KR20180070915A - Wearable module system and the control method of the same - Google Patents

Abstract

According to the present invention, disclosed are a wearable module system and a controlling method thereof. According to an embodiment of the present invention, the wearable module system, combined with a robot device capable of moving in a multi-axis direction to be able to be separated, includes: a wearing member which is combined with the main body of the robot device to be able to be separated and is worn on a part of a human body; a magnetic material which is included between the wearing member and the main body; a connection member which is combined with the wearing member in one side and is in contact with the magnetic material to be able to be separated in the other side; and a control unit which allows the magnetic material to be in contact with the connection member or allows the magnetic material not to be in contact with the connection member in case of abnormality. The control unit extinguishes the magnetic force of the magnetic material in case of abnormality by controlling the strength and polarity of magnetic force of the magnetic material and the movement of the wearing member or changes the polarity of the magnetic material to push the connection member combined with the wearing member from the magnetic material. The controlling method of the wearable module system can separate a mechanical system from a rehabilitation patient when an emergency occurs.

Description

[0001] WEARABLE MODULE SYSTEM AND THE CONTROL METHOD OF THE SAME [0002]

The present invention relates to a wearable module system and a control method thereof. More particularly, the present invention relates to a wearable module system and a control method thereof. More particularly, the present invention relates to a wearable module system and a control method thereof, To a wearable module system capable of separating a patient from a mechanical system and a control method thereof.

Patients suffering from arthritic diseases that frequently occur in daily life, or hemiplegic patients due to stroke, require rehabilitation to restore the range of motion of the joints or to increase muscle strength.

Generally, in most rehabilitation treatments, rehabilitation specialists such as physical therapists regularly provide rehabilitation for a certain period of time. Recently, however, research and development has been continuously carried out to replace the rehabilitation system with a mechanical mechanism have.

However, since the conventional rehabilitation system is composed of motions of one degree of freedom, it is configured to perform a simple reciprocating motion for each joint in the rehabilitation exercise even when it is possible to perform various operations. Therefore, It is difficult to provide an efficient rehabilitation exercise. Most of the trajectory modes are selected to provide a uniform rehabilitation exercise to the rehabilitation patients. Therefore, the problem of not being able to reflect the rehabilitation know- .

In addition, during emergency rehabilitation, there may be an emergency situation caused by a mechanical or electrical error of the system, or an emergency situation that causes excessive pain to the rehabilitation patient. In the conventional rehabilitation system, There is a problem that the risk is large.

Korean Patent No. 10-1638499

SUMMARY OF THE INVENTION The present invention has been made in view of the above problems, and it is an object of the present invention to provide a multi-axis robot, a moving machine, and the like which are detachably mountable to various mechanical systems, The present invention provides a wearable module system capable of preventing an accident of a rehabilitation patient by separating a rehabilitation patient and a mechanical system when they occur.

The present invention also provides a control method of a wearable module system that separates a rehabilitation patient and a mechanical system when an emergency occurs due to an abnormality of a mechanical system or a physical abnormality of the patient.

A wearable module system according to an embodiment of the present invention is a wearable module system detachably coupled to a robot apparatus movable in a multi-axis direction, the wearable module system being detachably coupled to a main body of the robot apparatus, A wear member; A magnetic body provided between the wearer and the main body; A connecting member having one side coupled to the wear member and the other side releasably contacting the magnetic body; And a control unit for bringing the magnetic body and the connecting member into contact with each other or causing the magnetic body and the connecting member to be in non-contact when an abnormality occurs, wherein the control unit controls the movement of the wearing member and the intensity and polarity of the magnetic force of the magnetic body The magnetic force of the magnetic body is extinguished when an abnormality occurs or the polarity of the magnetic body is changed so that the connection member coupled with the wear member is pushed out of the magnetic body.

In addition, the magnetic body is an electromagnet whose magnetic property changes according to a flow of current applied from the outside, and the connection member is provided either as a magnet or a metal detachable from the magnetic body.

Further, the control unit may further include an emergency switching device for controlling the on / off operation of the electromagnet, wherein the emergency switching device normally controls the intensity and polarity of the magnetic force of the electromagnet, And controls the intensity and polarity of the magnetic force of the electromagnet by the emergency switching device so that a repulsive force acts between the electromagnet and the connecting member.

In addition, the magnetic body may be configured such that the magnetic force is directly extinguished by the wearer wearing the wear member even if the emergency switching device is not operated, or the magnetic force of the magnetic body and polarity Can be converted.

The link member may further include a link member connecting between the magnetic body and the main body, wherein at least one of a force sensor, a torque sensor, and a load cell is provided in the link member.

In addition, the wearer is provided with a fixture for preventing a part of the body part from being detached from the wearer.

Further, a wearable module system according to an embodiment of the present invention includes: a wear unit detachably coupled to a mechanical system movable in a multi-axis direction, and restricting a body part; And a control unit in which one side is coupled to the mechanical system and the other side is in detachable contact with the wear unit, wherein the control unit includes at least one or more magnetic force generators, Wherein the control unit controls the magnitude and polarity of the magnetic force of the magnetic force generating body to extinguish the magnetic force of the magnetic force generating body upon occurrence of an abnormality, And the polarity of the magnetic force generator is changed so as to push out the wear unit.

In addition, the wearing unit includes a wearable member which is wearable on a part of the body, and the wearer is provided with a fixture for preventing a body part from being separated from the wearer.

In addition, the magnetic force generator may be an electromagnet whose magnetism changes according to the flow of current applied from the outside, and the magnetism countermeasure body may be either a magnet or a metal removably attachable to the magnetic force generator.

Further, the control unit may further include an emergency switching device for controlling on / off driving of the magnetic force generator, wherein the emergency switching device controls intensity and polarity of the magnetic force of the magnetic force generating body, Force or repulsive force is applied between magnetic force counterparts.

In addition, the magnetic force generator may be configured such that the magnetic force generator directly extinguishes the magnetic force by the wearer wearing the wearer even if the emergency switching device does not operate, And the intensity and polarity of the magnetic force can be changed.

The control unit may further include a link member having one side coupled to the magnetic force generating member and the other side coupled to the mechanical system, and the link member may include at least one of a force sensor, a torque sensor, Device.

According to another aspect of the present invention, there is provided a control method for a wearable module system including a wearable member detachably coupled to a main body of a robot and worn on a part of a body of a patient, A connecting member in contact with the magnetic body and the connecting member in a state in which the magnetic body and the connecting member are in contact with each other, The method comprising: starting a rehabilitation treatment while fixing the wearer to a part of a body of a patient; Operating an emergency switching device connected to the magnetic body when an emergency occurs due to a mechanical abnormality of the robot apparatus or a physical abnormality of the patient; Changing the magnetism of the magnetic body by the emergency switching device; And separating the magnetic member and the coupling member coupled with the wear member by a magnetic change of the magnetic substance.

It is preferable that the magnetic body is an electromagnet whose magnetism is changed according to the flow of current applied from the outside, and the flow of current applied to the electromagnet is changed by the operation of the emergency switching device, And polarity.

Also, the magnetic body may be configured such that the magnetic force is directly extinguished by the wearer wearing the wear member even if the emergency switching apparatus is not operated, or the magnetic force of the magnetic body is changed in intensity and polarity so that the magnetic body can push the connection member Can be converted.

According to the present invention, since the wearable module system is provided with the electromagnet whose magneticity changes according to the current flow externally applied, it is possible to control the intensity and polarity of the magnetic force generated in the electromagnet when an emergency occurs during rehabilitation treatment, The wearer's module system can be separated from various mechanical systems such as a robot apparatus by completely eliminating the magnetic force to prevent the patient's injury.

Further, it is possible to stably fix the magnetic field by controlling the intensity and polarity of the magnetic force of the electromagnet during normal rehabilitation treatment, so that the wearer and the workforce act to rest the body part of the patient.

1 is a view showing a wearable module system according to an embodiment of the present invention coupled to a robot apparatus.
FIG. 2 is a top view of a wearable module system according to an embodiment of the present invention coupled to a robot apparatus.
3 is a side view of a wearable module system according to an embodiment of the present invention coupled to a robot apparatus.
FIG. 4 is a front view of a wearable module system according to an embodiment of the present invention coupled to a robot apparatus.
5 is a block diagram of a wearable module system according to an embodiment of the present invention.
6 is a flowchart showing a control method of a wearable module system according to an embodiment of the present invention.

Hereinafter, specific embodiments of the present invention will be described in detail with reference to the drawings. However, the spirit of the present invention is not limited to such embodiments, and the spirit of the present invention may be proposed differently by adding, modifying and deleting constituent elements constituting the embodiment, .

FIG. 1 is a view showing a state where a wearable module system according to an embodiment of the present invention is coupled to a robot device, FIG. 2 is a view showing a state where a wearable module system according to an embodiment of the present invention is coupled to a robot device FIG. 3 is a side view of a wearable module system according to an embodiment of the present invention coupled to a robot device, FIG. 4 is a schematic view of a wearable module system according to an embodiment of the present invention, FIG. 5 is a block diagram of a wearable module system according to an embodiment of the present invention. Referring to FIG.

1 to 5, a wearable module system according to an embodiment of the present invention may be detachably coupled to the main body 10 of the robot apparatus.

In the present invention, the wearable module system is illustrated as being detachably coupled to the robot apparatus. However, the wearable module system is not limited to the robot apparatus, and can be applied to various mechanical systems that enable rehabilitation treatment.

In the present invention, the wearable module system is illustrated as being worn on the part of the body for the purpose of rehabilitation of the patient, but it is not limited to the rehabilitation treatment and can be utilized for various purposes.

The wearable module system according to an embodiment of the present invention may include a wearable member 100, a magnetic body 200, a connecting member 300, and a control unit 400.

The wearable member 100 is configured to be releasably coupled to the body 10 of the robotic device and can be worn on a part of the body of a rehabilitation patient. The subject of rehabilitation treatment may be all parts of the body including the patient's upper limbs and lower limbs, and the rehabilitation treatment includes all treatments in which the patient's body can be moved by various mechanical systems including robotic devices.

The wearer 100 may be provided with a fastener 110 to prevent a portion of the body of the patient from being detached from the wearer 100. For example, the fixture 110 may be provided in various forms such as a band type, a Velcro type, a belt type, and the like, and accordingly, the fixture 110 can be adjusted and secured according to the physical condition of the patient.

A coupling member 300 detachably contacting the magnetic body 200 to be described later may be coupled to one side of the wearable member 100.

The connecting member 300 may be coupled to at least one side of the wearer 100. For example, the connecting member 300 may be formed of any one of a magnetic body 200 to be described later and a detachable magnet or metal. Although the connecting member 300 has a circular cross section, the present invention is not limited thereto. The connecting member 300 may have various shapes that can be connected to the magnetic body 200, which will be described later, .

The magnetic body 200 may be provided between the wearer 100 and the main body 10 of the robot apparatus. For example, the magnetic body 200 may be provided with an electromagnet whose magnetism changes according to the flow of current applied from the outside.

The coupling member 300 may include a first coupling member 310 and a second coupling member 311 coupled to one side of the wear member 100 and the magnetic member 200 may include a first coupling member 310, And a second magnetic body 211 contacting the first magnetic body 210 and the second connection member 311, which are in contact with the first magnetic body 210. The first magnetic body 210 and the second magnetic body 211 can be changed in strength and polarity by the same magnetic force through the same current from the outside, Can be contacted or separated depending on the strength and polarity of the magnetic forces of the first and second magnetic bodies 210 and 211.

A link member 500 may further be coupled between the magnetic body 200 and the main body 10. More specifically, one side of the link member 500 can be engaged with the magnetic body 200, and the other side can be coupled to the main body 10 to support the magnetic body 200.

In addition, various sensor devices such as a force sensor, a torque sensor, and a load cell that can measure a force or a torque transmitted through a link may be provided in the link member 500. Therefore, by monitoring the force or moment (torque) transmitted through the link through the various sensor devices in real time, it is possible to detect the mechanical abnormality of the wearable module system or input information of the control control for detecting the physical abnormality of the rehabilitation patient have. At this time, the various sensor devices can be connected in parallel or one in series within the link member 500. For example, the force sensor can measure the force applied by the robot apparatus to the body through the link member 500, thereby monitoring whether a proper amount of force is applied to the body. When the robot apparatus is not abnormal in the movement of the body, an appropriate amount of force is applied. However, it is possible to detect that a physical abnormality of the patient or a mechanical abnormality of the robot apparatus is significantly greater than a force applied in a normal state, Which can detect a mechanical abnormality of the wearable module system or a physical abnormality of a rehabilitation patient.

The control unit 400 may control the magnetic body 200 to contact the coupling member 300 or to separate the magnetic body 200 and the coupling member 300 in the event of an error. More specifically, the control unit 400 can control the movement of the wearer's body 100 and the intensity and polarity of the magnetic force of the magnetic body 200, which are part of the body of the rehabilitation therapist, The magnetic force of the magnetic body 200 is extinguished by controlling the strength and polarity of the magnetic force of the magnetic body 200 or the connection member 300 coupled with the wearable body 100 The polarity of the magnetic body 200 can be changed so as to be pushed out of the magnetic body 200.

At this time, the control unit 400 may be provided with an emergency switching device (not shown) for controlling on / off driving of the magnetic body 200. During normal rehabilitation treatment, the emergency switching device controls the magnitude and polarity of the magnetic force of the magnetic body 200 so that the attractive force acts between the magnetic body 200 and the connecting member 300, Rehabilitation treatment Rehabilitation treatment of the patient can be made possible. If the magnetic body 200 and the connecting member 300 are controlled by controlling the intensity and polarity of the magnetic force of the magnetic body 200 by the emergency switching device, if the mechanical abnormality occurs in the robot apparatus or a physical abnormality occurs in the rehabilitation treatment patient, The magnetic force of the magnetic body 200 is extinguished and the robotic device and the rehabilitation patient are separated from each other, thereby securing safety.

6 is a flowchart showing a control method of a wearable module system according to an embodiment of the present invention.

Referring to FIG. 6, a control method of a wearable module system according to an embodiment of the present invention may include a step (S10) of fixing a member 100 to a body of a patient for rehabilitation therapy.

Next, it is possible to determine whether an emergency occurs due to a mechanical abnormality of the robot apparatus or a physical abnormality of the patient during the rehabilitation treatment (S20). If an emergency occurs at this stage, the magnetic switching can be changed (S40) by changing the intensity and polarity of the magnetic force of the magnetic body 200 by operating the emergency switching device (S30).

In step S40 of changing the magnetism of the magnetic body 200, the magnitude and polarity of the magnetic force of the magnetic body 200 may be changed so that the repulsive force acts on the coupling member 300 coupled to the wearer 100, Or the magnetic substance of the magnetic body 200 is completely destroyed to separate the magnetic body 200 and the connecting member 300 from each other, it is possible to separate the rehabilitation patient and the robot apparatus from each other, thereby securing the safety of the patient.

When an emergency occurs, a person wearing a rehabilitation treatment or a wearer (100) directly contacts the magnetic body (200) through a switch operation on a circuit (not shown) directly connected to the magnetic body (200) The magnetic force of the magnetic body 200 may be extinguished or the coupling member 300 may be pushed out of the magnetic body 200 by controlling the intensity and polarity of the magnetic force of the magnetic body 200. More specifically, the magnetic body 200 is a magnetic body in which magnetism is generated or a polarity is changed according to the flow of current through coupling between an electromagnet where magnetism is generated or disappears by using an electromagnetic force and a ferromagnetic body which generally generates magnetism without induction of electromagnetic force, And can be controlled depending on the presence or absence of a power source to be supplied. Therefore, the magnetic body 200 can be operated and controlled through a simple switching device that connects the circuit directly connected to the magnetic body 200 and a power source device (not shown). For example, one or more of the power devices may be connected in parallel and controlled in one manner.

If the emergency situation does not occur, the rehabilitation treatment of the patient can be continued (S60), and the rehabilitation treatment can be terminated after the patient has been rehabilitated for a certain period of time.

Hereinafter, the operation of the wearable module system according to an embodiment of the present invention will be described.

The wearable module system according to an embodiment of the present invention can function to rehabilitate the joints of the patient through a robot device or various mechanical systems moving in the direction of the multi-axis worn on the body part of the patient for rehabilitation treatment purpose have.

In the wearable module system, the wearer 100 is stably fixed to the main body 10 of the robot apparatus so that safe rehabilitation can be performed during normal rehabilitation treatment, or a mechanical abnormality occurs in the robot apparatus (or various mechanical systems) And a magnetic member 200 and a connecting member 300 which serve to separate the wearable member 100 from the main body 10 of the robot apparatus when an emergency occurs due to a physical abnormality of the patient.

Therefore, during the normal rehabilitation treatment, the force and the polarity of the magnetic force of the magnetic body 200 are controlled so that the attraction force acts between the coupling member 300 coupled to the wearer 100 and the magnetic body 200, State can be maintained.

On the other hand, when an emergency occurs, it is possible to control the intensity and polarity of the magnetic force of the magnetic body 200 so that a repulsive force acts between the coupling member 300 coupled to the wearable member 100 and the magnetic body 200, It is possible to secure the safety of the patient by separating the coupling member 300 and the magnetic body 200 by extinguishing the magnetic force of the magnetic force 200.

10: Body of the robot apparatus
100: Wearing member 110: Fixture
200: Magnetic body 300: Connecting member
400: control unit 500: link member

Claims (15)

1. A wearable module system detachably coupled to a robotic device movable in a multi-axis direction,
A wear member detachably coupled to the main body of the robot apparatus and worn on a part of the body;
A magnetic body provided between the wearer and the main body;
A connecting member having one side coupled to the wear member and the other side releasably contacting the magnetic body; And
A controller for contacting the magnetic body with the connecting member or not contacting the magnetic body and the connecting member when an abnormality occurs;
Lt; / RTI >
Wherein the controller controls the intensity of the magnetic force of the magnetic member and the polarity of the magnetic member so that the magnetic force of the magnetic body is extinguished when the abnormality occurs or the connection member of the magnetic body Wherein the polarity of the wearable module is changed.
The method according to claim 1,
Wherein the magnetic body is an electromagnet whose magnetism changes according to a flow of an electric current applied from the outside,
Wherein the connecting member is provided as one of a magnet and a metal detachable from the magnetic body.
3. The method of claim 2,
Wherein the control unit further includes an emergency switching device for controlling on / off driving of the electromagnet,
Wherein the electromagnet is controlled by a magnetic force of the electromagnet and a polarity of the electromagnet by the emergency switching device so that a pulling force acts between the electromagnet and the connecting member,
Wherein the emergency switching device controls the magnitude and polarity of the magnetic force of the electromagnet to cause a repulsive force to act between the electromagnet and the connecting member.
The method of claim 3,
The magnetic body may be configured to directly extinguish the magnetic force by the wearer wearing the wear member even if the emergency switching device does not operate or to change the intensity and polarity of the magnetic force of the magnetic body so that the magnetic body can push the connection member The wearable module system comprising:
The method according to claim 1,
And a link member connecting between the magnetic body and the main body,
Wherein the link member is provided with at least one of a force sensor, a torque sensor, and a load cell.
The method according to claim 1,
Wherein the wearer is provided with a fastener to prevent a body part from being released from the wearer.
A wear unit detachably coupled to a machine system movable in a multi-axis direction and restricting a body part; And
A control unit having one side coupled to the mechanical system and the other side releasably contacting the wear unit;
/ RTI >
Wherein the control unit includes at least one or more magnetic force generators, and the wearer unit includes at least one magnetic force counterpart acting as an attraction force or a repulsive force to the magnetic force generator,
Wherein the control unit controls the intensity and polarity of the magnetic force of the magnetic force generator to extinguish the magnetic force of the magnetic force generator or to change the polarity of the magnetic force generator so as to push out the wear unit Wearable module system.
8. The method of claim 7,
The wearing unit includes:
Comprising a wearable wearable member on a body part,
Wherein the wearer is provided with a fastener to prevent a body part from being released from the wearer.
9. The method of claim 8,
Wherein the magnetic force generating body is an electromagnet whose magnetic property changes according to a flow of an electric current applied from the outside,
Wherein the magnetic force counterpart is provided as one of a magnet and a metal detachably attachable to the magnetic force generator.
10. The method of claim 9,
Wherein the control unit further includes an emergency switching device for controlling on / off driving of the magnetic force generator,
Wherein the emergency switching device controls an intensity and a polarity of a magnetic force of the magnetic force generating body so that a force or a repulsive force acts between the magnetic force generating body and the magnetic force counterpart.
10. The method of claim 9,
The magnetic force generator may be configured to directly extinguish the magnetic force by the wearer wearing the wearer even if the emergency switching device is not operated or to prevent the magnetic force generator from being in contact with the magnetic force generating body Wherein the wearable module system is capable of converting intensity and polarity.
10. The method of claim 9,
The control unit further includes a link member having one side coupled to the magnetic force generator and the other side coupled to the mechanical system,
Wherein the link member is provided with at least one of a force sensor, a torque sensor, and a load cell.
A magnetic member that is coupled between the wearer and the main body, one side of which is coupled with the wearer, and the other side of which is coupled with the magnetic body A control method for controlling a wearable module system including a connection member that is detachably in contact with a magnetic member and a control unit that makes the magnetic member and the connection member contact each other or does not contact the magnetic member and the connection member when an abnormality occurs,
Starting the rehabilitation treatment with the wearer being fixed to a part of the body of the patient;
Operating an emergency switching device connected to the magnetic body when an emergency occurs due to a mechanical abnormality of the robot apparatus or a physical abnormality of the patient;
Changing the magnetism of the magnetic body by the emergency switching device; And
Separating the magnetic member and the coupling member coupled with the wear member by a magnetic change of the magnetic substance;
And a control unit for controlling the wearable module system.
14. The method of claim 13,
Wherein the magnetic body is an electromagnet whose magnetism changes according to a flow of an electric current applied from the outside,
And changing the magnitude and polarity of the magnetic force of the electromagnet by changing a current flow applied to the electromagnet by the operation of the emergency switching device.
15. The method of claim 14,
The magnetic body may be configured to directly extinguish the magnetic force by the wearer wearing the wear member even if the emergency switching device does not operate or to change the intensity and polarity of the magnetic force of the magnetic body so that the magnetic body can push the connection member The wearable module system comprising:

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