KR101099521B1 - Wearable walking assistance robot suit - Google Patents

Abstract

The present invention relates to a walking suit, and more particularly, to stably support the body without deformation so that the lower paraplegia patient, the elderly having weak muscle strength, and the patient whose muscle strength is deformed can be stably fixed so as not to overwhelm the body due to walking. It can minimize the inconvenience, and relates to a wearable robot walking suit that helps to walk stably by judging the walking state of the user.

Robot, Suit, Rehabilitation, Hip, Knee

Description

Wearable walking assistance robot suit}

The present invention relates to a walking suit, and more particularly, to stably support the body without deformation so that the lower paraplegia patient, the elderly having weak muscle strength, and the patient whose muscle strength is deformed can be stably fixed so as not to overwhelm the body due to walking. It can minimize the inconvenience, and relates to a wearable robot walking suit that helps to walk stably by judging the walking state of the user.

In general, there is a growing interest in pedestrian aids that can help walking for paralyzed patients, elderly people with poor mobility, and people with disabilities who cannot walk smoothly. In other words, most patients with paralytic paralysis, elderly people with disabilities, and people with disabilities are lying in their seats due to their discomfort. Therefore, a variety of walking aids are being developed to walk smoothly for those who do not normally walk.

In general, a walking aid device walks by a person with an uncomfortable movement depending on a body with a wheel such as a baby carriage, or walks by driving at a predetermined angle and speed with a walking aid device while being worn on a leg.

In particular, the walking aid mechanism to help the user walk by other power sources while worn on the leg is composed of a battery and a motor that is powered by the battery to provide power, so that the user can walk on the motor. It was made.

However, the walking aids that perform walking using power in the state of wearing on the above-mentioned legs increases the weight due to the driving motor and the battery, etc. There was a problem that is difficult to use for a long time.

The present invention has been made to solve the conventional problems as described above, the object of the present invention is a wearable robot walking suit that assists in rehabilitation so that the patient or elderly people, especially those with paraplegic paralysis can stably walk. The purpose is to provide.

The objects and advantages of the present invention will be described in more detail below, and will be further embodied by the examples. Further objects and advantages of the invention may be realized by the means indicated in the claims and combinations thereof.

In order to achieve the above object, the present invention provides a suit made of a garment shape provided with a plurality of electrode rods inside, the interbody fixing part is formed so that it can be stably wrapped without deforming the body wrapped around the user's back belly and the like; A control unit including a balance control sensor positioned at an upper portion of the trunk fixing part surrounding the user's back and receiving a biological signal transmitted from the chute and maintaining a balance of the body, and one side of the trunk fixing part; It is wrapped and firmly supported and at the same time the femoral fixing part equipped with a drive motor for hip joint to determine the thigh portion bending force of the user based on the bio-signal transmitted from the control unit to cross the walk, and the part of the femoral fixing part is connected The knee joint supports the user's calf while allowing adjustment of the bending angle of the knee and ankle It is designed to determine the walking state of the user and the user's walking surrounding the foot and the driving motor is provided, one side is attached to any one of the shoes and the user's arms connected to the lower and fixed government A muscle detection sensor capable of transmitting muscle EMG signals measured at the same time to measure the movement of the muscle to the control unit, and is mounted on the other one of the user's arms and transmitting a signal to the control unit, standing, sitting, walking And a mode converting unit configured to manipulate the walking condition.

In addition, in the present invention, the chute is characterized in that it is made of a span material to be in close contact with the user's skin.

In addition, in the present invention, the interbody fixation is a pair of pelvic bands surrounding the user's belly, and the user's waist through the combination of the pair of pelvic bands surrounding the waist of the user to achieve a state of Characterized in that made of a waist support.

In the present invention, the interbody fixing part is characterized in that the carbon composite resin made to minimize the weight burden.

In addition, in the present invention, the waist support is made of an inner suit made of a soft material to support the user's waist safely and comfortably, and is made of a material having rigidity to be firmly fixed to the outside of the inner suit Characterized in that it is made, including the out suit.

In addition, in the present invention, the femoral fixing part is a pair of hip joint driving motor for providing power to each of the lumbar support surrounding the lumbar support, and both ends of the lumbar support, and the pair of hip drive motor It is characterized in that consisting of the thigh fixing member is coupled to each rotatably coupled to the link, and the thigh portion of the user is coupled to the link.

In the present invention, it is characterized in that the fan cake drive motor incorporating the drive motor reducer for the hip joint.

In the present invention, the link is a first link rotatably installed between the waist support and the hip drive motor, and one end is rotatably coupled to the hip drive motor is located on the thigh portion of the user walking It is formed so as to withstand the load acting on the thighs, characterized in that consisting of the second link is coupled to the femoral fixing member.

In addition, in the present invention, the thigh fixing member is an inner chute (inner) suit made of a soft material to prevent sprains or necrosis due to excessive adhesion to the user's skin is lost due to paralysis, and one side of the link It is hinged and is located on the outer side of the inner chute is characterized in that it consists of an outer (outer) chute so that it can be firmly mounted to the thigh portion of the user.

In addition, in the present invention, the outsuit is made of a hinged fastening method, characterized in that the front cover surrounding the thigh front portion of the user, and a rear cover surrounding the thigh rear portion.

In addition, in the present invention, the outsuit is characterized in that the wrinkle portion is formed in the center portion to be reduced in the longitudinal direction in accordance with the user's body shape.

In the present invention, the waistrest and the link is made of a high-strength alloy titanium, characterized in that to minimize the user's weight burden.

In the present invention, the link and the waist rest is characterized in that it is rotatably coupled through a ball bearing.

In the present invention, the lower rehabilitation unit is connected to the one end and the femoral fixing unit, the knee joint drive motor for providing power to bend the knee and ankle, the knee joint and the knee joint is connected to one end It is characterized in that the link is made of a lower leg fixing member coupled to the knee link to surround the calf of the user.

In addition, in the present invention, the lower leg fixing member is an inner suit made of a soft material to prevent sprains or necrosis due to excessive adhesion to the skin of the user who has lost the sense of paralysis, and one side hinged to the knee link It is located on the outer side of the inner chute is characterized in that it consists of an out chute to be firmly mounted to the user's thigh.

In addition, in the present invention, the outsuit is characterized in that the wrinkle portion is formed in the center portion to be reduced in the longitudinal direction in accordance with the user's body shape.

In addition, in the present invention, the knee joint is made of a high-strength alloy titanium, characterized in that to minimize the user's weight burden.

In the present invention, the foot portion is characterized in that the plantar pressure sensor is attached to the sole portion.

In addition, in the present invention, the shoe portion is connected to the drive motor for the knee joint is characterized in that the bending angle can be determined according to the drive of the drive motor for the knee joint.

In addition, in the present invention, the shoe portion is characterized in that the fastening means such as Velcro fasteners, ticks and the like on the top so that the user can easily wear off.

In the present invention, the mode conversion unit is a walking mode operation button for selecting a walking mode, such as flat road surface, rough road surface and stairs, posture mode operation button for selecting a posture, such as sitting, standing and inclined surface, and quickly It is characterized by consisting of a walking speed operation button that allows you to choose a walking speed, such as slow, normal.

In addition, in the present invention, the wearable robot walking suit is characterized in that it further comprises a cane, such as crutches to help the user walk using the muscle strength of the user's upper body.

Accordingly, the wearable robot walking suit according to the present invention has the advantage of helping the patient who is uncomfortable to walk and at the same time minimizing the weight so as not to overdo the body, the drive motor that can adjust the angle of the hip and knee joint By installing the, there is an advantage that the paralyzed patients can walk.

Hereinafter, the configuration and operation effects of the wearable robot walking suit according to the present invention will be described in more detail with reference to preferred embodiments and the accompanying drawings.

Figure 1 is a side view schematically showing the wearing shape of the robot walking suit according to the present invention, Figure 2 is a view schematically showing the sensor, Figure 3 is a front view of Figure 1, Figure 4 is a rear view of Figure 1 5 is a perspective view schematically showing a lumbar support and a hip drive motor of the thigh fixing part, FIG. 6 is a side view schematically showing the thigh fixing member, and FIG. 7 is FIG. 6. 8 is a plan view schematically showing the plantar pressure sensor installed in the shoe, Figure 9 is a perspective view schematically showing the mode converter.

Wearable robot walking suit according to the present invention is to help the paralyzed patient to walk, the biggest feature is that the user can be comfortably walking without being burdened by the user stably fixed support As shown in FIG. 1, the chute 110, the trunk fixing part 120, the control part 130, the thigh fixing part 140, the lowering fixing part 150, the shoe part 160, The mode converter 180 is included.

The chute 110 is provided with a plurality of electrodes 112 as a garment form consisting of a top and a bottom. At this time, the chute 110 is made of a span material to be in close contact with the user, it is preferable to be able to transmit accurate muscle strength information to the controller to be described later.

As shown in FIG. 3, the interbody fixing part 120 is formed to surround the waist of the user so as to stably support the waist of the body without deformation according to the user's body shape. The pelvic band 122 and the waist It consists of a support 124.

The interbody fixing part 120 formed of the pelvic band 122 and the waist support 124 is formed so as to cover the belly and the back of the user's waist, as shown in FIGS. 3 and 4. It is formed to support stably and is formed of carbon composite resin to minimize weight burden.

At this time, the pelvic band 122 is wrapped around the user's belly, made of a pair is coupled to both ends of the waist support 124, respectively. At this time, it is preferable to make the user's waist tight through the coupling with the waist support 124, and the waist support 124 is made of a soft material to support the user's waist safely and comfortably. It includes a chute 124a and an outer chute 124b made of a material having rigidity to be firmly fixed to the outside of the inner chute 124a.

In addition, as shown in FIG. 4, the waist support 124 is electrically connected to an electrode rod 112 provided on the chute 110 and a driving motor () and a plantar pressure sensor (to be described later). The controller 130 is installed to control the user to walk by receiving a bio-signal such as a user's body state and muscle strength information.

The control unit 130 controls a driving board to be described later on the basis of the received signal based on the battery to provide power and the bio-signal (RF signal using electromagnetic wave frequency British) such as the user's body condition and muscle strength information It includes a control board and balance control sensor 132 that can control the torque of the drive motor while maintaining the balance of the body.

The femoral fixation unit 140 determines cross-walking by determining the bending force of the thigh based on the biosignal transmitted from the controller 130, and as shown in FIG. 5, surrounding the waist support 124. Link 146 and the link 146 rotatably coupled to the waist support 142, the hip drive motor 144 coupled to both ends of the waist support, and the hip drive motor 144, respectively. Is coupled to the thigh fixing member 148 surrounding the thigh portion of the user is made of. Here, the hip drive motor 144, the link 146 and the femoral fixing member 148 is attached to both legs of the user to the center of the configuration mounted on one leg of the protector for convenience of description below Explain.

Specifically, the lumbar support 142 is coupled to the lumbar support 124 through the drive motor 144 for the hip joint to support the lumbar support 124, while the interbody fixing part 120 is rigid by walking. In order to minimize deformation, as shown in the figure, it is positioned to surround the waist support 124.

Hip joint drive motor 144 is a pancake-type drive motor with a built-in reducer, which is coupled to both ends of the waist support 124 so as to be rotatable, and the bending motion of the hip joint together with the rotational force of the waist support 124 during walking. It causes a role. In this case, the hip drive motor 144 determines the bending force by the biosignal transmitted from the controller 130.

The link 146 serves to support the user to walk. As shown in FIG. 5, the link 146 is rotatably installed by a ball bearing between the waist rest 142 and the hip drive motor 144. The first link 146a and one end thereof are rotatably coupled by the hip joint driving motor 144 and the second link 146b coupled to the knee joint driving motor () to be described later. Here, the link 146 and the waist rest 142 is preferably made of high strength alloy titanium to minimize the user's weight burden.

At this time, the second link 146b is positioned on the thigh of the user so that it can withstand the load acting on the thigh when walking the foot (when the foot is in contact with the ground), the first link 146a of the user It is located in the pelvis portion to minimize the load that may occur in the waist by the weight change according to the bending of the second link (146b).

That is, as shown in Figure 5, looking at the operating state of the right leg forward of the femoral fixing part 140 made of the above configuration, first, the signal is transmitted to the drive motor for the hip joint 144. Then, the hip drive motor 144 rotates, so that the second link 146b rotates in the direction of arrow ①, and the first link 146a descends in the direction of the arrow ②, ③. Accordingly, one end of the waist rest 142 coupled to the other end of the first link 146a is inclined downward by the first link 146a as in ④, and the other end of the waist rest 142 is ⑤. As shown in Fig. 1, the first link 146a 'is inclined upward, and as in ⑥ and ⑦, it is raised. At this time, the hip drive driving motor 144 coupled with the first link 146a 'is driven to rotate the second link 146b' in the direction of arrow ⑧, thereby making the user walk safely and firmly. To be supported. Here, when the left leg is advanced, the above operation is performed in reverse.

In addition, the thigh fixing member 148 wraps the thigh of the user to protect the thigh, as shown in Figure 6, is hinged to the long hole formed in the longitudinal direction of the second link (146b). At this time, the thigh fixing member 148 is made of a soft material, such as the waist support 124 and the inner (inner) chute (148a), one side is hinged to the second link (146b) is mounted on the user's thigh portion It is preferable that the outer suit 148b is made to prevent sprains or necrosis from occurring due to excessive contact or compression on the skin of the user whose numbness is lost due to paralysis.

In addition, the out suit 148b of the thigh fixing member 148 is made of a hinged fastening method, and includes a front cover surrounding the thigh front part and a rear cover surrounding the thigh rear part, and the front cover and the rear cover each other. It is provided with a corresponding coupler to be firmly fastened.

That is, the inner chute 148a is located inside the out chute 148b to rotate the out chute 148b in the direction of the arrow of FIG. 6 so that the inner chute 148a can be opened and closed to eliminate trouble with the skin. At the same time, it can be easily and easily removed.

In addition, as shown in FIG. 7, the outsuit 148b is preferably such that the wrinkle portion 149 is formed in the center portion so as to be expanded and contracted in the longitudinal direction (arrow direction) according to the user's body shape.

The lower retreat fixing part 150 is connected to a part of the second link 146b of the femoral fixing part 140 to adjust the bending angle of the knee (knee) and the ankle and to support the calf part of the user. And, coupled to the second link 146b and the knee joint drive motor 152 to provide power to bend the knee joint, and the knee joint driving motor 152 one end is connected to the other end of the shoe portion ( It consists of a knee joint link 154 coupled to 160 and the lower leg fixing member 156 coupled to the knee joint link 154 to surround the calf of the user.

Knee drive motor 152 is to provide power to adjust the angle of the knee joint when walking the stator (when the foot is off the ground), it is rotatably coupled to the end of the second link (146b). At this time, the drive motor 152 for the knee joint is a state in which a reduction gear is installed on one side to implement the knee joint angle in the stator, and is made of a cylindrical shape.

One end of the knee link 154 is coupled to the driving motor 152 for the knee joint, and is rotated according to the driving of the knee joint driving motor 152, and is made of a length member to be located at the calf portion of the user.

As shown in FIG. 1, the lower leg fixing member 156 serves to surround and protect the calf portion of the user, and is hinged to the knee joint link 152. At this time, the lower leg fixing member 156 is composed of an inner chute 156a and an outer chute 156b, similar to the above-described femoral fixing member 148, and the front cover of the outer chute 156b and The rear cover is provided with a coupler corresponding to each other to be fastened by opening and closing.

In addition, similar to the above-described femoral fixing member 148, a portion of the lower leg fixing member 156 to form a wrinkle portion 157 to be stretched and contracted according to the user's body so that it can be safely supported.

Footwear 160 is to wrap the foot of the user to determine the walking state of the user, as shown in Figure 8 foot plantar pressure sensor 162 is attached to the sole.

Specifically, as shown in FIG. 1, the shoe unit 160 covers the feet of the user and protects the feet while measuring the walking state of the user. The upper one side of the knee link 154 It is rotatably coupled to the end.

In addition, the upper portion of the shoe unit 160 coupled to the knee joint link 154 is connected to the driving motor 152 for knee joint using a wire 158 to drive the driving motor 152 for the knee joint. Depending on the angle converted by the bend angle of the ankle is determined.

Accordingly, the shoe unit 160 calculates the pressure value measured by the plantar pressure sensor 162 installed in the sole part as the pressure center, and determines the left and right walking steps of the user and transmits the same to the control unit 130. By measuring the walking state of the user, the bending angle of the ankle is adjusted by the wire 158 at the time of change according to the driving of the knee driving motor 152 so that the user can walk stably.

In addition, the shoe unit 160 is preferably provided with a fastening means 164, such as Velcro fasteners, snaps, and the like, so that the user can easily and easily take off the wearable one-touch fixing structure.

On the other hand, as shown in Figure 1, either one of the arms of the user, the muscle sensor 170 is installed. The muscle sensor transmits an EMG signal measured by measuring a user's muscle movement to the controller, and may measure an EMG signal by the strength of the finger flexion muscle of the arm.

In addition, the other one of the two arms of the user is equipped with a mode conversion unit 180 to change the posture of the user.

The mode converting unit 180 is to stand or sit after wearing the wearable robotic walking suit according to the present invention, and to operate a walking form and a walking condition. The control unit 130 receives a signal according to a posture change. Is sent in the form of

In this case, as shown in FIG. 9, the mode conversion unit 180 includes a walking mode operation button 182 for selecting a walking mode such as a flat road surface, a rough road surface, and a stair, and a posture such as sitting, standing, and inclined surfaces. The posture mode operation button 184 to be selected, and the walking speed operation button 186 to select a walking speed such as fast, slow, and normal.

Therefore, the wearable robot walking suit according to the present invention can stably stand or sit even in a paralyzed patient, and can stably walk stairs or slopes, and the weight applied to the body by lightening the overall weight of the suit. Can be minimized.

In addition, there is an advantage that can determine the walking state and the walking will of the user.

In addition, as shown in the figure, by using a cane 190 such as crutches to help the user walking by using the muscle strength of the upper body may be able to walk more stable.

In addition, Figure 10a and 10b is a schematic diagram showing the sitting and standing as a posture-specific operation using the wearable robot walking suit according to the present invention, Figure 11 is walking after wearing a wearable robot walking suit according to the present invention It is a walking figure which shows a figure schematically, and FIGS. 12A and 12B are operation diagrams in an inclined surface and stairs.

So far, the present invention has been described in detail with reference to embodiments of the present invention, but the scope of the present invention is not limited thereto, and it will be included to substantially equivalent ranges with the embodiments of the present invention.

In addition, as shown in the above description, the technology of the wearable robot walking suit according to the present invention is very simple, but the technical advantages of the present invention will be very clear in that the technical effect is very large.

1 is a side view schematically showing the wearing appearance of the robot walking suit according to the present invention;

2 schematically shows a sensor unit;

3 is a front view of FIG. 1;

4 is a schematic view showing the rear view of FIG. 1;

FIG. 5 is a perspective view schematically showing a lumbar support and a hip drive motor of the thigh fixing part; FIG.

6 is a side view schematically showing the femoral fixation member;

7 is an operating state diagram of FIG. 6;

8 is a plan view schematically showing the plantar pressure sensor installed in the shoe portion;

9 is a perspective view schematically showing a mode conversion unit;

10A and 10B are schematic views showing sitting and standing as posture-specific operation diagrams using a wearable robot walking suit according to the present invention;

11 is a walking diagram schematically showing a state of walking after wearing the wearable robot walking suit according to the present invention;

12A and 12B are operation diagrams on inclined surfaces and stairs.

<Code Description of Main Parts of Drawing>

110: chute 112: electrode

120: interbody fixation 122: pelvic band

124: waist support 124a: inner suit

124b: outshoot 130: control unit

132: balance control sensor 140: thigh

142: waist support 144: driving motor for hip joint

146: link 146a: first link

146b: second link 148: thigh fixing member

149: wrinkle portion 150: retreat government

152: driving motor for the knee joint 154: knee joint link

156: lower leg fixing member 157: wrinkles

160: shoe 162: plantar pressure sensor

170: muscle detection sensor 180: mode conversion unit

182: walk mode operation button 184: posture mode operation button

186: walking speed control button 190: wand

Claims (22)

A suit made of a garment shape provided with a plurality of electrode bars therein; An interbody fixation part which is formed to surround the user's lower back and back so as to stably support the body without deformation of the body; A control unit located on an upper part of the trunk fixing part surrounding the back of a user and including a balance control sensor to receive a bio signal transmitted from the chute and maintain a balance of a body; A femoral fixing part provided with a driving motor for a hip joint which is firmly wrapped around one side of the interbody fixing part and determines the flexion force of the thigh part of the user based on the biosignal signal transmitted from the control part so as to cross-walk; A part of the lower retreat part that is connected to the femoral fixation part so that the bending angle of the knee and the ankle can be adjusted and a driving motor for the knee joint supporting the calf part of the user is provided; It is wrapped to the user's feet to determine the walking state of the user, one side is connected to the lower revolving part and the shoe unit; A muscle sensor mounted on one of both arms of the user to measure muscle movement and to transmit the measured EMG signal to the controller; The wearable robot walking suit mounted on the other of the two arms of the user and transmitting a signal to the control unit, a mode conversion unit for manipulating the standing, sitting, walking shape and walking conditions. The method according to claim 1, The chute is a wearable robot walking suit, characterized in that made of a span material to be in close contact with the user's skin. The interbody fixation device of claim 1 wherein: A pair of pelvic bands surrounding the belly of the user; Wearable robot walking suit, characterized in that the waist support wraps around the user's waist through the combination of the pair of pelvic bands to make the user's waist tight. The method of claim 3, The interbody fixing part is a wearable robot walking suit, characterized in that made of a carbon composite resin to minimize the weight burden. The waist support of claim 3 wherein: Inner suit made of soft material to support the user's waist safely and comfortably, Wearable robot walking suit, characterized in that it comprises an out suit made of a material having a rigid so as to be firmly fixed to the outside of the inner chute. The method of claim 1, wherein the femoral fixation part is: A lumbar support surrounding the lumbar support of the interbody fixation to cover the waist of the user, A pair of hip drive motors coupled to both ends of the waist rest and providing power; Links rotatably coupled to the pair of hip drive motors, respectively; Wearable robot walking suit, characterized in that consisting of the thigh fixing member is coupled to the link surrounding the user's thigh. The wearable robot walking suit according to claim 6, wherein the wearable robot walking suit is a fan cake type drive motor incorporating the hip drive reducer. The method of claim 6, wherein the link is: A first link rotatably installed between the lumbar support and the hip drive motor; One end is rotatably coupled to the hip drive motor is located on the user's thigh portion and formed to withstand the load acting on the thigh when walking, characterized in that consisting of a second link coupled to the femoral fixing member Wearable robot walking suit. The method of claim 6, wherein the femoral fixing member is: Inner suit made of a soft material to prevent sprains or necrosis due to excessive adhesion to the skin of the user who has lost the sense of paralysis, Wearable robot walking suit, characterized in that the outer side hinged to one side of the link and is positioned on the outer side of the inner chute so that it can be firmly mounted to the user's thighs. The method of claim 9, wherein the outsuit is: It consists of opening and closing method, the front cover surrounding the front of the user's thighs, Wearable robot walking suit, characterized in that consisting of a rear cover surrounding the thigh back. The wearable robot walking suit of claim 9, wherein the outsuit has a wrinkle portion formed at a center portion thereof so as to be elongated in the longitudinal direction according to a user's body shape. The method according to claim 6, The waistrest and the link is made of high-strength alloy titanium wearable robot walking suit, characterized in that to minimize the user's weight burden. The wearable robot walking suit of claim 6, wherein the link and the waist rest are rotatably coupled through a ball bearing. The method of claim 1, wherein the retreatment portion: A driving motor for the knee joint, which is connected to the one end of the thigh and provides power to bend the knee and the ankle, A knee joint link connected to one end of the knee motor drive motor; Wearable robot walking suit, characterized in that consisting of the lower leg fixing member is coupled to the knee joint to surround the calf of the user. The method of claim 14, wherein the lower leg fixing member is: Inner suit made of soft material to prevent sprains or necrosis due to excessive adhesion to the skin of the user who has lost the sense of paralysis, Wearable robot walking suit, characterized in that consisting of an outer suit hinged to one side of the knee link and positioned on the outer side of the inner chute to be firmly mounted to the user's thigh. The wearable robot walking suit of claim 15, wherein the outsuit has a wrinkle portion formed at a center portion thereof so as to be elongated in the longitudinal direction according to the user's body shape. The wearable robot walking suit of claim 14, wherein the knee joint link is made of high-strength alloy titanium to minimize a user's weight burden. The wearable robot walking suit of claim 1, wherein the foot portion is attached to a plantar pressure sensor. The wearable robot walking suit of claim 1, wherein the shoe part is connected to the knee driving motor through a wire so that a bending angle can be determined according to the driving of the knee joint driving motor. The wearable robot walking suit of claim 1, wherein the shoe unit includes a fastening means formed of a Velcro fastener or a tip at an upper portion thereof so that a user can easily and easily wear off. The method according to claim 1, wherein the mode conversion unit: A pedestrian mode operation button for selecting a pedestrian mode according to the road condition; A posture mode operation button for selecting a user's posture, Wearable robot walking suit, characterized in that consisting of a walking speed operation button to select the walking speed. The wearable robot walking suit of claim 1, wherein the wearable robot walking suit further includes a walking stick such as a crutch so as to help the user walk by using the muscle strength of the upper body of the user.

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