KR100814735B1 - Force assistive wearable robot for wearing human body and movement mode cognitive method using the same - Google Patents

Abstract

A force assistive wearable robot for human body and a movement mode cognitive method using the same are provided to recognize operation mode in human body easily by using two sensors for measuring the value of the physical strength. A force assistive wearable robot for human body comprises a first robot arm(100) having a first joint(110) at one end, a second robot arm(200), plural sensors(300), and a cognitive part. The second robot arm has one end connected to the first joint and the other end connected to a second joint(210). The plural sensors placed at the first joint measures the value of the physical strength in human body combined with the first robot arm. The cognitive part recognizes operation condition of the first joint and the second joint by using the value of the physical strength measured from the plural sensors. The plural sensors consists of a first sensor(310) arranged at one end of the first robot arm, and a second sensor(320) arranged near the first joint to be separated from the first sensor. The first and second sensors measure the value of the physical strength in human body toward two directions for one axis around the zero point which is the arranged position.

Description

Strength Assist Robot for Human Body Wear and Operation Mode Recognition Method Using Them {FORCE ASSISTIVE WEARABLE ROBOT FOR WEARING HUMAN BODY AND MOVEMENT MODE COGNITIVE METHOD USING THE SAME}

1 is a perspective view showing a strength support robot for human body wearing of the present invention.

Figure 2 is a side view showing a strength support robot for wearing a human body of the present invention.

3 is a view showing a first mode according to the present invention.

4 shows a second mode according to the invention.

5 is a view showing a third mode according to the present invention.

6 is a view showing a fourth mode according to the present invention.

The present invention relates to a muscle wear support robot for human body, and more particularly, to a muscle wear support robot for human body that can recognize the operation mode and a motion mode recognition method using the same.

In general, the strength support robot for human body wear can be classified into firstly, a biosignal input robot, a force sensor input robot, and a muscle hardness sensor input robot according to the type of synchronization signal that the user who wears it. have.

Second, the motor-driven robot, the hydraulic cylinder-driven robot, and the artificial muscle-driven and sensor hybrid robots can be largely classified according to the type of actuator to be adopted.

First, in view of the user synchronization signal input, the bio-signal input robot uses the user's direct muscle signal. Therefore, the response is fast. However, there is a problem in that it is cumbersome to additionally wear attachments for obtaining a biosignal when the exoskeleton robot is worn.

In addition, the muscle hardness sensor input robot is used as a robot synchronization signal by measuring the degree of expansion of the muscle. Therefore, it is possible to directly obtain a synchronization signal to be moved by the user. However, since the degree of muscle expansion of the human body is not uniform for each user, there is a problem in that a certain level or more of performance can not be secured according to the user.

In addition, in consideration of the classification by the mounted actuator, the hydraulic cylinder-driven robot should convert the linear movement of the hydraulic cylinder to the rotational movement of the joint. Therefore, there is a problem in that a high degree of freedom, such as shoulder joints of the human body, or a limitation in implementing a wide range of joint motions.

In addition, the artificial muscle driven robot uses the length shrinkage characteristics through the expansion of the actuator. Therefore, there is a problem that causes interference with the peripheral devices of the user and the exoskeleton robot during the actuator expansion.

Accordingly, the present invention has been made to solve the above problems, an object of the present invention is to use a robot arm adopting two muscle force sensors that can measure the muscle strength value of the human body as well as reference the direction along one axis The present invention provides a muscle strength support robot for wearing a human body and an operation mode recognition method using the same, which can easily recognize an operation mode of a human body by comparing the strength values measured with each other.

In addition, another object of the present invention is to provide a muscle strength support robot for wearing a human body and an operation mode recognition method using the same, which provides effective muscle strength support and comfort in the human body.

In order to achieve the above object, the present invention provides a muscle strength support robot for human body wearing.

The wearable muscle support robot for the human body includes a first robot arm having a first joint at one end thereof; A second robot arm connected to the first joint so as to rotate and having a second joint provided at the other end; A plurality of sensors provided in the first joint and measuring a muscle strength value of a human body coupled to the first joint; And a recognizing unit configured to recognize operating states of the first joint and the second joint by using muscle force values measured from the plurality of sensors, wherein the plurality of sensors are disposed at one end of the first robot arm. A first sensor and a second sensor spaced apart from the first sensor and disposed near the first joint, wherein the first sensor and the second sensor have the provided position as a zero point and the zero point as a reference. It is preferable to measure the muscle strength value of the human body in both directions along one axis.

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In addition, the bi-directional muscle force value along the one axis is preferably a muscle force value when the first joint is operated in the '+' direction and the '-' direction with respect to the zero point.

In addition, the recognition unit is a predetermined operation mode for recognizing the operation state,

The operation mode is a first operation mode when the muscle strength value measured by the second sensor is smaller than the muscle force value measured by the first sensor or the measured muscle force values in the '+' direction are the same. Is set,

If the muscle strength value measured by the second sensor is less than the muscle force value measured by the first sensor or the measured muscle force values in the '-' direction are the same, the second power mode is set.

If the muscle force value measured in the '+' direction measured by the second sensor is greater than the muscle force value measured in the '+' direction measured by the first sensor, or the direction of the measured muscle force values is different from each other, 3 is set to the operation mode,

If the muscle force value measured in the '-' direction measured by the second sensor is greater than the muscle force value measured in the '-' direction measured by the first sensor or the directions of the measured muscle force values are different from each other, It is preferable to set the operation mode to recognize the operation state.

In addition, the first operation mode is the second joint tension mode, the second operation mode is the second joint relaxation mode, the third operation mode is the first joint relaxation mode, and the fourth operation mode is the Preferably, the first joint is in tension mode.

In order to achieve the above object, the present invention provides a method for recognizing an operation mode using a muscle strength support robot for wear.

The method of recognizing an operation mode using the wearable muscle support robot for a human body includes a first robot arm having a first joint at one end and a second joint connected to one end at the first joint and a second joint at the other end. Measuring a muscle force value according to the position of each sensor through a robot arm and a plurality of sensors provided on the first robot arm and measuring the muscle force value of the human body, and using the muscle force values measured from the plurality of sensors Recognizing the operation state of the first joint and the second joint through a recognition unit, wherein the plurality of sensors are separated from the first sensor and the first sensor disposed on one side of the first robot arm And a second sensor disposed in the vicinity of the first joint, wherein the first sensor and the second sensor have the provided position as zero and follow one axis based on the zero point. Le preferably measures the strength value of the human body in both directions.

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In addition, the bi-directional muscle force value along the one axis is preferably a muscle force value when the first joint is operated in the '+' direction and the '-' direction with respect to the zero point.

In addition, the recognition unit is a predetermined operation mode for recognizing the operation state,

The operation mode is a first operation mode when the muscle strength value measured by the second sensor is smaller than the muscle force value measured by the first sensor or the measured muscle force values in the '+' direction are the same. Is set,

If the muscle strength value measured by the second sensor is less than the muscle force value measured by the first sensor or the measured muscle force values in the '-' direction are the same, the second power mode is set.

If the muscle force value measured in the '+' direction measured by the second sensor is greater than the muscle force value measured in the '+' direction measured by the first sensor, or the direction of the measured muscle force values is different from each other, 3 is set to the operation mode,

If the muscle force value measured in the '-' direction measured by the second sensor is greater than the muscle force value measured in the '-' direction measured by the first sensor or the directions of the measured muscle force values are different from each other, It is preferable to set the operation mode to recognize the operation state.

In addition, the first operation mode is the second joint tension mode, the second operation mode is the second joint relaxation mode, the third operation mode is the first joint relaxation mode, and the fourth operation mode is the Preferably, the first joint is in tension mode.

Hereinafter, with reference to the accompanying drawings, it will be described in the human body wearing strength support robot and an operation mode recognition method using the same.

1 is a perspective view showing a strength support robot for human body wearing of the present invention. Figure 2 is a side view showing a strength support robot for wearing a human body of the present invention. 3 is a view showing a first mode according to the present invention. 4 shows a second mode according to the invention. 5 is a view showing a third mode according to the present invention. 6 is a view showing a fourth mode according to the present invention.

1 and 2, the strength support robot for human body wearing of the present invention includes a first robot arm 100 having a first joint 110 at one end thereof. The first robot arm 100 has a second robot arm 200 which is connected to the first joint 110 so that one end is rotated and the second joint 210 is provided at the other end. It is provided on the first joint 110, and has a plurality of sensors 300 for measuring the muscle strength value of the human body coupled to the first robot arm (100). The recognition unit 400 may recognize an operating state of the first joint 110 and the second joint 210 by using muscle strength values measured by the plurality of sensors 300.

Here, the plurality of sensors 300 are spaced apart from the first sensor 310 and the first sensor 310 disposed on one end side of the first robot arm 100 of the first joint 110. A second sensor 320 is disposed in the vicinity.

The first sensor 310 and the second sensor 320 may measure the muscle strength of the human body in both directions along one axis based on the zero position.

In addition, the bi-directional strength value along the one axis may be a strength value when the first joint 110 is operated in the '+' direction and the '-' direction based on the zero point.

In addition, the recognition unit 400 has a predetermined operation mode for recognizing the operation state.

3 to 6, in the operation mode, the muscle force value measured by the second sensor 320 is smaller than the muscle force value measured by the first sensor 310 or in the '+' direction. If the measured muscle strength values to be equal to each other is set to the first operation mode.

If the muscle force value measured by the second sensor 320 is smaller than the muscle force value measured by the first sensor 310 or the measured muscle force values in the '-' direction are the same, the second operation is performed. Mode is set.

The muscle force value measured in the '+' direction measured by the second sensor 320 is greater than the muscle force value measured in the '+' direction measured by the first sensor 310 or the measured muscle force value. If these directions are different from each other, the third operation mode is set.

The muscle force value measured in the '-' direction measured by the second sensor 320 is greater than the muscle force value measured in the '-' direction measured by the first sensor 310 or the measured muscle force value. If these directions are different from each other, the operation mode is set to the fourth operation mode to recognize the operation state.

In addition, the first operation mode is the second joint tension mode, the second operation mode is the second joint relaxation mode, the third operation mode is the first joint relaxation mode, and the fourth operation mode is the The first joint may be in tension mode.

Accordingly, the method of recognizing the operation mode using the wearable muscle support robot of the present invention includes the first robot arm 100 having the first joint 110 at one end thereof and the one end rotated at the first joint 110. Connected to the second robot arm 200 having the second joint 210 at the other end and the first joint 110 provided at the first joint 110 and measuring the muscle strength of the human body coupled to the first joint 110. Measuring a muscle strength value according to the position of each sensor 300 through a plurality of sensors 300, and using the muscle strength value measured from the plurality of sensors 300 and the first joint 110 and the The operation state of the second joint 210 is recognized through the recognition unit 400.

As described above, the present invention is to maximize the effect that the user can easily attach and detach the effect using the motor drive system using the force sensor and wearable Arm Brace and Weight Harness, and the strength support effect by the exoskeleton.

In addition, the present invention is to support the muscle joint of the shoulder joint of the spherical joint (Spherical Joint) form by adopting the two degrees of freedom of the drive joint and the hinge joint using the manual motion 1 degree of freedom in order to implement the three degrees of freedom of the human shoulder joint This enables the effect of minimizing the interference between the motors, effective muscle strength support and wearing comfort.

In addition, the present invention enables to adjust the length of the elbow portion and shoulder joint of the exoskeleton robot has the effect of securing the versatility of the system considering the users of different size and length for each body part.

In addition, the present invention has an effect that is easily worn by mounting the wrist support that the user can be attached to the synchronous signal input portion of the robot and easy to use in inputting the synchronous signal to the force sensor.

In addition, the present invention has the effect of using the chest support for connecting the user's torso and the robot close to the robot and the user to maximize the wearability and at the same time the exoskeleton robot can be used for various purposes only by replacing the chest support There is.

In addition, the present invention by connecting only the shoulder and wrist between the user and the exoskeleton robot has the effect of maximizing the convenience and operability of the user and at the same time the robot can implement the degree of freedom desired by the user.

In addition, the present invention has the effect of inputting a variety of synchronization signals by simply replacing the sensor connected between the wrist support and the robot.

Claims (12)

A first robot arm 100 having a first joint 110 at one end thereof, and a second robot arm having one end connected to the first joint 110 to be rotated and a second joint 210 provided at the other end ( 200 and a plurality of sensors 300 provided on the first joint 110 and measuring a muscle strength value of a human body coupled to the first robot arm 100, and measured from the plurality of sensors 300. Recognizing unit 400 for recognizing the operating state of the first joint 110 and the second joint 210 by using the muscle strength value, The plurality of sensors 300 are spaced apart from the first sensor 310 and the first sensor 310 disposed at one end side of the first robot arm 100 and the first sensor 310. The second sensor 320 is disposed, and the first sensor 310 and the second sensor 320 has the provided position as a zero point, the human body in both directions along one axis based on the zero point Strength support robot for human body, characterized in that for measuring the strength value of. delete The method of claim 1, The bi-directional muscle strength value along the one axis is a strength support robot for human body wear, characterized in that when the first joint 110 is operated in the '+' direction and the '-' direction based on the zero point. The method of claim 3, wherein The recognition unit 400 is a predetermined operation mode for recognizing the operation state, In the operation mode, the muscle force value measured by the second sensor 320 is smaller than the muscle force value measured by the first sensor 310 or the measured muscle force values in the '+' direction are the same. Is set to the first operation mode, If the muscle force value measured by the second sensor 320 is smaller than the muscle force value measured by the first sensor 310 or the measured muscle force values in the '-' direction are the same, the second operation is performed. Mode, The muscle force value measured in the '+' direction measured by the second sensor 320 is greater than the muscle force value measured in the '+' direction measured by the first sensor 310 or the measured muscle force value. If the directions are different from each other, it is set as the third operation mode, The muscle force value measured in the '-' direction measured by the second sensor 320 is greater than the muscle force value measured in the '-' direction measured by the first sensor 310 or the measured muscle force value. If the direction is different from each other is set to the fourth operation mode, wear strength support robot for human body, characterized in that for recognizing the operating state. The method of claim 4, wherein The first operation mode is the second joint 210 tension mode, the second operation mode is the second joint 210 relaxation mode, the third operation mode is the first joint 110 relaxation mode, The fourth operation mode is the wear strength support robot for human body, characterized in that the first joint (110) tension mode. A first robot arm 100 having a first joint 110 at one end thereof, and a second robot arm having one end connected to the first joint 110 to be rotated and a second joint 210 provided at the other end ( 200 and a plurality of sensors 300 provided on the first joint 110 and measuring a muscle strength value of a human body coupled to the first robot arm 100, and measured from the plurality of sensors 300. Recognizing unit 400 for recognizing the operating state of the first joint 110 and the second joint 210 by using the muscle strength value, The plurality of sensors 300 are spaced apart from the first sensor 310 and the first sensor 310 disposed at one end side of the first robot arm 100 and the first sensor 310. The second sensor 320 is disposed, and the first sensor 310 and the second sensor 320 has the provided position as a zero point, the human body in both directions along one axis based on the zero point Measures the strength of the power, the bi-directional strength value along the one axis is the strength value when the first joint 110 is operated in the '+' direction and the '-' direction relative to the zero point, The recognition unit 400 is a predetermined operation mode for recognizing the operation state, In the operation mode, the muscle force value measured by the second sensor 320 is smaller than the muscle force value measured by the first sensor 310 or the measured muscle force values in the '+' direction are the same. Is set to the first operation mode, If the muscle force value measured by the second sensor 320 is smaller than the muscle force value measured by the first sensor 310 or the measured muscle force values in the '-' direction are the same, the second operation is performed. Mode, The muscle force value measured in the '+' direction measured by the second sensor 320 is greater than the muscle force value measured in the '+' direction measured by the first sensor 310 or the measured muscle force value. If the directions are different from each other, it is set as the third operation mode, The muscle force value measured in the '-' direction measured by the second sensor 320 is greater than the muscle force value measured in the '-' direction measured by the first sensor 310 or the measured muscle force value. If the directions of the two are different from each other is set to the fourth operation mode to recognize the operation state, the first operation mode is the second joint 210 tension mode, the second operation mode is the second joint 210 relax Mode, the third operation mode is the first joint (110) is a relaxation mode, the fourth operation mode is the first joint (110) muscle strength support robot for human wear, characterized in that the tension mode. A first robot arm 100 having a first joint 110 at one end thereof, and a second robot arm having one end rotatably connected to the first joint 110 and a second joint 210 provided at the other end thereof. And a strength value corresponding to the position of each sensor through the plurality of sensors 300 provided in the first joint 110 and measuring a strength value of the human body coupled to the first robot arm 100. Measuring; Recognizing the operation state of the first joint 110 and the second joint 210 through the recognition unit 400 by using the muscle strength value measured from the plurality of sensors 300, The plurality of sensors 300 are spaced apart from the first sensor 310 and the first sensor 310 disposed at one end side of the first robot arm 100 and the first sensor 310. The second sensor 320 is disposed, and the first sensor 310 and the second sensor 320 has the provided position as a zero point, the human body in both directions along one axis based on the zero point Motion mode recognition method using a strength support robot for human body, characterized in that for measuring the strength value of. delete The method of claim 7, wherein The bilateral strength value along the one axis is a strength support robot for human body wearing, characterized in that when the first joint 110 is operated in the '+' direction and the '-' direction based on the zero point. How to recognize operation mode used. The method of claim 9, The recognition unit 400 is a predetermined operation mode for recognizing the operation state, In the operation mode, the muscle force value measured by the second sensor 320 is smaller than the muscle force value measured by the first sensor 310 or the measured muscle force values in the '+' direction are the same. Is set to the first operation mode, If the muscle force value measured by the second sensor 320 is smaller than the muscle force value measured by the first sensor 310 or the measured muscle force values in the '-' direction are the same, the second operation is performed. Mode, The muscle force value measured in the '+' direction measured by the second sensor 320 is greater than the muscle force value measured in the '+' direction measured by the first sensor 310 or the measured muscle force value. If the directions are different from each other, it is set as the third operation mode, The muscle force value measured in the '-' direction measured by the second sensor 320 is greater than the muscle force value measured in the '-' direction measured by the first sensor 310 or the measured muscle force value. If the direction is different from each other is set to the fourth operation mode, the operation mode recognition method using a muscle wear support robot for human body, characterized in that for recognizing the operation state. The method of claim 10, The first operation mode is the second joint 210 tension mode, the second operation mode is the second joint 210 relaxation mode, the third operation mode is the first joint 110 relaxation mode, The fourth operation mode is the first joint (110) method of using a human body wearing strength muscle support robot, characterized in that the tension mode. delete

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