CPC A63B 26/003 (2013.01) [A61B 5/112 (2013.01); A61B 5/1117 (2013.01); A61B 5/7275 (2013.01); A61H 1/0244 (2013.01); A63B 24/0087 (2013.01); A63B 2220/54 (2013.01); A63B 2220/803 (2013.01); A63B 2220/836 (2013.01)] | 19 Claims |
1. A balance training method using a wearable device, comprising:
generating a walking assistance torque pattern associated with providing a walking assist function to a user wearing the wearable device;
generating, during a balance training mode of the wearable device, an irregular torque pattern by applying a perturbation to the walking assistance torque pattern that simulates the user falling; and
instructing an actuator of the wearable device to output a torque based on the walking assistance torque pattern during a first time period and a torque based on the irregular torque pattern during a second time period such that, during the second time period, the torque output by the actuator includes a sudden change in force that simulates the user falling.
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