Browsing by Author "Kai-Tai SONG"

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METHOD FOR CONTROLLING A WALKING ASSISTANT APPARATUS
(2017-07-06)
Kai-Tai SONG
;
Shang-Yang WU
;
Sin-Yi JIANG
A method for controlling a walking assistant apparatus includes: scanning a user so as to generate information associated with gait of the user; detecting a torque applied to a torque sensor; estimating a speed of the user based on the information; calculating a compliant motion speed, and a compliant rotational speed; and controlling the motion unit to move at the compliant motion speed and to turn at the compliant rotational speed. This disclosure provides an autonomous obstacle avoidance mechanism; by combining the obstacle avoidance mechanism and the compliance controls, the walking-assistance apparatus is able to help user prevent from collisions with obstacles when walking in an environment with obstacles.
MOVEMENT ASSISTANCE SYSTEM AND METHOD THEREOF
(2017-06-08)
Kai-Tai SONG
;
Yu-Lin CHIEN
A movement assistance method includes following steps: detecting a center of pressure; generating a gravity scale according to the center of pressure; measuring a joint angle and estimating a user external torque and a motor torque; generating a compensated assistive torque according to the user external torque, the joint angle, the motor torque and the gravity scale.