Kuan-Chun Sun,Yi-Jeng Tsai,Cheng-Hua Wu,Jwu-Sheng Hu
申请号：
US14982881
公开号：
US20170151070A1
申请日:
2015.12.29
申请国别(地区):
US
年份:
2017
代理人:
摘要：
A method for estimating posture of robotic walking aid comprises: providing a motor controller, a motor encoder and a motor on right and left hip joints, and right and left knee joints of a robotic walking aid, providing an inertial sensor on upper body of the robotic walking aid, wherein the motor controller, the motor encoder, the motor and the inertial sensor are coupled to a control unit； installing the robotic walking aid on a user； inputting the lengths of the upper body, two thighs, two shanks, two feet of the robotic walking aid to the control unit, wherein the upper body, two thighs, two shanks, two feet form a plurality of points； obtaining an angle of the upper body corresponding to a reference frame with the inertial sensor； obtaining angles of those joints with those motor encoders； and calculating 3 dimensional coordinates of each point with a motion model.
