Abstract: A walking assistance device may be controlled using a personalized gait policy. A preset event is detected during a current gait cycle based on state information associated with a motion of the walking assistance device, a reward value of state information associated with the motion is evaluated at a point in time at which the event is detected, and a personalized gait policy is updated based on state information associated with the motion when updating of the personalized gait policy is determined to be required based on the reward value.

Abstract: Walking assistance apparatuses and methods of controlling the walking assistance apparatus are provided. The walking assistance apparatus may recognize a type of a gait task of a user, and may assist a gait of the user to be suitable for the recognized gait task. The walking assistance apparatus may recognize the gait task as various categories using a pre-trained recognizer.

Abstract: A walking assistance apparatus including a first fixing device and a second fixing device to be attached to both legs of a user, respectively, a motor device configured to provide an active assistance force to the first fixing device and the second fixing device using at least one motor, and a passive assistance force transmitter connected to the first fixing device and the second fixing device to provide a passive assistance force to the first fixing device and the second fixing device may be provided.

Abstract: A method and apparatus for helping a user walk may verify whether the user is in a standing state and calculate a torque that controls balance of the user, and an assistance force for controlling balance may be provided for the user based on the torque generated by an actuator.

Abstract: A gait assistance apparatus including at least one sensor configured to sense a step motion of a user, and an operator configured to determine assistance forces of a right step and a left step of the user based on step motion information of the user and adjust the assistance force for at least one of the right step or the left step of the user based on a result of proportionally adding together the assistance forces of the right step and the left step based on a variable ratio may be provided.

Abstract: Disclosed is a walking assistance method and apparatuses, wherein a walking assistance apparatus is configured to adaptively control at least one of a length or a stiffness based on a gait motion of a user to assist an upper body of the user.

Abstract: An apparatus and method for recognizing a gait motion by detecting a landing point in time of a foot of a user based on sensed acceleration information, inferring a gait motion based on right and left hip joint angle information of the user sensed at the detected landing point in time of the foot of the user, and detecting a landing leg between both legs of the user based on the inferred gait motion may be provided.

Abstract: An apparatus and method for recognizing a gait motion by detecting a landing point in time of a foot of a user based on sensed acceleration information, inferring a gait motion based on right and left hip joint angle information of the user sensed at the detected landing point in time of the foot of the user, and detecting a landing leg between both legs of the user based on the inferred gait motion may be provided.

Abstract: Provided is a motion assistance apparatus including a fixing module to be attached to a waist of a user, a driving module provided in the fixing module to provide a torque to assist a motion of the user, a supporting module connected to the driving module to support a portion of a circumference of a leg of the user, and a controller configured to control the driving module to provide a torque to maintain a close contact between the supporting module and the leg of the user while the user is not walking.

Abstract: A control method of a single-port surgical robot, the single-port surgical robot comprising a slave device including a surgical instrument provided with an elbow and an end effector, and a master device to control motion of the slave device may comprise setting a virtual incision port to an arbitrary position; setting an operating position of the end effector; calculating a target position of the elbow using the set position of the virtual incision port and the set operating position of the end effector; calculating a movement angle of each joint used to move the elbow using the calculated target position of the elbow; and/or calculating a movement angle of each joint used to move the end effector using the calculated target position of the elbow and the set operating position of the end effector.

Abstract: A walking assistance method may include: detecting a landing time of a foot of a user; and/or initiating gait assistance based on a first joint location of a first leg of the user sensed at the landing time and a second joint location of the user sensed after the landing time. A walking assistance apparatus may include: a driver configured to perform gait assistance of a user; and/or a controller configured to control the driver to initiate the gait assistance based on a first joint location of a first leg of the user sensed at a landing time of a foot of the user and a second joint location sensed after the landing time.

Abstract: A walking assistance method may include receiving at least one abnormal gait type selected from a plurality of abnormal gait types, and differently controlling a walking assistance apparatus based on the at least one abnormal gait type.

Abstract: Provided is a magnetic-cored dendrimer represented by the following Chemical Formula (1): wherein R represents a functional group represented by the following Chemical Formula (2) or (3):

Abstract: A method and apparatus for recognizing a motion of a user are provided. The apparatus may map each of right leg angle information and left leg angle information to context information by comparing each of the right leg angle information and left leg angle information to a comparison value and/or preset threshold, may generate a motion event corresponding to the context information based on a criterion, and may recognize the motion of the user based on the motion event and a previous motion of the user.

Abstract: A method and apparatus for controlling a walking assistance apparatus are provided. The apparatus may include a detector configured to detect a first step of a user, based on measured right and left hip joint angle information, a reconstructor unit configured to reconstruct knee joint information matched to the right and left hip joint angle information based on knee joint trajectory information in response to the user's steps, and a torque generator configured to generate a first torque applied to a first leg corresponding to the first step. The torque generator may generate the first torque, based on a second torque applied to a second leg that is opposite to the first leg and that corresponds to a second step preceding the first step.

Abstract: A method and apparatus for recognizing a gait motion are provided. The apparatus may set a gait motion recognition period based on measured right and left hip joint angle information, may input, to a trained neural network, right and left hip joint angle information and vertical acceleration information measured during the gait motion recognition period, and may recognize a gait motion.

Abstract: A dialogue system and a method for the same are disclosed. The dialogue system includes a multimodal input unit receiving speech and non-speech information of a user, a domain reasoner, which stores a plurality of pre-stored situations, each of which is formed by a combination one or more speech and non-speech information, calculating each adaptability of the pre-stored situations on the basis of a generated situation based on the speech and the non-speech information received from the multimodal input unit, and determining a current domain according to the calculated adaptability, a dialogue manager to select a response corresponding to the current domain, and a multimodal output unit to output the response. The dialogue system performs domain reasoning using a situation including information combinations reflected in the domain reasoning process, current information, and a speech recognition result, and reduces the size of a dialogue search space while increasing domain reasoning accuracy.

Abstract: An apparatus and method for recognizing a gait motion by detecting a landing point in time of a foot of a user based on sensed acceleration information, inferring a gait motion based on right and left hip joint angle information of the user sensed at the detected landing point in time of the foot of the user, and detecting a landing leg between both legs of the user based on the inferred gait motion may be provided.

Abstract: A robot and method to recognize and handle abnormal situations includes a sensing unit to sense internal and external information of the robot, a storage unit to store the information sensed by the sensing unit, an inference model, a learning model, services providable by the robot, subtasks to provide the services, and handling tasks to handle abnormal situations, and a controller to determine whether an abnormal situation has occurred while the subtasks to provide the selected service are being performed through the learning model in the storage unit and to select a handling task to handle the abnormal situation through the inference model in the storage unit if it is determined that the abnormal situation has occurred. The robot may recognize and handle abnormal situations even though data other than that defined by a designer of the robot is input thereto due to noises or operational environment.

Abstract: A robot, which may accurately detect whether or not the robot is gripping an object, even without a tactile sensor, as a result of using a sorter that utilizes a torque generated from a joint of a hand and the shape of the hand as feature data, and a control method for the robot includes a state sensing unit to sense a state of the robot, a feature vector producing unit to extract feature data from the state sensing unit and to produce a feature vector using the feature data, and a learning-based data sorter to judge an operating state of the robot using the feature vector produced by the feature vector producing unit and to output the judged result.