KR101317354B1 - Control method of walking assistance torque and walking assistance apparatus - Google Patents

Abstract

A walking assistance torque control method for assisting pedestrians in walking includes measuring sole pressure applied to the sole using a pressure sensor; Using the measured sole pressure, determining whether the gait cycle of the pedestrian is a stance phase in which the sole is in contact with the ground or a swing phase in which the sole is away from the ground; When the walking cycle corresponds to the standing period, the walking pattern of the standing foot is determined based on the measured sole pressure, and when the walking period corresponds to the stinging period, the angle between the femur and tibia is measured. Determining a gait pattern of the stipple device based on an angle between the femur and the tibia measured by the angle sensor; And providing an auxiliary torque for rotation of the femur and tibia in response to the determined walking pattern of the standing or staging device.

Description

METHOD OF WALKING ASSISTANCE TORQUE AND WALKING ASSISTANCE APPARATUS}

The present invention relates to a method and a walking assistance device for controlling walking assistance torque for assisting a pedestrian's walking. More specifically, the walking assistance for helping smooth rotation of the femur and the tibia rotating in the hip joint during walking. A walk assistance torque control method for controlling torque and a walk assistance apparatus.

Looking at the pedestrian assisting device and the control method for strengthening the muscle of Korea Patent Publication No. 10-2006-0039970, the pedestrian assisting device and the control method for strengthening the muscle that performs the role of strengthening the strength of the general public or the behavior of the elderly Is disclosed.

1 (a) and 1 (b) disclosed in the Korean Laid-Open Patent Publication No. 10-2006-0039970, the walking aid device includes a walking aid mechanism worn by a user and a caster worker 10 having a power generator installed thereon. (11) and the caster walker (10) side of the power transmission mechanism for transmitting power to the walking aid mechanism (11) side, the user walks while pushing the cast walker (10) by hand walking or sitting in place, standing, etc. Will be able to.

By employing a separate caster worker 10 including a power generator and an operation mechanism using wires, the volume and weight of the walking aids can be reduced, thereby minimizing the weight and discomfort felt by the wearer. In particular, a behavior profile for the operation of the walking aid system was provided to assist the elderly and the handicapped, as well as to help strengthen the strength of the general public and patients.

The walking aid 11 worn by the user can be described with reference to the front view, the side view, and the partial perspective view of the walking aid shown in Figs. 2 to 4 disclosed in the above patent. Only Figure 2 is inserted into Figure 1.

2 to 4 disclosed in the patent, there is provided a waist action pulley device 21 and a knee action pulley device 22 for transmitting power for the operation of the waist or knee joint.

Here, the transmission of power by the lumbar pulley device 21 is described as a power to bend the waist, but the bent and stretched waist is relatively the same as the rotation of the femur corresponding to the thigh in the hip joint, the Power by the waist action pulley device 21 can be understood as the power for the rotation of the femur rotating in the hip joint.

In addition, the knee motion pulley device 22 provides the power for the rotation of the lower part of the knee relative to the rotation axis 23 disposed on the knee, which is the same as the tibia corresponding to the calf in the knee joint, The power by the knee motion pulley device 22 can be understood as the power for the rotation of the tibia that rotates in the knee joint.

In other words, the disclosed patent discloses a configuration of the walking aid mechanism 11 that can provide power to rotate the thighs and calves of the body.

And, how to control the power to rotate the thigh or calf of the body through the walking aid mechanism (11) is described on page 7, looking at this, to measure the behavior of the wearer, computer mounted on the caster walker Determines that the user will do one of the following: sitting, standing, or walking. After that, when the operation is determined by the computer, it explains that it supports muscle strength by selecting and applying the appropriate one among the stored behavior profiles.

However, since the pedestrian walking cycle has a walking pattern of several stages, and the direction of rotation of the thigh or calf is different for each walking pattern, power must be provided in a direction suitable for each walking pattern.

However, the above description of the control method for the walking aid mechanism 11 in the above-mentioned patent does not disclose a method of distinguishing the walking pattern of the walking cycle, and the rotation of the thigh or tibia, which should be varied according to each walking pattern. Nor is it disclosed whether or not to provide power in the proper direction of each rotation.

The present invention provides a walking assistance torque control method and walking assistance apparatus that can provide walking assistance torque for smooth rotation of the femur and tibia rotating in the hip joint when walking.

The present invention provides a method for distinguishing various walking patterns according to a pedestrian's walking cycle, and provides a method and a walking assistance device capable of providing auxiliary torques suitable for each walking pattern to the femur and knee joint.

According to one exemplary embodiment of the present invention, a walk assistance torque control method for walking assistance of a pedestrian may include: measuring sole pressure applied to a sole using a pressure sensor; Using the measured sole pressure, determining whether the gait cycle of the pedestrian is a stance phase in which the sole is in contact with the ground or a swing phase in which the sole is away from the ground; If the walking cycle corresponds to the standing period, determining the walking pattern of the standing unit on the basis of the measured foot pressure, and providing an auxiliary torque for the rotation of the femur and tibia in response to the determined walking pattern of the standing unit Can be.

On the other hand, in the step of judging whether it is a standing period or a stinging period, when the walking period corresponds to the stinging period, between the femur and the tibia measured by an angle measuring sensor measuring an angle between the femur and the tibia. The gait pattern of the lagoon may be determined based on an angle of, and an auxiliary torque for rotation of the femur and tibia may be provided in response to the determined gait pattern of the lagoon.

The gait cycle of a pedestrian is called a walking cycle until either the heel of one leg is grounded in the standing state and then the heel of the leg is in contact with the support surface. The walking cycle has two cycles. It consists of a stance from when the heel is grounded until the toes fall off the support surface and a stir until the toe falls off the support surface until the coaxial heel is grounded. The left and right angles can be partially overlapped, usually in walking, 60% are standing and 40% are walking.

As described above, the stance and staging may be classified based on whether the foot is attached to the ground or falls. Therefore, the classification of the stance and the stirrup can be confirmed using a pressure sensor provided on the sole. When the pressure is measured by the pressure sensor of the sole, the walking period of the pedestrian may correspond to the stance, and the pressure in the pressure sensor If not measured, the pedestrian's walking cycle may correspond to a stippled phase.

In addition, in the standing and swinging phases, the muscles provide rotational force to rotate the bones in the joints for walking. However, the direction or rotational force of the bones rotating in the joints of the standing or stinging are not always the same. Thus, the standing and stinging devices can be divided into more complex "walking patterns" according to the direction or rotational force of the rotating bone, which will be described in detail below. The description is briefly mentioned first below.

The hip joint is a joint functioning to enable the lower extremity flexion movement, and the femur is rotated. The femur is the bone of the thigh, from above the knee to the bottom of the pelvis. And, the knee joint is a joint that acts to enable the flexion of the knee, and the tibia and fibula are arranged side by side so that the tibia and fibula rotate together. The tibia refers to the tibia, which extends from the knee to the ankle, and the fibula is a long, slender bone on the outside of the two bones that make up the lower leg.

The walking pattern of the stator is based on the measured sole pressure, the initial contact, the loading response, the mid stance, the terminal stance, and the sting electric. pre swing).

In the present invention, in view of the fact that the pressure applied to the sole of the foot according to the above-described walking pattern of the footrest is partially different, it is possible to more specifically distinguish the walking pattern of the footrest, specifically, provided adjacent to the phalanges (phalange) When the toe pressure sensor, the metatarsal bone, the left pressure sensor and the right pressure sensor on the left and right, and the heel pressure sensor provided adjacent to the tarsal bone, respectively, and when the sole pressure is measured only in the heel pressure sensor If the foot pressure is measured only at the heel pressure sensor and the right pressure sensor, the walking pattern of the stand can correspond to the load response step, and the heel pressure sensor and the right pressure sensor If the sole pressure is measured only at the, and left pressure sensors, the walking pattern of the standing position can correspond to the middle standing position. If sole pressure is measured only at the high, right pressure sensor, left pressure sensor, and toe pressure sensor, the walking pattern of the stand can correspond to the final standing. If the sole pressure is measured only at the toe pressure sensor, the walking pattern of the standing is Corresponds to the stinging electric.

As described above, when the walking pattern of the stance is known, an auxiliary torque may be provided to allow the femur and tibia to rotate in a direction or a force suitable for each walking pattern, thereby physiologic torque of the pedestrian. Auxiliary torque is added to the insufficient torque to smoothly walk. Here, the bio torque may be understood as a torque generated by the muscle of a pedestrian.

Specifically, in the initial contacting step, the femur can be rotated forward, and the tibia can be provided side by side with the femur to provide an auxiliary torque for rotating the tibia forward. In the load reaction step, the tibia bends against the femur. An auxiliary torque may be provided for rotating the tibia backward. Here, the bending of the tibia relative to the femur can be understood as the bending of the knee. And, in the intermediate stand, it is possible to provide an auxiliary torque for rotating the femur backwards, and for turning the tibia forward so that the tibia is arranged side by side with the femur. And, in the final stand, it is possible to rotate the femur backwards, and to provide an auxiliary torque for rotating the tibia forward so that the tibia is arranged side by side with the femur. Auxiliary torque may be provided for turning the tibia backward so as to bend against the femur.

In the above, the walking pattern of the standing machine was identified, and the method of providing the auxiliary torque suitable for each walking pattern in the proper direction was examined.

Hereinafter, a method of identifying the walking pattern of the swinging device and providing an auxiliary torque suitable for each walking pattern will be described.

Once the footing device is unable to measure the sole pressure in the pressure sensor, the walking cycle may correspond to the footing device, which is specifically, the initialing device or mid swinging device. , And final swing.

In the present invention, the angle between the femur and the tibia varies according to the above-described walking pattern of the stiletto, so that the walking pattern of the stiletto can be more specifically classified. Specifically, the angle measuring sensor is provided adjacent to the femur. It may include a femoral inertial sensor and a tibial inertial sensor provided adjacent to the tibia, and the angle between the femur and tibia may be obtained using two inertial sensors. When the angle between the femur and the tibia, measured by the femoral inertial sensor and the tibial inertial sensor, decreases from 140 to 120 °, the walking pattern of the pedestrian may correspond to the initial phase of the incline, and increases to 120 to 150 °. When it is perpendicular to the ground, the walking pattern of the stinger may correspond to the intermediate stinger, and when it is increased to 150 to 180 °, the walking pattern of the stinger may correspond to the final stinger.

For reference, the inertial sensor is provided on the calf and thigh to measure the angle of the two parts, it is obvious that it can be replaced with another configuration for measuring the angle of the two parts in addition to the inertial sensor.

As described above, when the walking pattern of the stator is known, an auxiliary torque may be provided to allow the femur and tibia to rotate in a direction or a force suitable for each walking pattern. Auxiliary torque is added and smooth walking can be achieved.

Specifically, in the initial flannel, the femur can be rotated forward, and an auxiliary torque can be provided for rotating the tibia backward so that the tibia bends against the femur. In the middle flutter, the femur rotates forward, and the tibia Auxiliary torque may be provided for rotating the tibia forward to be parallel to this femur, and in the final drier, an auxiliary torque may be provided for rotating the tibia forward to arrange the tibia parallel to the femur.

As described above, the pedestrian assist torque control method according to the present invention enables smooth pedestrians by providing a suitable auxiliary torque when the pedestrian is difficult to walk only by his or her strength in each walking pattern of the standing or staging device.

In addition, the auxiliary torque may be provided by a mechanical configuration, which is a waist action pulley device 21 and a knee action pulley of the walking aid already disclosed in the above-mentioned Korean Patent Publication No. 10-2006-0039970. It may be provided through a device capable of providing auxiliary torque such as the device 22.

For reference, the transmission of power by the waist action pulley device 21 is described as a power for bending the waist, but the waist is bent and stretched is the same as the rotation of the femur corresponding to the thigh in the hip joint, Power by the waist action pulley device 21 may be used as the power for the rotation of the femur rotating in the hip joint.

In addition, the knee motion pulley device 22 provides the power for the rotation of the lower part of the knee relative to the rotation axis 23 disposed on the knee, which is the same as the tibia corresponding to the calf in the knee joint, Power by the knee motion pulley device 22 can be used as the power for the rotation of the tibia that rotates in the knee joint.

That is, the walk assistance torque control method of the present invention can be implemented through the walk assistance mechanism 11 that can provide power to rotate the thighs or calves of the body. Of course, it is possible to implement the control method of the present invention as much as possible through other devices capable of rotating the femur or tibia.

According to another embodiment according to the present invention, a walking aid device including a femoral rotational pulley device for helping the rotation of the femur rotating in the hip joint and a tibia rotational pulley device for the rotation of the tibia rotating in the knee joint is disclosed.

The walking aid device includes a pressure sensor for measuring the pressure applied to the sole of the foot; And based on the pressure provided by the pressure sensor, it is determined whether the pedestrian's gait period is a stance with which the sole is in contact with the ground or the sole is a stipple with which the foot is apart from the ground. A control unit for controlling the femoral rotation pulley device and the tibial rotation pulley device to determine a walking pattern of the stance machine based on the pressure, and to provide an auxiliary torque for the rotation of the femur and tibia in response to the determined walking pattern of the stance device. Can be.

In addition, the walking aid device may include an angle measuring sensor for measuring the angle between the femur and tibia, and if the pressure is not measured in the pressure sensor and the control unit determines the walking period as a slaughter, the control unit uses the angle measuring sensor Based on the measured angles between the femur and tibia, the gait pattern of the stent can be determined. In addition, an auxiliary torque for rotation of the femur and the tibia may be provided in response to the determined walking pattern of the stator.

For reference, at least one of the tow pressure sensor, the left pressure sensor, the right pressure sensor, and the heel pressure sensor may include an elastic part that compresses and expands by external pressure and an elastic part so as to measure a change in internal pressure due to compression and expansion of the elastic part. It may include a pressure measuring unit connected.

Since the sole of a person is not flat and curved, partly different pressures may be applied even in the same walking pattern. However, the elastic part of the present invention can measure the pressure irrespective of the shape of the sole of the person because the internal pressure changes the same regardless of which particular portion is pressed when pressure is applied. For example, the elastic portion may include a tube tube provided in a spiral shape.

The walking cycle of a pedestrian is divided into various walking patterns, and whether or not the bone is rotated or rotates in each walking pattern. However, the walking aid in the prior art can provide a rotational force to the thigh or tibia so as to help the pedestrians to walk, but the way of distinguishing the walking pattern or the rotation or direction of rotation of bones that vary for each walking pattern There is no mention of this, and therefore, there is a difficulty in providing an auxiliary torque for a natural pedestrian's walking.

However, the walk assist torque control method and apparatus according to the present invention can distinguish the stance and inclinometer through a pressure sensor, and in more detail, the gait pattern of the stance and inclinometer can be distinguished through a pressure sensor and an angle measuring sensor. Appropriate auxiliary torque can be provided to the femur and knee joint for each walking pattern.

Therefore, the method and apparatus for controlling the walking assistance torque according to the present invention can provide an auxiliary torque suitable for each walking pattern, and in fact, when the pedestrian lacks the strength of the pedestrian, if the pedestrian is difficult to walk with his own strength, the appropriate assistance is provided. Providing torque can help you to walk smoothly.

1 is a front view of a walking aid mechanism disclosed in Korean Patent Laid-Open No. 10-2006-0039970.
2 is a flowchart illustrating a control method of walking assistance torque according to the present invention.
Figure 3 is a bone structure of the sole for explaining the position of the pressure sensor disposed in accordance with the control method of the walking aid torque according to the present invention.
4 is a view for explaining the provided bio torque provided to the femur and tibia according to the walking pattern of the stance.
5 is a view for explaining the pressure measured in the pressure sensor and the direction of the auxiliary torque that can be provided in each walking pattern in accordance with the walking pattern of the riser and the swing device.

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS Reference will now be made in detail to embodiments of the present invention, examples of which are illustrated in the accompanying drawings, wherein like reference numerals refer to the like elements throughout. For reference, the same numbers in this description refer to substantially the same elements and can be described with reference to the contents described in the other drawings under these rules, and the contents which are judged to be obvious to the person skilled in the art or repeated can be omitted.

Figure 2 is a flow chart of the control method of the walk assist torque according to the present invention, Figure 3 is a bone structure of the sole for explaining the position of the pressure sensor disposed in accordance with the control method of the walk assist torque according to the present invention, Figure 4 Is a view for explaining the provided bio torque provided to the femur and tibia according to the walking pattern of the stator, Figure 5 is the pressure measured by the pressure sensor according to the walking pattern of the stance and the stiletto and in each walking pattern The figure for explaining the direction of the auxiliary torque that can be provided.

Referring to Figure 2, the walk assistance torque control method for assisting the pedestrian walking of the present embodiment, the step of measuring the foot pressure applied to the sole using a pressure sensor, according to whether the pressure is measured on the measured sole Determining whether the period or walking period, if the walking period corresponds to the standing period, the walking pattern of the standing period is determined based on the measured foot pressure, and if the walking period corresponds to the swinging period, between the femur and tibia Determining the walking pattern of the stilts based on the angle between the femur and tibia measured by the angle measuring sensor for measuring the angle, and for the rotation of the femur and tibia in response to the determined walking pattern of the staging or stiletto Providing an auxiliary torque.

The staging and staging periods can be classified based on whether the foot is attached to the ground or falling. Therefore, the classification of the stance and the stirrup can be confirmed using a pressure sensor provided on the sole. When the pressure is measured by the pressure sensor of the sole, the walking period of the pedestrian may correspond to the stance, and the pressure in the pressure sensor If not measured, the pedestrian's walking cycle may correspond to a stippled phase.

In addition, in the standing and swinging phases, the muscles provide rotational force to rotate the bones in the joints for walking. However, the direction or rotational force of the bones rotating in the joints of the standing or stinging are not always the same. Therefore, the standing and stirrups can be classified into more complicated "walking patterns" according to the direction or rotational force of the rotating bone, which will be described in detail below.

The walking pattern of the stator is based on the measured sole pressure, the initial contact, the loading response, the mid stance, the terminal stance, and the sting electric. pre swing).

In this embodiment, the pressure applied to the sole is partially different according to the above-described walking pattern of the standing device, and thus the walking pattern of the standing device can be more specifically classified.

3, the toe pressure sensor 110 in front of the phalanx 11, the left pressure sensor 120 and the right pressure sensor 130 on the left and right sides in front of the metatarsal bone 12, and, as shown in FIG. The heel pressure sensor 140 may be provided to the ankle bone 13. Although the drawings show that the pressure sensors are provided at the bottom of the sole, the position of the pressure sensors may be a position where the pressure based on the weight of the pedestrian can be measured on the bottom of the shoe worn by the pedestrian or between the foot and the shoe. Do.

In FIG. 5 (b), the pressure measured by each pressure sensor is displayed for each walking pattern. As shown in ①, when sole pressure is measured only at the heel pressure sensor 140, the walking pattern of the standing unit is in the initial contacting step. If the sole pressure is measured only at the heel pressure sensor 140 and the right pressure sensor 130, as shown in ②, the walking pattern of the standing position may correspond to the load reaction step. Of course, depending on the shape of the soles of the pedestrians, some pressure may also be measured in the tow pressure sensor 110. Such minute differences may be ignored. And, if the sole pressure is measured only in the heel pressure sensor 140, the right pressure sensor 130, and the left pressure sensor 120, as shown in ③, the walking pattern of the standing position can correspond to the middle standing position, as shown in ④ When the sole pressure is measured only at the right pressure sensor 130, the left pressure sensor 120, and the tow pressure sensor 110, the walking pattern of the standing position may correspond to the final standing angle, and as shown in ⑤, the tow pressure sensor ( If the sole pressure is measured only at 110), the walking pattern of the stator can correspond to the stipple electric. For reference, in FIG. 5B, the walking pattern may be distinguished by the same method as the right side even when the left foot is the reference.

For reference, Table 1 below shows the pressures applied to the soles of the pedestrian's footrests in terms of the size of the pressures measured by each sensor (largr), small, and not measured (N / A; not applicable).

[Table 1] The magnitude of pressure measured by each pressure sensor according to the walking pattern

For reference, as shown in FIG. 4, the tow pressure sensor 110, the left pressure sensor 120, the right pressure sensor 130, and the heel pressure sensor 140 are respectively compressed by the external pressure by the weight of the pedestrian. And expanding elastic parts 111, 121, 131, and 141 and pressure measuring parts 112, 122, 132, and 142.

Since the sole of a person is not flat and curved, partly different pressures may be applied even within a certain area. In consideration of the shape of the sole, in the present embodiment, the elastic parts 111, 121, 131, and 141 are unfolded to correspond to the sole part desired to measure pressure, so that the elastic parts 111, 121, 131, and 141 are provided. Within the area to be placed, the internal pressure changes equally regardless of which particular part is pressed. For example, the elastic parts 111, 121, 131, and 141 are provided in a tubular tube, and the change in the internal pressure due to the compression and expansion of the elastic parts 111, 121, 131, and 141 outside the tube is shown. The pressure measuring units 112, 122, 132, and 142 may be connected to measure.

As described above, when the walking pattern of the standing foot is known, an auxiliary torque may be provided to allow the femur and tibia to rotate in a direction or a force suitable for each walking pattern.

4 (a) shows the rotational direction and the magnitude of the bio torque of the femur rotating in the hip joint, and FIG. 4 (b) shows the rotational direction and the magnitude of the bio torque of the tibia rotating in the knee joint. If the magnitude of the bio torque is a positive value, it means that the femur rotates toward the front, a negative value means that the femur rotates toward the rear. In addition, in FIG. 4 (b), when the magnitude of the biotorque is a positive value, it means that the tibia rotates backward so that the tibia is bent relative to the femur by the pedestrian's muscle, and in the case of a negative value, the tibia is the femur It means that the tibia rotates forward so that it is arranged side by side.

Therefore, as shown in Fig. 5 (a), as the bio torque identified in Figs. 4 (a) and 4 (b) is less than the normal torque for normal walking, in the initial contacting step, the femur is rotated forward. It can provide an auxiliary torque for rotating the tibia forward so that the tibia is arranged side by side with the femur, and in the load reaction step, it can provide an auxiliary torque for rotating the tibia backward so that the tibia bends against the femur. . Here, the bending of the tibia relative to the femur can be understood as the bending of the knee. And, in the intermediate stand, it is possible to provide an auxiliary torque for rotating the femur backwards, and for turning the tibia forward so that the tibia is arranged side by side with the femur. And, in the final stand, it is possible to rotate the femur backwards, and to provide an auxiliary torque for rotating the tibia forward so that the tibia is arranged side by side with the femur. Auxiliary torque may be provided for turning the tibia backward so as to bend against the femur.

Above, the walk pattern of the stance machine is identified and the auxiliary torque suitable for each walk pattern can be provided in the proper direction. Hereinafter, the walk pattern of the swing machine is identified, and the walk pattern is applied to each walk pattern. The method by which suitable auxiliary torque can be provided is explained.

Once the footing device is unable to measure the sole pressure in the pressure sensor, the walking cycle may correspond to the footing device, which is specifically, the initialing device or mid swinging device. , And final swing.

In the present invention, the angle between the femur and the tibia varies according to the above-described walking pattern of the stiletto, so that the walking pattern of the stiletto can be more specifically classified. Specifically, the angle measuring sensor is provided adjacent to the femur. It may include a femoral inertial sensor and a tibial inertial sensor provided adjacent to the tibia, and the angle between the femur and tibia may be obtained using two inertial sensors. When the angle between the femur and the tibia, measured by the femoral inertial sensor and the tibial inertial sensor, decreases from 140 to 120 °, the walking pattern of the stator may correspond to the initial phase of the incline, and when it increases to 120 to 150 °, Each walking pattern may correspond to the intermediate basin, and when increased to 150 to 180 °, the walking pattern of the basin may correspond to the final basin.

As described above, when the gait pattern of the stinger is known, an auxiliary torque may be provided to allow the femur and tibia to rotate in a direction or a force appropriate for each gait pattern.

Specifically, as the biotorque is short of the general torque, in the initial stage, the initial tendon rotates the femur forward, and may provide an auxiliary torque for rotating the tibia backward so that the tibia bends against the femur. In, the femur can be rotated forward, and an auxiliary torque can be provided for rotating the tibia forward so that the tibia is placed side by side with the femur, and in the final stage, the tibia is rotated forward so that the tibia is placed side by side with the femur. Auxiliary torque can be provided for

As described above, the pedestrian assist torque control method according to the present invention can smoothly walk by providing an appropriate auxiliary torque when the pedestrian is difficult to walk only by his or her strength, that is, the bio torque, in the walking pattern of each of the standing and staging machines. To help.

For reference, Table 2 below shows an example in which the direction of rotation of the bone or the size of the auxiliary torque determined according to the walking pattern of the stance and stirrups is specified. In the table below, the bending of the femur ( flexion refers to the force provided for the femur to go forward, and extension refers to the force provided to the posterior to the femur. In the case of tibia, flexion refers to the force provided to bend the tibia relative to the femur, and extension may refer to the force provided to arrange the tibia parallel to the femur. For reference, the auxiliary torque can be provided as much as the general torque generated when the general person walks, and in some cases, by providing the auxiliary torque suitable for the elderly and rehabilitation patients, it is possible to implement smooth walking.

 [Table 2] Rotational direction of thigh and tibia and size of auxiliary torque determined by walking pattern

The appropriate auxiliary torque described above can be provided by a mechanical configuration, which is the waist action pulley device 21 and the knee action of the walking aid already disclosed in the above-mentioned Korean Patent Publication No. 10-2006-0039970. It may be provided through a device capable of providing an auxiliary torque such as the pulley device (22).

For reference, the transmission of power by the waist action pulley device 21 is described as a power for bending the waist, but the waist is bent and stretched is the same as the rotation of the femur corresponding to the thigh in the hip joint, The waist action pulley device 21 can be used as a femoral rotation pulley device for the rotation of the femur, which is actually rotated in the hip joint in the present invention.

In addition, the knee motion pulley device 22 provides the power for the rotation of the lower part of the knee relative to the rotation axis 23 disposed on the knee, which is the same as the tibia corresponding to the calf in the knee joint, The knee motion pulley device 22 can be used as a tibial rotational pulley device for the rotation of the tibia that actually rotates in the knee joint in the present invention.

That is, the walk assistance torque control method of the present invention can be implemented through the walk assistance mechanism 11 that can provide power to rotate the thighs or calves of the body. Of course, it is possible to implement the control method of the present invention as much as possible through other devices capable of rotating the femur or tibia. In addition, in the above-mentioned patent, the main body 15 for providing power to the walking aid mechanism 11 is separately provided, but the waist action pulley device 21 and the waist action pulley device 21 of the walking aid mechanism 11 are provided. The control method of the present invention is applicable to a case in which a motor for providing furnace power and a control unit for determining a rotation direction or rotation torque of the motor are directly mounted to the walking aid 11 or mounted on another body part of a pedestrian. It can be obvious.

As described above, although described with reference to the preferred embodiment of the present invention, those skilled in the art various modifications and variations of the present invention without departing from the spirit and scope of the invention described in the claims below I can understand that you can.

110: toe pressure sensor 120: left pressure sensor
130: Right pressure sensor 140: Heel pressure sensor

Claims (34)

In the walking assistance torque control method for walking assistance of pedestrians,
Measuring sole pressure applied to the sole using a pressure sensor;
Using the measured sole pressure, determining whether a gait cycle of a pedestrian is a stance phase in which the sole is in contact with the ground or a swing phase in which the sole is away from the ground;
Determining a walking pattern of the standing unit based on the measured sole pressure when the walking period corresponds to the standing unit; And
Providing auxiliary torque for the rotation of the femur and tibia in response to the determined walking pattern of the stance machine;
The foot sensor when the sole pressure is measured by the pressure sensor corresponds to the stand, and the walking pattern of the stand based on the measured sole pressure, the initial contact step (initial contact), load response It is divided into loading response, mid stance, terminal stance, and pre swing.
The pressure sensor is a toe pressure sensor provided adjacent to the phalange, a left pressure sensor and a right pressure sensor disposed on the left and right sides based on the metatarsal bone, respectively, and a heel provided adjacent to the tarsal bone. Including a pressure sensor,
When the sole pressure is measured only at the heel pressure sensor, the walking pattern of the standing unit corresponds to the initial contact step, and when the sole pressure is measured only at the heel pressure sensor and the right pressure sensor, the walking pattern of the standing unit is When the sole pressure is measured only in the heel pressure sensor, the right pressure sensor, and the left pressure sensor, the walking pattern of the standing part corresponds to the intermediate standing part, and the right pressure sensor, When the sole pressure is measured only at the left pressure sensor and the tow pressure sensor, the walking pattern of the standing unit corresponds to the final standing unit, and when the sole pressure is measured only at the toe pressure sensor, the walking pattern of the standing unit The walk assist torque control method, characterized in that corresponding to the stipple electric. delete The method of claim 1,
In the initial contact step,
And rotating the femur forward, and providing the auxiliary torque for rotating the tibia forward so that the tibia is disposed side by side with the femur. The method of claim 1,
In the load reaction step,
Walking assistance torque control method, characterized in that for providing the auxiliary torque for rotating the tibia to the rear so that the tibia bends with respect to the femur. The method of claim 1,
In the intermediate position,
And rotating the femur to the rear, and providing the auxiliary torque for rotating the tibia forward so that the tibia is disposed side by side with the femur. The method of claim 1,
In the final position,
And rotating the femur to the rear, and providing the auxiliary torque for rotating the tibia forward so that the tibia is disposed side by side with the femur. The method of claim 1,
In the said pentagonal electric,
And said auxiliary torque for rotating said tibia forward to rotate said femur forward and said tibia bend with respect to said femur. delete delete In the walking assistance torque control method for walking assistance of pedestrians,
Measuring sole pressure applied to the sole using a pressure sensor;
Using the measured sole pressure, determining whether a gait cycle of a pedestrian is a stance phase in which the sole is in contact with the ground or a swing phase in which the sole is away from the ground;
Determining a walking pattern of the standing unit based on the measured sole pressure when the walking period corresponds to the standing unit; And
And providing an auxiliary torque for rotation of the femur and tibia in response to the determined walking pattern of the stance device.
In the determining of whether the standing period or the stinging period, when the walking period corresponds to the stinging period,
Determining a walking pattern of the stilt machine based on an angle between the femur and the tibia measured through an angle measuring sensor measuring an angle between the femur and the tibia; And
Providing an auxiliary torque for rotation of the femur and the tibia in response to the determined walking pattern of the stiletto;
Walking assistance torque control method comprising a. The method of claim 10,
If the sole pressure is not measured by the pressure sensor, the walking period corresponds to the stirrup,
Based on the angle between the femur and the tibia measured by the angle measuring sensor, the walking pattern of the incline may include an initial swing, a mid swing, and a final swing. Walking assistance torque control method, characterized in that divided into. 12. The method of claim 11,
In the initial stage,
And said auxiliary torque for rotating said tibia forward to rotate said femur forward and said tibia bend with respect to said femur. 12. The method of claim 11,
In the intermediate basin,
And rotating the femur forward, and providing the auxiliary torque for rotating the tibia forward so that the tibia is disposed side by side with the femur. 12. The method of claim 11,
In the final basin,
Walking assistance torque control method, characterized in that for providing the auxiliary torque for rotating the tibia forward so that the tibia is disposed parallel to the femur. 12. The method of claim 11,
The angle measuring sensor is a walk assist torque control method comprising a femoral inertial sensor provided adjacent to the femur and a tibial inertial sensor provided adjacent to the tibia. 16. The method of claim 15,
When the angle between the femur and the tibia measured by the femoral inertial sensor and the tibial inertial sensor decreases to 140 to 120 °, the walking pattern of the stilt unit corresponds to the initial stage.
When increasing to 120 to 150 °, the walking pattern of the stirrup corresponds to the intermediate stirrup,
When increasing to 150 to 180 °, the walking assist torque control method, characterized in that the walking pattern of the stirrup corresponds to the final stinger. In the walking aid device comprising a femur rotational pulley device for helping the rotation of the femur rotation in the hip joint and the tibia rotational pulley device for the rotation of the tibia rotating in the knee joint,
A pressure sensor for measuring a pressure applied to the sole; And
On the basis of the pressure provided by the pressure sensor, it is determined whether the walking period of the pedestrian is a stance with which the sole is in contact with the ground or a foot with which the sole is away from the ground,
When the gait period corresponds to the standing device, the walking pattern of the standing device is determined based on the measured foot pressure, and the auxiliary torque for the rotation of the femur and tibia corresponding to the determined walking pattern of the standing device. A control unit for controlling the femur rotational pulley device and the tibial rotational pulley device to provide a;
Includes, when the sole pressure is measured in the pressure sensor is the gait period corresponds to the standing unit, the walking pattern of the standing unit based on the measured sole pressure, initial contact step, load reaction step, intermediate standing angle Period, final stance, and stipple electricity,
The pressure sensor includes a tow pressure sensor provided adjacent to the phalanx, a left pressure sensor and a right pressure sensor disposed on the left and right sides based on the metatarsal bone, and a heel pressure sensor provided adjacent to the ankle bone,
When the sole pressure is measured only at the heel pressure sensor, the walking pattern of the standing unit corresponds to the initial contact step, and when the sole pressure is measured only at the heel pressure sensor and the right pressure sensor, the walking pattern of the standing unit is When the sole pressure is measured only in the heel pressure sensor, the right pressure sensor, and the left pressure sensor, the walking pattern of the standing part corresponds to the intermediate standing part, and the right pressure sensor, When the sole pressure is measured only at the left pressure sensor and the tow pressure sensor, the walking pattern of the standing unit corresponds to the final standing unit, and when the sole pressure is measured only at the toe pressure sensor, the walking pattern of the standing unit The walk assisting device, characterized in that corresponding to the stipple electric. delete 18. The method of claim 17,
In the initial contact step,
The femur rotational pulley device is controlled by the controller to provide the auxiliary torque for rotating the femur forward,
And the tibial rotational pulley device is controlled by the controller to provide the auxiliary torque for rotating the tibia forward so that the tibia is disposed side by side with the femur. 18. The method of claim 17,
In the load reaction step,
And the tibial rotational pulley device is controlled by the control unit to provide the auxiliary torque for rotating the tibia backward so that the tibia bends with respect to the femur. 18. The method of claim 17,
In the intermediate position,
The femur rotational pulley device is controlled by the control unit to provide the auxiliary torque for rotating the femur backwards,
And the tibial rotational pulley device is controlled by the controller to provide the auxiliary torque for rotating the tibia forward so that the tibia is disposed side by side with the femur. 18. The method of claim 17,
In the final position,
The femur rotational pulley device is controlled by the control unit to provide the auxiliary torque for rotating the femur backwards,
And the tibial rotational pulley device is controlled by the controller to provide the auxiliary torque for rotating the tibia forward so that the tibia is disposed side by side with the femur. 18. The method of claim 17,
In the horn electricity,
The femur rotational pulley device is controlled by the controller to provide the auxiliary torque for rotating the femur forward,
And the tibial rotational pulley device is controlled by the control unit to provide the auxiliary torque for rotating the tibia backward so that the tibia bends with respect to the femur. delete delete 18. The method of claim 17,
At least one of the tow pressure sensor, the left pressure sensor, the right pressure sensor, and the heel pressure sensor is an elastic portion that is compressed and expanded by external pressure;
And a pressure measuring part connected to the elastic part to measure a change in internal pressure due to compression and expansion of the elastic part. The method of claim 26,
The walk assist device, characterized in that the elastic portion includes a tube tube provided in a conical shape. In the walking aid device comprising a femur rotational pulley device for helping the rotation of the femur rotation in the hip joint and the tibia rotational pulley device for the rotation of the tibia rotating in the knee joint,
A pressure sensor for measuring a pressure applied to the sole; And
On the basis of the pressure provided by the pressure sensor, it is determined whether the walking period of the pedestrian is a stance with which the sole is in contact with the ground or a foot with which the sole is away from the ground,
When the gait period corresponds to the standing device, the walking pattern of the standing device is determined based on the measured foot pressure, and the auxiliary torque for the rotation of the femur and tibia corresponding to the determined walking pattern of the standing device. And a control unit for controlling the femoral rotational pulley device and the tibial rotational pulley device to provide a;
It includes an angle measuring sensor for measuring the angle between the femur and the tibia,
When the pressure is not measured by the pressure sensor and the controller determines the walking period as the angle of incidence,
The control unit determines a walking pattern of the stilt device based on an angle between the femur and the tibia measured through an angle measuring sensor measuring an angle between the femur and the tibia, and determines the walking pattern of the stiletto. Corresponding walk apparatus, characterized in that to provide an auxiliary torque for the rotation of the femur and tibia. 29. The method of claim 28,
If the sole pressure is not measured by the pressure sensor, the walking period corresponds to the stirrup,
The walk assistance apparatus of the stator is based on an angle between the femur and the tibia measured by the angle measuring sensor. 30. The method of claim 29,
In the initial stage,
The femur rotational pulley device is controlled by the controller to provide the auxiliary torque for rotating the femur forward,
And the tibial rotational pulley device is controlled by the control unit to provide the auxiliary torque for rotating the tibia backward so that the tibia bends with respect to the femur. 30. The method of claim 29,
In the intermediate basin,
The femur rotational pulley device is controlled by the controller to provide the auxiliary torque for rotating the femur forward,
And the tibial rotational pulley device is controlled by the controller to provide the auxiliary torque for rotating the tibia forward so that the tibia is disposed side by side with the femur. 30. The method of claim 29,
In the final basin,
And the tibial rotational pulley device is controlled by the controller to provide the auxiliary torque for rotating the tibia forward so that the tibia is disposed side by side with the femur. 30. The method of claim 29,
The angle measuring sensor is a walking aid device comprising a femur inertial sensor provided adjacent to the femur and a tibial inertial sensor provided adjacent to the tibia. 34. The method of claim 33,
When the angle between the femur and the tibia measured by the femoral inertial sensor and the tibial inertial sensor decreases to 140 to 120 °, the gait pattern of the incline corresponds to the initial incline,
When increasing to 120 to 150 °, the walking pattern of the stirrup corresponds to the intermediate stirrup,
In the case of increasing to 150 to 180 °, the walking aid device, characterized in that the walking pattern of the stirrup corresponds to the final stirrup.

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