion posture.

FIG.1illustrates a walking assistance apparatus100according to at least one example embodiment, andFIG.2illustrates an operation of the walking assistance apparatus100.FIG.3is a front view illustrating the walking assistance apparatus100worn on an object, andFIG.4is a side view illustrating the walking assistance apparatus100worn on the object.

Referring toFIGS.1through4, the walking assistance apparatus may include a sensor110, a controller120, a driver130and a display140. Also, the walking assistance apparatus100may further include a filter (not shown), a force transmitting member150, a supporting member160, and a fixing member170.

The walking assistance apparatus100may be worn on an object, for example, a user200, to assist a gait and/or a motion of the user200. The object may be, for example, a human, an animal or a robot, and there is no limitation thereto.

WhileFIGS.3and4illustrate a hip-type walking assistance apparatus, when the walking assistance apparatus100is worn on a thigh of the user200, however, a type of the walking assistance apparatus100is not limited thereto. For example, the walking assistance apparatus100may be worn on at least one part of the upper body of the user200, for example, a hand, an upper arm or a lower arm, or on at least one part of the lower body of the user200, for example, a foot or a calf, and may assist a gait and/or motion of the user200. The walking assistance apparatus100may be applicable to, for example, a walking assistance apparatus for supporting a portion of a pelvic limb, a walking assistance apparatus for supporting up to a knee, and a walking assistance apparatus for supporting up to an ankle, or a walking assistance apparatus for supporting a whole body.

The walking assistance apparatus100may assist a gait and/or a motion of another part of an upper body of the user200, for example, a hand, an upper arm or a lower arm, or may assist a gait and/or a motion of another part of a lower body of the user200, for example, a foot, a calf or a thigh. Thus, the walking assistance apparatus100may assist a gait and/or a motion of a part of the user200.

As discussed in more detail below, the walking assistance apparatus100may measure a current gait motion of the user200. When the walking assistance apparatus100measures the current gait motion, an external force τextdue to an interaction between the walking assistance apparatus100and the user200may also be measured. The walking assistance apparatus100may define a state variable y based on the current gait motion. The walking assistance apparatus100may set a delay Δt for the state variable y. The delay Δt may be a feedback element. In some example embodiments, the delay Δt may be a time value set in advance by a user, and, in other example embodiments, the walking assistance apparatus100may automatically determine the delay Δt. The walking assistance apparatus100may generate a torque profile based on the state variable y and the delay Δt. The walking assistance apparatus100may output an assistance torque based on the torque profile, to assist a gait and/or motion of the user200.

The walking assistance apparatus100may continue to perform an assistance operation by measuring the current gait motion of the user200assisted by the walking assistance apparatus100.

The sensor110may include a first sensor configured to measure hip joint angular information associated with a right hip joint, and a second sensor configured to measure hip joint angular information associated with a left hip joint angle. The hip joint angular information may include at least one of hip joint angles of the hip joints, a difference between the hip joint angles, directions of motions for the hip joints, or angular velocity information for the hip joints.

The sensor110may be implemented as, for example, a hall sensor. In other example embodiments, the sensor110may include a potentiometer that senses an R-axis joint angle and an L-axis joint angle, and an R-axis joint angular velocity and an L-axis joint angular velocity based on a walking motion of the user.

As shown inFIG.4, the sensor110may be implemented in at least one of the driver130, the force transmitting member150or the supporting member160.

The sensor110may transmit the hip joint angular information to the controller120via a wire or wirelessly.

The filter (not shown) may perform filtering of the hip joint angular information representing the current gait motion. The filter may be implemented as, for example, a low-pass filter (LPF). The filter may perform low-pass filtering of the hip joint angular information to remove noise from the hip joint angular information. The noise present in the hip joint angular information may be, for example, user movement and/or ground contact external shock. For example, the filter (not shown) may perform low pass filtering on the measurement results of the user's left hip joint angle and the right hip joint angle. Through this low-pass filtering, waveform of assistance torque or waveform of resistance torque can be smoothed. As will be described later, the assistance torque indicates a torque for assisting the user's walking, and the resistance torque indicates a torque for giving resistance to the user's walking. In addition, time delay (e.g., 0.1 second˜0.2 second) may occur due to the low-pass filtering. However, since the walking assist device100intentionally uses the delay Δt to be described later to generate the torque profile, the time delay due to the low-pass filtering is not a problem for the walking assistance or the walking resistance.

The controller120may include processing circuitry (not shown) and the memory125.

The processing circuitry may be, but not limited to, a processor, Central Processing Unit (CPU), a controller, an arithmetic logic unit (ALU), a digital signal processor, a microcomputer, a field programmable gate array (FPGA), an Application Specific Integrated Circuit (ASIC), a System-on-Chip (SoC), a programmable logic unit, a microprocessor, or any other device capable of performing operations in a defined manner.

The processing circuitry may be configured, through a layout design or execution of computer readable instructions stored in the memory, as a special purpose computer to perform the operations illustrated inFIG.13and the sub-operations thereof, discussed below.

The controller120may control an overall operation of the walking assistance apparatus100. For example, the controller120may control the driver130to output a force to assist a gait of the user200. The force may refer to a force used to extend or flex legs of the user200. Also, the force may be, for example, an assistance torque.

The controller120may define a state variable based on the current gait motion received from the sensor110. For example, the controller120may receive the current gait motion as feedback from the sensor110, and may define the state variable. Also, the controller120may generate a torque profile based on the state variable.

The controller120may control the driver130to start to assist a gait of the user200based on the torque profile. The controller120may initiate an output of the torque profile to assist the gait of the user200. Also, the controller120may control the driver130to terminate assistance of the gait. The controller120may terminate the output of the torque profile.

The controller120may control an assistance torque output by the driver130to the user based on the torque profile. The controller120may control an assistance torque that is output immediately in response to a current motion of the user200, to prevent a mismatch between the user200and the walking assistance apparatus100in advance by flexibly coping with a sudden change in a motion of the user200. Thus, the controller120may output a high assistance torque to the user200to actively assist a gait of the user200.

The controller120may set a gain associated with a torque strength and a delay associated with a torque output time, and may define a state variable. For example, the controller120may control a strength of an assistance torque applied to the user200based on the gain, and may control a time at which the assistance torque is to be output based on the delay. In this example, the controller120may stably respond to a change in a surrounding environment or a sudden motion of the user200and stop of the motion, and may enhance a regularity and stability so that the user200may periodically walk.

The memory125be implemented as a volatile memory or a non-volatile memory. Examples of the volatile memory include, but are not limited to, RAM (random access memory), SRAM (static RAM), DRAM (dynamic RAM), SDRAM (synchronous DRAM), T-RAM (thyristor RAM), Z-RAM (zero capacitor RAM), or TTRAM (Twin Transistor RAM). Examples of the non-volatile memory include, but are not limited to, electrically erasable programmable read-only memory (EEPROM), flash memory, magnetic RAM (MRAM), spin-transfer torque MRAM, ferroelectric RAM (FeRAM), phase change RAM (PRAM), or RRAM (resistive RAM). Further, the nonvolatile memory may be implemented as a multimedia card (MMC), an embedded MMC (eMMC), a universal flash storage (UFS), a solid state drive (SSD), a USB flash drive, or a hard disk drive (HDD).

The memory125may store torque parameters corresponding to the torque profile output by the controller120. The controller120may analyze a gait pattern of a user based on the torque parameters. Also, the controller120may output a periodic torque to assist a gait based on the torque parameters.

Although the memory125may be included in the controller120inFIG.3, the memory125may be located outside the controller120.

The driver110may include one or more motors that generate a rotational torque that is applied as a force to assist a gait of the user200based on a control of the controller120, for example, based on the torque profile generated by the controller120.

The driver130may drive both the hip joints of the user200. The driver130may be located on, for example, a right hip portion and/or a left hip portion of the user200.

The display140may be implemented as, for example, a touch screen, a liquid crystal display (LCD), a thin film transistor-liquid crystal display (TFT-LCD), a light emitting diode (LED) display, an organic LED (OLED) display, an active matrix OLED (AMOLED) display, or a flexible display.

The display140may display a user interface (UI) configured to control a gain and/or a delay to the user200. For example, the user200may control, using the UI displayed on the display140, a gain associated with a strength of an assistance torque and/or control a delay associated with a time at which the assistance torque is to be output.

The force transmitting member150may include, for example, a longitudinal member such as a frame, a wire, a cable, a string, a rubber band, a spring, a belt, or a chain.

The force transmitting member150may connect the driver130and the supporting member160. The force transmitting member150may transmit the force from the driver130to the supporting member160.

The supporting member160may support a target part, for example, a thigh of the user200. The supporting member160may be disposed to cover at least a part of the user200. The supporting member160may apply the force received from the force transmitting member150to a part of the user200to be supported.

The fixing member170may be attached to a part, for example, a waist of the user200. The fixing member170may be in contact with at least a portion of an external surface of the user200. The fixing member170may have a shape to cover the external surface of the user.

FIG.5Aillustrates an example of an operation of the sensor110and the controller120ofFIG.1, andFIG.5Billustrates another example of an operation of the sensor110and the controller120.

Referring toFIGS.5A and5B, the sensor110may measure the hip joint angular information as the current gait motion of the user200. The current gait motion may include a left hip joint angle qland a right hip joint angle qr. The sensor110may measure the left hip joint angle qland the right hip joint angle qrand may transmit the left hip joint angle qland the right hip joint angle qrto the controller120.

The controller120may define a state variable (y) based on the left hip joint angle qland the right hip joint angle qr.

In an example, the controller120may define the state variable (y) based on a difference “qr−ql” between the left hip joint angle qland the right hip joint angle qr. Because the left hip joint angle qland the right hip joint angle qrvary over time, the controller120may define the state variable y using, for example, one of Equation 1 to Equation 3, discussed below.

For example, in some example embodiments, the controller120may define the state variable y using Equation 1:
y1(t)−qr(t)−ql(t)  [Equation 1]

In Equation 1, y1(t) denotes the state variable, qr(t) denotes the right hip joint angle, and ql(t) denotes the left hip joint angle.

In other example embodiments, the controller120may define a state variable in a form of a trigonometric function. The controller120may express the left hip joint angle qlby a first trigonometric function and may express the right hip joint angle qrby a second trigonometric function. The controller120may define the state variable y based on a difference between the first trigonometric function and the second trigonometric function.

The trigonometric function may be a sine function or a cosine function. For example, the controller120may define a difference “sin(qr)−sin(ql)” between the first trigonometric function and the second trigonometric function as the state variable y. Also, the controller120may limit a value of the state variable to a range of values equal to or less than “1.”

For example, the controller120may define a state variable using a trigonometric function based on Equation 2 shown below.
y2(t)=sinqr(t)−sinql(t)  [Equation 2]

In Equation 2, y2(t) denotes the state variable, qr(t) denotes the right hip joint angle, and ql(t) denotes the left hip joint angle.

In still other example embodiments, the controller120may define the state variable y to include a gain A associated with a torque strength and a delay Δt associated with a torque output time. For example, the controller120may define the state variable y using Equation 3 shown below.
y3(t)=A(sinqr(t−Δt)−sinql(t−Δt))  [Equation 3]

In Equation 3, y3(t) denotes the state variable, qr(t) denotes the right hip joint angle, ql(t) denotes the left hip joint angle, A denotes the gain, and Δt denotes the delay.

In some example embodiments, the delay may be a value set in advance by the user200. For example, the user200may set a delay in a unit of time, for example, seconds (s) or milliseconds (ms), in advance. Thus, the user200may hardly feel an assistance delay and may feel a natural assistance torque matching a motion. The walking assistance apparatus100may set an assistance torque timing (t−Δt) based on the delay Δt, and may enhance a stability by, for example, finely adjusting the maximum assistance torque generation timing to correspond to a maximum joint angle.

In other example embodiments, as discussed below, the controller120may automatically determine the delay Δt based on, for example, a gait velocity and/or a gait acceleration of the user200.

The controller120may generate a first torque profile based on the state variable. The controller120may control the driver130to output an assistance torque corresponding to the first torque profile to a left leg of the user200.

Also, the controller120may generate a second torque profile by changing a sign of the first torque profile. The controller120may control the driver130to output an assistance torque corresponding to the second torque profile to a right leg of the user200. The controller120may also output an assistance torque corresponding to a profile by exchanging the left leg and the right leg.

The controller120may differently set magnitudes of assistance torques that are to be output to the left leg and the right leg. For example, when the user200feels uncomfortable with the left leg and a greater assistance torque is required for the left leg, the controller120may set a great gain of the first torque profile corresponding to the left leg. In this example, the driver130may output a greater assistance torque to the left leg rather than the right leg.

Hereinafter, experimental results of a walking assistance method performed by the walking assistance apparatus100based on the delay Δt (or, alternatively, the delay Δt and gain a) according to example embodiments is described with reference toFIGS.6A to12.

FIG.6Aillustrates an example for evaluation of the performance of the walking assistance apparatus100ofFIG.1andFIG.6Billustrates another example for evaluation of the performance of the walking assistance apparatus100.FIGS.7A and7Bare a three-dimensional (3D) graph and a two-dimensional (2D) graph illustrating a result obtained by evaluating the performance of the walking assistance apparatus100, respectively.FIG.8Aillustrates an example of a stability analysis map associated with the result ofFIGS.7A and7B, andFIG.8Billustrates another example of a stability analysis map associated with the result ofFIGS.7A and7B.

Referring toFIGS.6A through8B, the performance of the walking assistance apparatus100may be evaluated using simplified swing leg dynamic models. When an equivalent transformation is performed in the example ofFIG.6A, a result may be obtained as shown inFIG.6B. InFIGS.6A and6B, qrdenotes the right hip joint angle, qldenotes the left hip joint angle, and u denotes an exoskeleton driven torque.

To evaluate the stability of the walking assistance apparatus100, modeling of a differential equation may be performed with respect to swinging of the left leg and right leg based on the torsion constant K, the moment of inertia I, the mass M, the period T, and the gait angular frequency w as shown in Equation 4 below.

For example, based on a user who is 165 centimeters tall and weighs 55 kilograms, constants used in dynamic modeling may be I=Ileg≈1 kgm2K=MgLc=30 kgm2, Lc=0.3483 m2, M=8.8550 kg

An approximation may be performed and expressed by sin q≈q. When u(t) is subtracted from −u(t) in Equation 4, Equation 5 may be obtained.
ÿ(t)+b{dot over (y)}(t)+ky(t)=−2ay(t−Δt)+τext
y(t)=qr(t)−ql(t)  [Equation 5]

In Equation 5, τextdenotes an external force exerted by an interaction between the walking assistance apparatus100and a user, and may be expressed by Equation 6 below.

In Equation 6, τregistdenotes an external force due to resistance, τdrivedenotes an external force during walking, w denotes an gait angular frequency of a user expressed by

2⁢πText,
a denotes an input torque expressed by A/I, k denotes a stiffness coefficient of “30” expressed by K/I, and b denotes a damping coefficient of “0.01” expressed by B/I.

An approximated characteristic equation may be expressed using a Lambert function as shown in Equation 7 below.

In Equation 7, the stability of the walking assistance apparatus100may be determined based on whether a maximum value of a real part of a solution of the characteristic equation is a negative number. Maximum real values of complex eigenvalues corresponding to the solution of the characteristic equation may be expressed by the 3D graph ofFIG.7Aand the 2D graph ofFIG.7B.

Referring toFIGS.7A and7B, a first region610may indicate an unstable region. The first region610may be a non-negative region. For example, a plurality of first regions610may be present.

When the controller120sets the gain a and the delay Δt corresponding to the first region610, the walking assistance apparatus100may be determined to be unstable due to a divergence or fluctuation in a stability analysis map because a stable focus or a stable limit cycle is not shown. The stable limit cycle may refer to a regular and repetitive pattern that converges to a periodic motion in association with a gait control.

InFIGS.7A and7B, a second region620may include a stable region. When the controller120sets the gain a and the delay Δt corresponding to the second region620, a stability analysis map in a free response experiment and a stability analysis map in a forced response experiment of the walking assistance apparatus100may be shown inFIGS.8A and8B, respectively.

For example, the free response experiment may be a stability experiment conducted when a user stops walking. In the free response experiment, the external force τdrivemay be zero during walking.

The forced response experiment may be a stability experiment conducted during a continuous gait. For example, in the forced response experiment, the external force τdrivemay be aextcos (wt).

For example, the second region620may include a third region710, illustrated inFIG.8A, or a fourth region720, illustrated inFIG.8B. When the controller120sets the gain a and the delay Δt corresponding to the third region710or the fourth region720, a stable focus may be shown in the free response experiment and a stable limit cycle may be shown in the forced response experiment. In this example, the walking assistance apparatus100may allow a user to maintain regular walking.

FIG.9Ais a graph illustrating a result of an experiment on a change in a gait velocity of a user according to at least one example embodiment, andFIG.9Billustrates a stability analysis map associated with the result ofFIG.9A.

Referring toFIGS.9A and9B,FIGS.9A and9Billustrate a stability of the walking assistance apparatus100ofFIG.1measured when the gait velocity of the user increases. For example, the user walks at an interval of 1.5 s and changes the gait velocity to quickly walk at an interval of 0.5 s after 20 s. In this example, the walking assistance apparatus100may show two stable limit cycles, that is, stable limit cycles810and820and may stably respond to a sudden change in a motion of the user. Thus, the walking assistance apparatus100may have a self-stabilizing characteristic.

FIG.10illustrates experimental results when a user repeats walking and stopping according to at least one example embodiment.

Referring toFIG.10, when a user stops walking, a hip joint range of motion (ROM) decreases. For example, the user stops walking at 65 s and 75 s. In this example, it is found that the walking assistance apparatus100immediately responds to a stop of the user, by analyzing a state variable910and an assistance torque920of the walking assistance apparatus100. Thus, the walking assistance apparatus100may exhibit a high stability by effectively responding to an intention of the user.

Also, it is found that when the user who is stationary wants to walk, the hip joint ROM increases. For example, the user starts walking at 66 s. In this example, it is found that the walking assistance apparatus100immediately responds to a gait change of the user, by analyzing the state variable910and the assistance torque920.

FIG.11illustrates experimental results when a user who is stationary wants to walk according to at least one example embodiment.

Referring toFIG.11, when a user who is stationary wants to walk, a hip joint ROM increases. By analyzing a state variable1010and an assistance torque1020of the walking assistance apparatus100, it is found that the walking assistance apparatus100immediately responds to a gait change of the user, as described above.

FIG.12illustrates experimental results when a user wants to walk uphill and then downhill according to at least one example embodiment.

Referring toFIG.12, when a user walks uphill and then downhill, a hip joint ROM rapidly changes. By analyzing a state variable1110and an assistance torque1120of the walking assistance apparatus100, it is found that the walking assistance apparatus100immediately responds to a change in a walking environment of the user.

FIG.13is a flowchart illustrating a walking assistance method performed by the walking assistance apparatus100ofFIG.1according to at least one example embodiment.FIG.14is a flowchart illustrating an operation of measuring a current gait motion of a user in the walking assistance method ofFIG.13,FIG.15is a flowchart illustrating an example of an operation of defining a state variable in the walking assistance method ofFIG.13, andFIG.16is a flowchart illustrating another example of an operation of defining a state variable in the walking assistance method ofFIG.13.

Referring toFIGS.13through16, in operation1210, the walking assistance apparatus100may measure the hip joint angular information as the current gait motion of a user, while for example the user is ambulatory. The hip joint angular information may include hip joint angles.

For example, as illustrated inFIG.14, in operation1310, the sensor110measure the left hip joint angle ql, and, in operation1320, the sensor110may measure the right hip joint angle qr. The sensor110may transmit the measured hip joint angles to the controller120.

In some example embodiments, if the user has an abnormal gait type, the gait of the user may be defined by a user inclining their trunk and rotating their pelvis rather than their hip joint when walking. Therefore, in some example embodiments, the controller120may determine the hip joint angle by correcting the measured hip joint angles based on an inclination of a trunk of the user and a rotational angular velocity of a pelvis of the user.

Referring back toFIG.13, in operation1215, the walking assistance apparatus100may perform low-pass filtering on the hip joint angular information. For example, the controller120may apply the following equation to the left hip joint angle qlthe right hip joint angle qr.
q[i]=(1−α)q[i−1]+αqraw[i], (0<α<1)
Where qraw[i] is the hip joint angle measured by the sensor, α is a variable between zero and one, and q[i] is the low-pass filtered hip joint angular information.

In operation1220, the walking assistance apparatus100may define a state variable y based on the current gait motion (e.g., qland qr). Such that the walking assistance apparatus100may utilize the current gait motion as feedback when defining the state variable.

For example, in some example embodiments, as illustrated inFIG.15, in operation1410, the controller120may receive the current gait motion (e.g., the hip joint angular information) as a feedback, define the state variable y based on a difference between the left hip joint angle and the right hip joint angle included in the hip joint angular information. For example, the controller120may utilize Equation 1, which represents the hip joint motion in joint space, to define the state variable y.

In other example embodiments, as illustrated inFIG.16, the controller120may define the state variable y using a trigonometric function, such as Equation 2, which represents the hip joint motion in ground projected task space. In operation1510, the controller120may express the left hip joint angle qlby a first trigonometric function. In operation1520, the controller120may express the right hip joint angle qrby a second trigonometric function. In operation1530, the controller120may define the state variable based on a difference between the first trigonometric function and the second trigonometric function.

Referring back toFIG.13, in operation1230, the walking assistance apparatus100may set the delay Δt for the state variable y. The delay Δt may be a feedback element.

For example, in some example embodiments, the controller120may receive the delay Δt, which is set in advance by a user. For example, the user may set a delay in a unit of time, for example, seconds (s) or milliseconds (ms), in advance.

In other example embodiments, the controller120may automatically determine the delay Δt adaptively.

For example, the controller120may determine the delay Δt based on a gait velocity of the user200. The controller120may set a relatively short delay Δt in response to the gait velocity being greater than a first reference value, and may set a relative long delay Δt in response to the gait velocity being less than the first reference value. The controller120may measure the gait velocity based on the current gait motion received from the sensor110.

In some other example embodiments, the controller120may determine the delay Δt based on the gait acceleration of the user200. The controller120may set a relatively short delay Δt in response to the gait acceleration being greater than a second reference value, and may set a relatively long delay Δt in response to the gait acceleration being less than the second reference value.

In operation1240, the walking assistance apparatus100may generate a torque profile based on the state variable y. For example, the walking assistance apparatus100may generate a first torque profile corresponding to a left leg. The walking assistance apparatus100may generate a second torque profile by changing a sign of the first torque profile. The walking assistance apparatus100may output an assistance torque to the left leg based on the first torque profile, and may output an assistance torque to a right leg based on the second torque profile.

In some example embodiments, the torque profile may include torque parameters Torque Start 1start, Torque Period dased, Torque Peak 1peak, Torque Quantity τpeak, Torque Peak Duration dpeak, and Torque Decrease Duration ddsed.

In some example embodiments, the walking assistance apparatus100may adjust the torque profile/output torque based on the weight of the user. For example, the controller120may receive data from either a user input or from sensors indicating the weight of the users, and may increase or decrease the torque profile based on whether the weight of the user is above or below a threshold.

In operation1245, the walking assistance apparatus100may adjust the gain A of the first (left) torque profile and a gain of the second (Right) torque profiles by adjusting the state variable.

For example, the controller120may utilize Equation 3 to determine the state variable y, and set the gain A applied to the state variable A based on, for example, user input.

For example, the controller120may display, via the display140, a user interface (UI) configured to control the gain A. For example, the user200may control, using the UI displayed on the display140, the gain A associated with a strength of an assistance torque. The controller120may utilize the gain A input by the user when calculating the state variable y.

Further still, in other example embodiments, during rehabilitation, a second user (e.g., a physical therapist), may set the gain A, for example, via a remote controller, as a negative value to gradually reduce the amount of assistance force provided over time.

In operation1250, the walking assistance apparatus100may generate and apply the assistance torque based on the torque profile (or, alternatively the gain adjusted torque profile).

For example, the controller120may instruct the driver130to generate the assistance torque and apply the same to the body of the user to assist the user with walking.

Since the walking assistance apparatus100utilizes the delay Δt for feeding back the state variable y rather than a scheme of applying a predefined torque pattern based on a gait phase, the walking assistance apparatus100may match timing corresponding to swing at the maximum velocity (in the vicinity of a point in time at which left/right hip joints cross) with the timing of applying the maximum assistance torque. Further, due to the time delay Δt, the walking assistance apparatus100may quickly and reliably cope with sudden stopping or changes in a gait speeds or environmental changes (e.g., stairs and/or ramps), and abnormal gait patterns of a user (e.g., a gait pattern of user with a stroke, CMT or Parkinsons) without any additional sensors or computational processing. Thus, the user may hardly feel an assistance delay and may feel a natural assistance torque matching a motion.

In some example embodiments, prior to generating the assistance torque, the walking assistance apparatus100may select an abnormal gait type, and, in operation1250, the controller may generate the assistance torque based on the torque profile and the selected abnormal gait type.

In some example embodiments, the abnormal gait type may be input by the user via, for example, a remote control.

In other example embodiments, rather than selecting an abnormal gait type. the walking assistance apparatus100may automatically estimate the abnormal gait type. For example, the controller120may utilize electromyogram (EMG) signals from muscles of the user and motion data from joints of the user to estimate the abnormal gait type.

Hereinafter, examples of systems implementing the walking assistance apparatus100will be described.

FIG.17is a block diagram illustrating a walking assistance system1600according to at least one example embodiment.

Referring toFIG.17, the walking assistance system1600may include the walking assistance apparatus100and a parameter generation apparatus300.

The parameter generation apparatus300may analyze an existing gait pattern of a user, and may generate and store the torque parameters. The walking assistance apparatus100may receive the torque parameters from the parameter generation apparatus300, and may generate the assistance torque based on the torque parameters.

The walking assistance apparatus100may receive the torque parameters using a feedforward scheme, and may receive a current gait motion using a feedback scheme. The walking assistance apparatus100may define the state variables based on the torque parameters and the current gait motion, may generate the torque profile based on the state variables, and may output the assistance torque based on the torque profile.

For example, a user may select a gait type of the user from a plurality of abnormal gait types using the display140. The controller120may receive, in advance, the abnormal gait type of the user, and may output the assistance torque corresponding to the abnormal gait type.

FIG.18is a graph illustrating an example of using the walking assistance apparatus100as a phase estimator according to at least one example embodiment.

InFIG.18, the walking assistance apparatus100may be used as a phase estimator.FIG.18illustrates a result obtained by estimating a gait phase1720of a user based on a state variable1710defined by the walking assistance apparatus100. For example, the walking assistance apparatus100may estimate the gait phase1720using Equation 8 shown below.

In Equation 8, Δt denotes the delay, and c denotes a scaling factor used to perform scaling.

While Equation 8 is shown utilizing Equation 2 to define the state variable y, example embodiments are not limited thereto. For example, in other example embodiments, the phase estimator may utilize Equation 1 to define the state variable y when determining the phase.

Referring toFIG.19, the walking assistance system1800may include the walking assistance apparatus100and a remote controller1810.

The remote controller1810may control an overall operation of the walking assistance apparatus100in response to a user input. For example, the remote controller1810may initiate or stop an operation of the walking assistance apparatus100. Also, the remote controller1810may control an output of a torque profile to control the walking assistance apparatus100to assist a gait of a user.

The remote controller1810may include a display1830. The display1830may be implemented as, for example, a touch screen, an LCD, a TFT-LCD, an LED display, an OLED display, an AMOLED display or a flexible display.

The remote controller1810may provide a user with a UI and/or a menu corresponding to a function for operating the walking assistance apparatus100, using the display1830. For example, the remote controller1810may be a device for a manual operation of a user. For example, a user may select a start, stop or end of gait assistance. Also, the user may select an abnormal gait type and may receive a gait assistance based on the selection. The remote controller1810may receive an input from a user through the display1830.

The display1830may include a touch screen that provides a UI or a menu. The display1830may display an operating state of the walking assistance apparatus100to the user under a control of the remote controller1810. The operating state of the walking assistance apparatus100displayed by the display1830may include, for example, an output torque, a current gait motion of a user or an abnormal gait type selected by the user.

FIG.20is a block diagram illustrating a walking assistance system1900according to at least one example embodiment.

Referring toFIG.20, the walking assistance system1900may include the walking assistance apparatus100, a remote controller1910, and an electronic device1930.

A configuration and operation of the remote controller1910may be substantially the same as a configuration and operation of the remote controller1810ofFIG.19.

The electronic device1930may communicate with the walking assistance apparatus100and/or the remote controller1910.

The electronic device1930may be implemented as, for example, a portable electronic device including a display1950.

The portable electronic device may be implemented as, for example, a laptop computer, a mobile phone, a smartphone, a tablet personal computer (PC), a mobile Internet device (MID), a personal digital assistant (PDA), an enterprise digital assistant (EDA), a digital still camera, a digital video camera, a portable multimedia player (PMP), a personal navigation device or portable navigation device (PND), a handheld game console, an e-book, or a smart device. The smart device may be implemented as, for example, a smart watch or a smart band.

The electronic device1930may include a biosensor that senses a biosignal of a user, and may transmit the sensed biosignal to the walking assistance apparatus100and/or the remote controller1910.

In other example embodiments, the walking assistance apparatus100may be included in a tremor control system. For example, the walking assistance apparatus100may be used as a handheld device to compensate for a hand tremor. The walking assistance apparatus100may be applicable to various handheld devices capable of interacting with users as well as a wearable exoskeleton robot.

In other example embodiments, the walking assistance apparatus100may be included in a vibration reduction system. For example, the walking assistance apparatus100may be utilized for a vibration reduction control of a surgical robot tool, a master device and/or a robotic slave device. The walking assistance apparatus100may employ a small number of sensors, and accordingly it is possible to reduce maintenance costs for calibration of the sensors by reducing a possibility of a malfunction and error of the sensors in various situations by a contact with a user. Also, it is possible to provide a degree of freedom in a design and usability by innovatively reducing a weight and volume of the walking assistance apparatus100.

FIG.21illustrates a flowchart illustrating method of operating a walking assistance system for tremor control according to at least one example embodiment.

Referring toFIG.21, in operation2010, the controller120may measure a user's current hand motion. In operation2020, the controller120may define the state variable y. In operation2030, the controller120may set the delay for the state variable. In operation2040, the controller120may generate a torque profile based on the state variable. In operation2050, the controller120may instruct a driver to move the surgical robot tool such that surgical robot tool does not respond to tremors present in the measured hand motion.

FIG.22is a diagram illustrating operating modes of the walking assistance apparatus100ofFIG.1.

The walking assistance apparatus100may filter motion information of a user. For example, the walking assistance apparatus100may measure a right hip joint angle and a left hip joint angle, and may perform low-pass filtering on a measurement result of the right hip joint angle and a measurement result of the left hip joint angle. Thus, a waveform of each of the measurement result of the right hip joint angle and the measurement result of the left hip joint angle may be smoothed. Also, an output of torque may be delayed due to filtering, as described above. In other words, a time delay due to the filtering may occur.

The walking assistance apparatus100may define a state variable based on the filtered motion information. For example, the walking assistance apparatus100may define a state variable y(t) corresponding to a difference between sin(qr(t)) and sin(ql(t)). In this example qr(t) denotes the filtered measurement result of the right hip joint angle, and ql(t) denotes the filtered measurement result of the left hip joint angle.

The walking assistance apparatus100may generate a torque profile based on a state variable, a gain and a delay. For example, a torque profile may be represented by Equation 9 shown below.
T(t)=Ay(t−Δt)  [Equation 9]

In Equation 9, T(t) denotes a torque profile, and A denotes a gain and may be a positive number or a negative number. For example, the gain A may be a positive gain or a negative gain. The gain A may correspond to an element that determines a strength and/or a direction (or a rotation direction) of torque, and may be adjusted by a user200or a manager. Also, y(t) in Equation 9 denotes a state variable. Δt in Equation 9 denotes a delay and may correspond to an element that determines an output timing of torque. For example, Δt may be a constant value in a range of 0.2 to 0.4. The above range of Δt is merely an example, and a range of Δt is not limited thereto.

Torque based on the torque profile may be output at a point in time delayed, by the time delay due to the filtering and the delay Δt, from a point in time at which the motion information is measured. For example, when the motion information is measured at a point in time t, the walking assistance apparatus100may output torque at a point in time “t+tfilter delay+Δt”. In this example, tfilter delaydenotes the time delay due to the filtering.

Referring toFIG.22, the walking assistance apparatus100may operate in an assist mode2210, or a resist mode2220. The walking assistance apparatus100may output torque to assist a gait motion (or a gait) of a user in the assist mode2210, and may output torque to resist a gait motion (or a gait) of a user in the resist mode2220.

In the assist mode2210, the walking assistance apparatus100may generate a torque profile to assist a gait motion (or a gait) based on a state variable, a first gain and a delay. The first gain may be, for example, the above-described positive gain A. For example, the walking assistance apparatus100may generate a torque profile to assist a gait motion (or a gait) of a user by applying the positive gain A and the delay Δt to the state variable y(t) based on Equation 9 described above.

The walking assistance apparatus100may output torque based on the generated torque profile. For example, the walking assistance apparatus100may output torque to assist a gait of a user based on a corresponding torque profile. Thus, the walking assistance apparatus100may assist the gait of the user.

In the resist mode2220, the walking assistance apparatus100may generate a torque profile to provide a resistance to a gait motion (or a gait) based on a state variable, a second gain and a delay. The second gain may have a different sign from that of the first gain. The second gain may be the above-described negative gain A. For example, the walking assistance apparatus100may generate a torque profile to provide a resistance to a gait motion (or a gait) of a user by applying the negative gain A and the delay Δt to the state variable y(t) based on Equation 9 described above.

The walking assistance apparatus100may output torque based on the torque profile to provide the resistance to the gait motion. For example, the walking assistance apparatus100may output torque to provide a resistance to a gait motion of a user based on a corresponding torque profile. Thus, the walking assistance apparatus100may enhance a leg strength of a user.

FIGS.23and24illustrate an assist mode of the walking assistance apparatus100ofFIG.1.

FIG.23illustrates an operation result of the walking assistance apparatus100when Δt and A of Equation 9 are set to “0.25” and “10,” respectively.

A first graph ofFIG.23shows a result obtained by low-pass filtering of a measurement result of each of a right hip joint angle and a left hip joint angle in the assist mode2210. The walking assistance apparatus100may perform low-pass filtering on a measurement result of each of the right hip joint angle and the left hip joint angle, to obtain a smooth graph free from noise as shown in the first graph ofFIG.23.

A second graph ofFIG.23shows an angular velocity of a right hip joint angle and an angular velocity of a left hip joint angle in the assist mode2210. A third graph ofFIG.23shows torque output to each of a right leg and a left leg in the assist mode2210. At a point2310ofFIG.23at which the right hip joint angle and the left hip joint angle intersect, the angular velocity of the left hip joint angle shown in the second graph, and the torque output to the left leg shown in the third graph may have the same minus sign, which may indicate that the walking assistance apparatus100currently outputs torque to a left leg of a user in the same direction as a swing direction of the left leg. In other words, the swing direction of the left leg may be identical to a direction of the torque output to the left leg.

The third graph ofFIG.23may have a smooth waveform, which may indicate that the walking assistance apparatus100currently applies assistance torque corresponding to the smooth waveform to a leg of the user. By the above-described low-pass filtering, the assistance torque corresponding to the smooth waveform may be applied to the leg of the user.

A fourth graph ofFIG.23shows a result obtained by multiplying the second graph and the third graph ofFIG.23. In the fourth graph ofFIG.23, most values are positive. Thus, it may be found that the walking assistance apparatus100effectively assists a gait of a user by outputting torque in the same direction as a swing direction of a leg of the user while the user is ambulatory.

FIGS.25and26illustrate a resist mode of the walking assistance apparatus100ofFIG.1.

FIG.25illustrates an operation result of the walking assistance apparatus100when Δt and A of Equation 9 are set to “0.25” and “−5,” respectively.

A first graph ofFIG.25shows a result obtained by low-pass filtering of a measurement result of each of a right hip joint angle and a left hip joint angle in the resist mode2220. The walking assistance apparatus100may perform low-pass filtering on a measurement result of each of the right hip joint angle and the left hip joint angle, to obtain a smooth graph as shown in the first graph ofFIG.25.

A second graph ofFIG.25shows an angular velocity of a right hip joint angle and an angular velocity of a left hip joint angle in the resist mode2220. A third graph ofFIG.25shows torque output to each of a right leg and a left leg in the resist mode2220. At a point2510ofFIG.25at which the right hip joint angle and the left hip joint angle intersect, the angular velocity of the left hip joint angle shown in the second graph may have a minus sign, and the torque output to the left leg shown in the third graph may have a plus sign. Thus, which may indicate that the walking assistance apparatus100currently outputs torque to a left leg of a user in the opposite direction as a swing direction of the left leg. Thus, the swing direction of the left leg may be different from a direction of the torque output to the left leg, as shown inFIG.26.

The third graph ofFIG.25may have a smooth waveform, which may indicate that the walking assistance apparatus100currently applies resistance torque corresponding to the smooth waveform to a leg of the user. By the above-described low-pass filtering, the resistance torque corresponding to the smooth waveform may be applied to the leg of the user.

A fourth graph ofFIG.25shows a result obtained by multiplying angular velocities corresponding to the second graph ofFIG.25and torque corresponding to the third graph ofFIG.25. In the fourth graph ofFIG.25, most values are negative, unlike the fourth graph ofFIG.23. Thus, it may be found that the walking assistance apparatus100effectively provides a resistance to a gait of a user.

FIG.27is a graph illustrating a comparison between an assist mode and a resist mode of the walking assistance apparatus100ofFIG.1.

InFIG.27, “positive” means that a swing direction of a leg of a user is identical to a direction of torque output to the leg, and “negative” means that a swing direction of a leg of a user is different from a direction of torque output to the leg.

Also, “assistive” ofFIG.27refers to an average of the fourth graph ofFIG.23and is mostly occupied by “positive”. Thus, it may be found that the walking assistance apparatus100efficiently assists a gait of a user by preventing the above-described mismatch.

In addition, “resistive” ofFIG.27refers to an average of the fourth graph ofFIG.25and is mostly occupied by “negative”. In other words, the walking assistance apparatus100currently applies a resistance to a gait of a user. Thus, the walking assistance apparatus100may enhance a leg strength of the user.

FIG.28is a flowchart illustrating an example of an operating method of the walking assistance apparatus100ofFIG.1.

Referring toFIG.28, in operation2810, the walking assistance apparatus100may define a state variable based on a result obtained by measuring a gait motion of a user. For example, the controller120of the walking assistance apparatus100may define the state variable based on the measured gait motion of the user.

In operation2820, the walking assistance apparatus100may generate a torque profile based on the defined state variable, a gain and a delay. For example, the controller120of the walking assistance apparatus100may generate the torque profile using Equation 9 such that the torque profile is based on the defined state variable, the gain and the delay.

The generated torque profile may correspond to a torque profile to assist the gait motion, or a torque profile to provide a resistance to the gait motion.

For example, the walking assistance apparatus100may provide an assistance and a resistance step by step to a user's exercise (for example, a gait rehabilitation exercise). In other words, the walking assistance apparatus100may allow a user to perform an assistive exercise and a resistive exercise. Thus, a use range of the walking assistance apparatus100may be expanded.

The above description ofFIGS.1through27may also be applicable to the operating method ofFIG.28, and accordingly is not repeated here.

FIG.29is a flowchart illustrating another example of an operating method of the walking assistance apparatus100ofFIG.1.

The operating method ofFIG.29may correspond to an operating method of the walking assistance apparatus100in the resist mode2220.

Referring toFIG.29, in operation2910, the walking assistance apparatus100may measure a gait motion of a user. For example, as illustrated inFIG.14, in operation1310, the sensor110measure the left hip joint angle ql, and, in operation1320, the sensor110may measure the right hip joint angle qr.

In operation2920, the walking assistance apparatus100may define a state variable based on the measured gait motion. For example, the controller120of the walking assistance apparatus100may define the state variable y(t) based on a difference between sin(qr(t)) and sin(ql(t)), where qr(t) denotes the filtered measurement result of the right hip joint angle qr, and ql(t) denotes the filtered measurement result of the left hip joint angle ql.

In operation2930, the walking assistance apparatus100may generate a torque profile based on the defined state variable, a gain and a delay. For example, the controller120of the walking assistance apparatus100may generate the torque profile using Equation 9 such that the torque profile is based on the defined state variable, the gain and the delay.

In operation2940, the walking assistance apparatus100may output torque to resist the gait motion based on the generated torque profile. For example, the controller120of the walking assistance apparatus100may control the driver230based on the generated torque profile, and the driver130may output torque to resist the gait motion based on a control of the controller120.

For example, the walking assistance apparatus100may provide a resistance step by step to a user's exercise by adjusting a gain within a negative range. Thus, the walking assistance apparatus100may allow the user to perform a resistive exercise, and accordingly it is possible to enhance an availability of the walking assistance apparatus100.

The above description ofFIGS.1through27may also be applicable to the operating method ofFIG.29, and accordingly is not repeated here.

The units and/or modules described herein may be implemented using hardware components, software components, or a combination thereof. For example, the hardware components may include microphones, amplifiers, band-pass filters, audio to digital convertors, and processing devices. A processing device may be implemented using one or more hardware device configured to carry out and/or execute program code by performing arithmetical, logical, and input/output operations. The processing device(s) may include a processor, a controller and an arithmetic logic unit, a digital signal processor, a microcomputer, a field programmable array, a programmable logic unit, a microprocessor or any other device capable of responding to and executing instructions in a defined manner. The processing device may run an operating system (OS) and one or more software applications that run on the OS. The processing device also may access, store, manipulate, process, and create data in response to execution of the software. For purpose of simplicity, the description of a processing device is used as singular; however, one skilled in the art will appreciated that a processing device may include multiple processing elements and multiple types of processing elements. For example, a processing device may include multiple processors or a processor and a controller. In addition, different processing configurations are possible, such a parallel processors.