KR100949955B1 - Active walking aid and operating method thereof - Google Patents

Abstract

An active walking aid and a driving method thereof according to the present invention are disclosed. The active walking aid according to the present invention includes a support for supporting an elbow of a user, first and second handle bars installed on left and right sides of the support, each having at least one sensor for sensing a magnitude of a force acting from the user; The controller includes a controller configured to determine a walking direction by applying the sensed force and its magnitude change to a fuzzy algorithm, and output a driving signal for driving the motor of the wheel according to the determined walking direction and the magnitude of the force. The magnitude of the force and a change in magnitude thereof are applied to the fuzzy algorithm, and the output value is determined by applying a preset input membership function and a rule base, and the walking direction is determined according to the determined output value. Through this, the present invention can accurately determine the walking direction and can optimally drive the walking aids.

Walking aids, handlebars, walking will, walking direction, walking speed, fuzzy algorithm, integral control

Description

Active walking aids and driving method thereof

The present invention relates to an active walking aid for assisting a user's walking and a driving method thereof.

With the recent rapid entry into an aging society, social demands for various technologies for the elderly and the disabled are increasing worldwide. At this time, a lot of researches are being conducted to help the outside activities of the elderly and people with reduced mobility. In particular, various technologies for walking aids for the elderly and the disabled are rapidly developed.

However, most walking aids are powerless and have weaknesses in spaces such as slopes. In this regard, there is an increasing interest in powered walking aids, but in most cases, there is a problem that adjustment of the walking aids is inadequate.

In order to solve this problem, various technologies for a powered walker are being researched. For example, a technology for developing a sensor designed to enable the elderly to smoothly control a vehicle of a walker can be controlled stably. Representatives include vehicle movement technology, and obstacle avoidance technology to solve the difficulty of quickness of the elderly and the disabled.

Most of these studies can induce free movement based on the stable driving of walking aids, but it is still insufficient to accurately understand the walking will for the movement of the elderly and the disabled and to naturally drive the walking aids. to be. Accordingly, as computer technology develops, efforts have been made to infer optimal data by imitating human judgment or thinking.

The present invention has been made to solve the above problems, by applying the magnitude of the force acting from the user sensed through at least one sensor installed on the handle bar of the walk aid to the fuzzy algorithm, the direction of walking The present invention provides an active walking aid and a method of driving the same.

In addition, the present invention by applying the magnitude of the force acting from the user to the Ackman driving method to determine the walking speed and to adjust the walking speed by performing an integral control on the input value of the determined walking speed, it is possible to optimally drive the walking aids An active walking aid and a driving method thereof are provided.

To this end, the active walking aid according to an aspect of the present invention is provided with a support for supporting the elbow of the user, at least one sensor installed on the left and right sides of the support, each having at least one sensor for sensing the magnitude of the force acting from the user The driving direction is determined by applying the first and second handle bars and the sensed magnitude of the force and the magnitude change to the fuzzy algorithm to determine the walking direction, and to drive the motor for driving the motor of the wheel according to the determined walking direction and the magnitude of the force. And a controller for outputting, wherein the controller applies the magnitude of the force and the change of the magnitude to the fuzzy algorithm, applies the preset input membership function and the rule base to determine an output value and adjusts the walking direction according to the determined output value. You can decide.

In this case, the first and second handlebars are capacitive sensors for detecting whether the user is holding the first and second handlebars, and when the user is holding both the first and second handlebars, The first and second handlebars may include at least one Force Sensing Register (FSR) sensor for sensing the magnitude of the force acting on the user.

The controller determines the walking direction as a forward direction or a backward direction when at least one of the first and second handlebars moves forward or backward, and when the first handlebar moves forward and the second handlebar moves backward, changes the walking direction. When the first handlebar moves backward and the second handlebar moves forward, the walking direction may be determined to the left.

The controller determines the walking direction by applying the magnitude of the user's force and its magnitude change to the fuzzy algorithm when the sensed magnitudes of the forces are opposite to each other, and applies the magnitude of the force to the Ackman driving method. The driving signal for driving the motor of the wheel may be generated and output according to the determined walking direction and the walking speed.

In particular, the controller adjusts the walking speed by performing an integral control on the determined input value of the walking speed, and generates a driving signal for driving the motor of the wheel according to the determined walking direction and the adjusted walking speed. You can output it by

According to another aspect of the present invention, an active auxiliary walker includes a DSP configured to receive a magnitude of force acting from a user sensed by at least one sensor provided in each of the first and second handlebars installed in a predetermined region of the walking aid. Digital Signal Processing) module, applying the magnitude of the input force and its magnitude change to a fuzzy algorithm to determine a walking direction, and outputs a driving signal for driving a motor of a wheel according to the determined walking direction and the magnitude of the force. And a driving unit for driving the motor of each wheel according to the output driving signal, wherein the processing unit applies the magnitude of force and the change of magnitude to the fuzzy algorithm, and applies the preset input membership function and rule base. Apply to determine the output value and the gait direction can be determined according to the determined output value.

In this case, the sensor is a capacitive sensor for detecting whether the user is holding the first and second handlebars and the first and second handles when the user is holding both the first and second handlebars. The bar may include at least one Force Sensing Register (FSR) sensor for sensing the magnitude of the force acting on the user.

When the magnitude of the input force is opposite to each other, the processor determines a walking direction by applying the magnitude of the user's force and a change in the magnitude to a fuzzy algorithm, and applies the magnitude of the force to the Ackman driving method. The driving signal for driving the motor of the wheel may be generated and output according to the determined walking direction and the walking speed.

In particular, the processor adjusts the walking speed by performing an integral control on the determined input value of the walking speed, and generates a driving signal for driving the motor of the wheel according to the determined walking direction and the adjusted walking speed. You can output it by

According to another aspect of the present invention, there is provided a method of driving an active walking aid, the method comprising: detecting a magnitude of a force acting from a user through at least one sensor installed in a predetermined region of the walking aid, the magnitude of the detected force and its magnitude Applying a change to a fuzzy algorithm to determine a walking direction, outputting a driving signal for driving the motor of the wheel according to the determined walking direction and the magnitude of the force, and driving the motor of each wheel according to the output driving signal. And driving, applying the magnitude of the force and the change of the magnitude to the fuzzy algorithm, applying the preset input membership function and the rulebase to determine an output value and to walk the determined value according to the determined output value. Direction can be determined.

The detecting may include detecting whether the user is holding the handlebar of the walking aid through a capacitive sensor, and when the user is holding the handlebar, using the Force Sensing Register (FSR) sensor. And sensing the amount of force acting.

In the outputting step, if the detected magnitudes of the forces are opposite to each other, determining the walking direction by applying the magnitude of the force and the magnitude change to the fuzzy algorithm, and applying the magnitude of the force to the Ackman driving method. Determining a speed and generating and outputting a driving signal for driving the motor of the wheel according to the determined walking direction and the walking speed.

In particular, the generating and outputting of the driving signal may include adjusting the walking speed by performing an integral control on the determined input value of the walking speed, and adjusting the walking speed according to the determined walking direction and the adjusted walking speed. The method may include generating a driving signal for driving the motor and outputting the driving signal.

Hereinafter, an active walking aid and a driving method thereof according to an embodiment of the present invention will be described in detail with reference to FIGS. 1 to 8C.

The present invention proposes a method for optimally driving an active walking aid. That is, the present invention applies the walking aid based on the walking direction and the walking speed calculated according to the result of applying the user's force detected through at least one sensor installed on the handlebar of the walking aid to the fuzzy algorithm and the Ackman driving method. I can drive it.

1 is an exemplary view showing the configuration of an active walking aid according to an embodiment of the present invention.

As shown in FIG. 1, the active walking aid according to the present invention allows the user to separate and process the user's convenience and the willing force that a person wants to move from and the support force caused by leaning on the vehicle. 110, at least one manipulation unit or handle bar 120, a frame unit 130, a controller 140, and the like.

The support 110 may support the elbow of the user when the user uses the walking aid. The support force is exhausted due to the support of the elbow so that the user is more willing to adjust the walking aid. To judge.

The handlebars 120 are installed on the left and right sides of the support, for example, so that the user can operate each using both hands. Each of the handlebars 120 may be provided with at least one sensor for detecting a force according to the user's operation, thereby fully transmitting the walking intention. have. This will be described with reference to FIG. 2.

2 is an exemplary view showing a detailed configuration of the handle bar 120 shown in FIG.

As shown in FIG. 2, the handlebar 120 may include two sensors, for example, a capacitive sensor 210 and a force sensing register (FSR) sensor 220, respectively. It is possible to determine whether to use a walking aid.

The capacitive sensor 210 may detect whether the user is holding the handlebar through the capacitive detection method. The capacitive detection method detects a change in the capacitor value between the ground and the metal plate when a person approaches the metal plate. When the power is turned on and the person moves away from the metal plate, the power may be turned off. In particular, this method may ensure walking stability by cutting off the power of the walking aid when a user does not want to adjust or falls while walking.

The FSR sensor 220 may clearly grasp the user's walking intention by using a physical characteristic in which the resistance value changes according to the change in the magnitude of the user force. Thus, the FSR sensor S220 is installed at the front and bottom of the handlebar, respectively, when the user tries to move forward, the front FSR sensor is pressed, and when the user tries to move backward, the FSR sensor at the rear may be pressed.

As such, the present invention can accurately determine the user's walking will by sensing the user's force through at least one FSR sensor installed in the handle bar of the row aid.

The frame unit 130 may mean a body supporting a support and provided with wheels.

The controller 140 may control the walking direction and the walking speed of the walking aid according to the walking will of the user. That is, the controller 140 may determine the walking direction according to the fuzzy algorithm based on the user's force detected by the sensor installed in the handlebar, and determine the walking speed according to the Ackman driving method to control the motor of the wheel based on this. have.

In addition, the controller 140 may drive the walking aid more stably through the integral control of the walking speed so as to gradually increase or decrease the walking speed of the auxiliary walking machine.

3 is an exemplary view showing a method of driving an active walking aid according to an embodiment of the present invention.

As shown in FIG. 3, first, the controller detects whether the user is holding the handlebar through the capacitive sensor and detects the sensing data according to the user's manipulation through the FSR sensor when the user is holding the handlebar. The user may grasp or determine that the user is willing to walk.

The FSR sensor uses the moving-average filter to remove the noise of the sensing data.In particular, the smoothed sensing data is analyzed and linearized to the general force magnitude P to compare it with the general force magnitude. It can be expressed as [Equation 1].

[Equation 1]

P = 1951.3x + 4371

Here, x may mean raw raw force sensing data.

In this case, the FSR sensor may be a total of four sensors, each of at least two in one handle bar, through which the user can determine the forward and reverse will for each user hand. Accordingly, all forces applied to the handlebar to the user to move the walker or the vehicle should act in the forward direction, and all forces applied to the handlebar to the user to move the vehicle to the reverse direction. In particular, when the user makes a left turn or a right turn, the directions of the sensors are opposite to each other, and the direction of travel and the speed of the vehicle may be determined by grasping the action of the left and right forces of the sensors. The definition of the force sensing data acting on the vehicle can be expressed as Equation 2 below.

[Equation 2]

Here, v may mean the total size of the force sensing data, and θ may mean the walking direction. In addition, P _LFSR and P _RFSR may represent the size of the force sensing data applied to the handlebar, respectively, and P _MAX may represent the size of the maximum force sensing data applied to the handlebar.

When at least one of the left and right handlebars moves forward or backward in [Equation 2], the walking direction is determined to be a forward direction or a backward direction. When the left handlebar moves forward and the right handlebar moves backward, the walking direction is determined as a right turning direction. When the bar moves backwards and the right handlebar moves forward, the walking direction may be determined as the left turning direction.

When the user's willingness to walk is determined, the walking direction of the walking aid may be determined based on the detected user's force, that is, the force sensing data (S320). Particularly, in the present invention, a fuzzy algorithm may be used to more accurately determine a walking direction when a left turn or a right turn is made. This will be described with reference to FIG. 4.

4 is an exemplary diagram for describing a fuzzy algorithm according to an embodiment of the present invention.

As shown in FIG. 4, a preset input membership function and rule base are shown based on the magnitude of the force and the change in the magnitude of the force respectively applied to the handlebar of the walking aid. The exact angle of the walking aid, that is, the walking direction can be determined according to the determined output value.

In this case, the rule base may be set differently for each user who uses a walking aid, and each of the rule base includes NL (Negative Large), NM (Negative Medium), NS (Negative Small), Z (Zero), and PL (Positive Large). , Values such as positive medium (PM), positive small (PS), and the like may also be set differently. This is because the power varies depending on the person driving the walker. For example, NL may mean that a large negative value is moving in the backward direction.

For example, assume that the user wants to rotate to the left. If the left hand's force is NL, the force change is NL, the right hand's force is PL, and the force change is PM, the left hand will have NL and the right hand will have PL. Thus, the controller can determine the exact walking direction, that is, the angle, of the walking aid based on the output values NL and PL.

As described above, the present invention can determine the walking direction of the walking aid by applying the magnitude of the user's force sensed through the FSR sensor of the handlebar and the magnitude change to the fuzzy algorithm. In addition, the present invention can use the Ackman driving method to determine the walking speed in the walking direction thus determined, this will be described with reference to FIG.

5 is an exemplary view for explaining an Ackman driving method according to an embodiment of the present invention.

As shown in FIG. 5, the controller may determine the wheel speed of the vehicle using the Ackman driving method (S330). In this Ackman driving method, the basic driving is based on an instantaneous center of rotation (ICR). It is a rotational movement, and the four wheels may refer to a concentric circle with respect to the center of rotation and have the same angular velocity, which may mean a technique that allows the movement of the vehicle to move without slipping.

The wheel speed of the vehicle based on the ICR may be expressed as in the following [Equation 3] to [Equation 5].

&Quot; (3) "

[Equation 4]

[Equation 5]

Here, ω _C may mean an angular velocity at the center of the vehicle, ω _L may mean an angular velocity of the left wheel of the vehicle, ω _R may mean an angular velocity of the right wheel of the vehicle. In addition, v _c may refer to the total size of the force sensing data sensed as the speed at the center of the vehicle.

After determining the wheel speed, that is, the walking speed of the vehicle, the wheels of the vehicle can be driven based on this. This is because most users who are uncomfortable using the walking aid respond to the speed of the vehicle due to the rapid acceleration and deceleration of the vehicle. It can be hard to do. Therefore, the controller integrally controls the input value to process the input value in an integral form for acceleration and deceleration of the input value of the walking speed, thereby adjusting the walking speed (S340). This integral control relationship can be expressed as Equation 6 below.

&Quot; (6) "

Here, K _i may mean an integration coefficient, v _i may mean a target walking speed at the present time, and v (t) may mean a walking speed at the present time.

In Equation 6, the present invention enables the user to drive the walking aid more stably by accelerating and decelerating an arbitrary constant K _i to the speed of the vehicle to reach a target walking speed desired by the user. The reason for integrating control on walking speed is to accelerate slowly with constant K _{i and} to slow down slowly when decelerating so that the walking aid can move smoothly.

Thereafter, the controller may generate and output a pulse width modulation (PWM) signal for driving the motor of each wheel based on the determined walking direction and the adjusted walking speed (S350). Therefore, the controller may drive the walking aid according to the PWM signal (S360).

As such, the present invention calculates a walking direction and walking speed by applying a fuzzy algorithm and an Ackman driving method to the magnitude of the user's force and the change in magnitude detected by at least one sensor installed in the handlebar of the walking aid, thereby providing a walking aid. Can be driven optimally.

6 is an exemplary view showing a detailed configuration of the controller 140 shown in FIG.

As shown in FIG. 6, the controller according to the present invention may include a digital signal processing (DSP) module 610, a processor 620, at least one driver 630, and the like.

The DSP module 610 may periodically receive sensing data from these sensors in conjunction with various sensors such as capacitive sensors and FSR sensors installed in the handlebars.

The processor 620 may mean, for example, a DSP for processing a digital signal. The sensing unit may apply sensing data to a fuzzy algorithm and an Ackman driving method to determine a walking direction and a walking speed of the walking aid, and accordingly, a driving signal or a PWM signal. Can be generated.

The driver 630 may drive all of the wheels of the walking aid according to the generated PWM signal. For example, the driver 630 may drive the motors of the front wheel, the left wheel, and the right wheel, respectively, and thus, the plurality of driving parts for driving each wheel. It may be divided into.

Hereinafter, various operation verifications have been implemented by implementing an active walking aid proposed by the present invention as a hardware model, which will be described with reference to FIGS. 7 to 8C.

7 is an exemplary view showing a prototype of an active walking aid according to an embodiment of the present invention.

As shown in FIG. 7, the active walking aid according to the present invention is designed such that, for example, the user can be used as a wheelchair depending on the situation with left and right 750 mm, width 600 mm, maximum height 1100 mm, and minimum height 750 mm. In particular, the walking aid is composed of a controller using TI's TMS320F2812-based DSP to perform high-speed sensor data processing, intelligent system processing that can be driven by the user, and obstacle avoidance.

The basic experiment was carried out based on the walking aid configured as above, and the steering wheel was applied when the pedestrian was conscious and moved to rotate -30 degrees, -60 degrees, and -90 degrees using the walking aid. The forces acting on the bars were compared. These various experimental results will be described with reference to FIGS. 8A to 8C.

8A to 8C are exemplary views showing experimental results according to an embodiment of the present invention.

As shown in Figs. 8A to 8C, as a result of three rotations of -30 degrees, -60 degrees, and -90 degrees, the force applied to the handlebars when the fuzzy algorithm is applied and when the fuzzy algorithm is not applied is shown. The results of the measurements of size and response time are shown.

In the case of applying the fuzzy algorithm in FIG. 8a, not only did the result of 50% reduction in force sensing data compared with the case without applying the fuzzy algorithm, but also the time taken to rotate the average time from 2.3 seconds to 2.0 seconds without the fuzzy algorithm. It can be seen that the shrinkage.

These results indicate that the fuzzy algorithm can be moved to reflect the user's will more actively than when the fuzzy algorithm is not applied. .

Similarly, Figs. 8B and 8C also show the results of comparing the magnitude and time of the force applied to the handlebars with and without the fuzzy algorithm at -60 and -90 degrees rotations.

8A to 8C, the larger the radius of rotation, the smaller the effect on the magnitude of the acting force, but on the contrary, the time taken to rotate gradually decreases. Comparing the entire data, the average gain of the force acting on the FSR sensor is 51.3% and the time gain is 1.075 seconds on average.

As described above, the present invention proposes an active walking aid to use the walking aid more stably in people who are uncomfortable such as elderly people or disabled people, and handlebar and FSR sensor designed to accurately grasp the user's intention. We have implemented a system that can grasp the walking speed and the walking direction of the user by using and use the fuzzy algorithm to more clearly understand the walking intention of the user. In this way, the user can drive the walking aid while more comfortably through his walking will than the conventional driving method of the walking aid.

The functions used in the system disclosed herein can be embodied as computer readable codes on a computer readable recording medium. The computer-readable recording medium includes all kinds of recording devices in which data that can be read by a computer system is stored. Examples of computer-readable recording media include ROM, RAM, CD-ROM, magnetic tape, floppy disk, optical data storage, and the like, and may also be implemented in the form of a carrier wave (for example, transmission over the Internet). do. The computer readable recording medium can also be distributed over network coupled computer systems so that the computer readable code is stored and executed in a distributed fashion.

The active walking aid and the driving method thereof according to the present invention can be modified and applied in various forms within the scope of the technical idea of the present invention and are not limited to the above embodiments. In addition, the embodiments and drawings are merely for the purpose of describing the contents of the invention in detail, not intended to limit the scope of the technical idea of the invention, the present invention described above is common knowledge in the technical field to which the present invention belongs As those skilled in the art can have various substitutions, modifications, and changes without departing from the technical spirit of the present invention, it is not limited to the above embodiments and the accompanying drawings, of course, and not only the claims to be described below but also claims Judgment should be made including scope and equivalence.

1 is an exemplary view showing the configuration of an active walking aid according to an embodiment of the present invention.

2 is an exemplary view showing a detailed configuration of the handle bar 120 shown in FIG.

3 is an exemplary view showing a method of driving an active walking aid according to an embodiment of the present invention.

4 is an exemplary diagram for describing a fuzzy algorithm according to an embodiment of the present invention.

5 is an exemplary view for explaining an Ackman driving method according to an embodiment of the present invention.

6 is an exemplary view showing a detailed configuration of the controller 140 shown in FIG.

7 is an exemplary view showing a prototype of an active walking aid according to an embodiment of the present invention.

8A to 8C are exemplary views showing experimental results according to an embodiment of the present invention.

<Description of Symbols for Main Parts of Drawings>

110: support

120: handlebar

130: frame portion

140: controller

210: capacitive sensor

220: FSR sensor

610: DSP module unit

620: processing unit

630: drive unit

Claims (14)

Support for supporting the elbow of the user; First and second handle bars installed on left and right sides of the support, each having at least one sensor for sensing a magnitude of a force acting from a user; And A controller for determining a walking direction by applying the sensed magnitude of the force and the change in magnitude to a fuzzy algorithm, and outputting a driving signal for driving a motor of a wheel according to the determined walking direction and the magnitude of the force. The control unit may be configured to apply the magnitude of the force and its magnitude change to the fuzzy algorithm, and to apply the preset input membership function and rulebase to determine an output value and determine the walking direction according to the determined output value. Walking aids. According to claim 1, The first and second handlebars, A capacitive sensor for detecting whether the user is holding the first and second handlebars; And And at least one Force Sensing Register (FSR) sensor that senses the magnitude of the force acting on the first and second handlebars from the user when the user is holding both of the first and second handlebars. Active assistant walkers. According to claim 1, The controller comprising: When at least one of the first and second handlebars moves forward or backward, the walking direction is determined as a forward direction or a backward direction, When the first handlebar moves forward and the second handlebar moves backward, the walking direction is determined as a right turn direction, And when the first handle bar moves backward and the second handle bar moves forward, the walking direction is determined as the left turning direction. According to claim 1, The controller comprising: If the magnitude of the sensed force is opposite to each other, the magnitude of the user's force and its magnitude change are applied to the fuzzy algorithm to determine the walking direction, Applying the magnitude of the force to the Ackman driving method to determine the walking speed, And a driving signal for driving the motor of the wheel according to the determined walking direction and the walking speed and outputting the driving signal. 5. The method of claim 4, The controller comprising: Perform the integral control on the determined input value of the walking speed to adjust the walking speed, And a driving signal for driving the motor of the wheel according to the determined walking direction and the adjusted walking speed, and outputting the driving signal. A digital signal processing (DSP) module that receives a magnitude of a force acting from a user sensed by at least one sensor provided in each of the first and second handlebars installed in a predetermined region of the walking aid; A processor configured to determine a walking direction by applying the input magnitude of the force and a change in magnitude to a fuzzy algorithm, and output a driving signal for driving a motor of a wheel according to the determined walking direction and the magnitude of the force; And Drive unit for driving the motor of each wheel in accordance with the output drive signal Wherein, the processing unit is applied to the magnitude of the force and the magnitude change to the fuzzy algorithm, active to determine the output value by applying to a predetermined input membership function and rule base and determine the walking direction according to the determined output value Walking aids. The method according to claim 6, The sensor, A capacitive sensor for detecting whether the user is holding the first and second handlebars; And And at least one Force Sensing Register (FSR) sensor that senses the magnitude of the force acting on the first and second handlebars from the user when the user is holding both of the first and second handlebars. Active walkers. The method according to claim 6, The processing unit, When the magnitude of the input force is opposite to each other, the direction of walking is determined by applying the magnitude of the force of the user and the magnitude change to the fuzzy algorithm, Applying the magnitude of the force to the Ackman driving method to determine the walking speed, And a driving signal for driving the motor of the wheel according to the determined walking direction and the walking speed and outputting the driving signal. The method of claim 8, The processing unit, Performing the integral control on the determined input value of the walking speed to adjust the walking speed, And a driving signal for driving the motor of the wheel according to the determined walking direction and the adjusted walking speed, and outputting the driving signal. Detecting a magnitude of a force acting from a user through at least one sensor installed in a certain region of the walking aid; If the magnitudes of the detected forces are opposite to each other, the magnitude of the detected force and its magnitude change are applied to a fuzzy algorithm to determine a walking direction, thereby driving the motor of the wheel according to the determined walking direction and the magnitude of the force. Outputting a driving signal for performing; And Driving a motor of each wheel according to the output drive signal; The outputting step may include applying the magnitude of the force and the magnitude change to the fuzzy algorithm, and applying the preset input membership function and the rule base to determine an output value and determine the walking direction according to the determined output value. Active walking aid drive method. The method of claim 10, The detecting step, Detecting whether the user is holding a handlebar of the walking aid through a capacitive sensor; And And detecting the magnitude of the force acting on the handlebar through a Force Sensing Register (FSR) sensor when the user is holding the handlebar. The method of claim 10, The outputting step, If the detected magnitudes of the forces are opposite to each other, determining a walking direction by applying the magnitude of the force and a change in magnitude to a fuzzy algorithm; Determining the walking speed by applying the force to the Ackman driving scheme; And And generating a driving signal for driving the motor of the wheel according to the determined walking direction and the walking speed and outputting the driving signal. The method of claim 12, Generating the driving signal and outputting the driving signal, Adjusting the walking speed by performing integration control on the determined input value of the walking speed; And And generating a driving signal for driving the motor of the wheel according to the determined walking direction and the adjusted walking speed and outputting the driving signal. A recording medium having recorded thereon a computer readable program for performing the method of any one of claims 10 to 13.

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