Motion assistance apparatus and control method of the same

• Main Author: Ha, Taesin
• Format: Patent
• Language: English
• Published: 16.07.2019
• Subjects: ARTIFICIAL RESPIRATION; BANDAGES, DRESSINGS OR ABSORBENT PADS; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSESOR SPECIFIC PARTS OF THE BODY; CHAMBERS PROVIDED WITH MANIPULATION DEVICES; DEVICES PROVIDING PATENCY TO, OR PREVENTING COLLAPSING OF,TUBULAR STRUCTURES OF THE BODY, E.G. STENTS; FILTERS IMPLANTABLE INTO BLOOD VESSELS; FIRST-AID KITS; FOMENTATION; HAND TOOLS; HUMAN NECESSITIES; HYGIENE; MANIPULATORS; MASSAGE; MEDICAL OR VETERINARY SCIENCE; ORTHOPAEDIC, NURSING OR CONTRACEPTIVE DEVICES; PERFORMING OPERATIONS; PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING ORSTIMULATING REFLEX POINTS IN THE BODY; PORTABLE POWER-DRIVEN TOOLS; PROSTHESES; TRANSPORTING; TREATMENT OR PROTECTION OF EYES OR EARS

Example embodiments relate to a control method of a motion assistance apparatus including a fixing module attached to a user, a driving module fixed to the fixing module to generate rotation power, a supporting module configured to support a portion of a body of the user and driven by the driving module, a force sensor configured to measure a magnitude of force applied to the fixing module, and a controller configured to control the driving module, the method including generating, by the driving module, a driving torque to drive the supporting module, measuring a direction and a magnitude of force indicated by the force sensor, calculating a compensation torque to minimize the measured magnitude of force, and driving the driving module by adding the compensation torque to the driving torque.