KR101970533B1 - Robot suit for pose correction using method for correcting posture - Google Patents

Abstract

The present invention relates to a robot suit for posture correction. The robot suit comprises: a joint motion unit surrounding a user′s joint and moving the user′s joint as external energy is converted into mechanical kinetic energy to operate the joint motion unit; a band unit worn between the joints of the user and connected to the joint motion unit so that the joint motion unit is in contact with and supported by the joints; and a motion control unit for storing data on an accurate posture to be taken by the user in advance or receiving data from the outside in real time and transmitting the data about the correct posture to the joint motion unit to control the operation of the joint motion unit. The joint motion unit operates the joints of the user according to the correct posture data of the motion control unit, thereby allowing the user to recognize the correct posture and correct the posture of the user.

Description

BACKGROUND OF THE INVENTION 1. Field of the Invention [0001] The present invention relates to a robot suit for a posture correcting method,

The present invention relates to a robot suit for posture correction, and more particularly, to a robot suit for posture correction, which is capable of calibrating a user's posture by changing a posture of a user by operating a suit according to input data in a state of wearing a suit, And a posture correction method using the same.

Recently, as the work environment using computer has been increasing, modern people who have been sitting for long periods are suffering from various diseases. In particular, the sitting posture of the waist causes a decrease in abdominal muscles function in the human body, thereby changing the constitution to allow the abdominal fat to easily increase.

However, there is a problem that it is not easy to keep the right posture constantly in real life even if it is recognized that the wrong posture is harmful to the human body.

Accordingly, it is possible to learn the posture so that the user can take a correct posture in a state worn by the user, and to adjust the posture so that the posture of the user can be correctly maintained when the posture is not correct by judging the posture of the user There is a growing need.

Registration Practical New Testament No. 20-0395879, 'The Appearing Band for Walking Correction and Strengthening'

SUMMARY OF THE INVENTION The present invention has been made to solve the above-mentioned problems, and it is an object of the present invention to provide a posture correcting apparatus capable of correcting a posture of a user by changing a posture of a user by operating a suit, And a posture correcting method using the same.

Another object of the present invention is to provide a robot suit for posture correction which can be used for correcting a sports action such as tennis or golf, and a posture correcting method using the robot suit.

In the meantime, other objects not specifically mentioned in the present invention will be further considered within the scope of the following detailed description and easily deduced from the effects thereof.

According to an aspect of the present invention, there is provided a robot arm for posture correction comprising: an articulating part for wrapping around a joint of a user and converting external energy into mechanical kinetic energy and moving the joint according to operation; A band part which is worn between the joints of the user and is connected to the joint motion part so that the joint motion part is in contact with and supported by the joint; And a motion control unit for storing data on a normal motion to be taken by the user or receiving data from outside in real time and transmitting data about normal motion to the joint motion unit to control the motion of the joint motion unit, According to the data, the joint motion part operates the joint of the user, thereby allowing the user to take the correct posture and correct the posture of the user correctly.

Here, the band part is provided with a detection sensor, the user's posture can be detected by the detection sensor, and the posture of the user sensed by the detection sensor and the data of the user's pre-stored or real- The motion control unit drives the joint motion part and / or the band part to cause the user to take a correct posture, so that the user's posture can be recalibrated to the normal posture.

Here, the joint motion part may be composed of a plurality of polymer soft actuators surrounding the user's joints.

The method of correcting posture using a robot suit for a posture correction according to the present invention comprises the steps of wearing a suit worn on a joint of a user and including an joint motion part for converting external energy into mechanical kinetic energy and operating the same; Correcting the posture of the user by transmitting the data of the normal prescription stored in advance or in real time to the motion control unit to the joint motion unit to operate the joint motion unit; And a step of detecting the user's posture continuously through the detection sensor and re-establishing the posture of the user by operating the joint motion part when the posture of the user is not correct.

In the robot suit for posture correction according to the present invention, a plurality of polymer soft actuators constituting an articulating part according to data are pre-stored or transmitted in real time in the motion control unit, thereby adjusting the position and angle of joints, There is an advantage that the posture can be corrected by supporting it to take.

In addition, if the sensed position is not correct, the motion control unit immediately drives the joint motion part to re-adjust the position and angle of the user's joint by continuously sensing the position and angle of each part of the body through the sensing sensor The effect is that you can continue to correct the correct posture.

FIG. 1 is a schematic view showing a robot suit for posture correction according to an embodiment of the present invention worn by a user.
FIG. 2 is a partially enlarged view showing a part of a robot suit for a posture correction according to an embodiment of the present invention.
FIG. 3 is a step diagram of a posture correction method using a robot suit for a posture correction according to an embodiment of the present invention.

BRIEF DESCRIPTION OF THE DRAWINGS The objects, particular advantages and novel features of the present invention will become more apparent from the following detailed description taken in conjunction with the accompanying drawings, in which: FIG. Also, terms used are terms defined in consideration of the functions of the present invention, which may vary depending on the intention or custom of the user operator. Therefore, definitions of these terms should be based on the entire contents of the present specification.

It should be noted that, in adding reference numerals to the constituent elements of the drawings, the same constituent elements are denoted by the same reference symbols as possible even if they are shown in different drawings. In the following description of the present invention, a detailed description of known functions and configurations incorporated herein will be omitted when it may make the subject matter of the present invention rather unclear.

In describing the components of the present invention, the terms first, second, A, B, (a), (b), and the like can be used. These terms are intended to distinguish the constituent elements from other constituent elements, and the terms do not limit the nature, order or order of the constituent elements. When a component is described as being "connected", "coupled", or "connected" to another component, the component may be directly connected or connected to another component, Connected, " " coupled, " or " connected, "

Hereinafter, the configuration and operation of an embodiment of the present invention will be described in detail with reference to the drawings.

FIG. 1 is a schematic view of a robot suit for posture correction according to an embodiment of the present invention. FIG. 2 is a schematic view of a robot suit for posture correction according to an embodiment of the present invention. A partial enlarged view showing a part of the display device of FIG.

1 and 2, the robot chest 100 for attitude correction according to an embodiment of the present invention includes an articulation part 110 which surrounds a joint part of a user and operates by converting external energy into mechanical energy, A band part 120 that is worn between the joints of the user and connected to the joint motion part 110 so that the joint motion part 110 is in contact with and supported by the joint and data on the stillness to be taken by the user is stored, And a motion controller 130 for transmitting the data about the normal motion to the motion controller 110 to control the motion of the joint motion unit 110.

The joint motion part 110 is worn on the joint part of the user. A joint is the part of the bone that connects to the bone and refers to the part of the body where two or more bones can move. The joint is divided into a movable joint and a floating joint. However, the joint described in the present invention is a movable joint, which is not directly attached between the bone and the bone, but is filled with a soft joint fluid or a joint capsule between the knee and the wrist, , Shoulders, elbows, and the like.

The joint motion part 110 is worn on the joints of the user, that is, the knee joint, the wrist joint, the hip joint, the shoulder joint, the elbow joint, and the ankle joint. In addition, the joint motion part 110 is also worn on the cervical vertebrae and lumbar vertebrae, which are used to bow or tilt the body and head of the user other than the above joints. That is, it should be understood that the joint motion part 110 is worn throughout the joints and spine used to move the angle of the head, torso, arm, and leg so that the user can take a posture. Hereinafter, for convenience of explanation, the lumbar vertebrae or the cervical vertebrae to which the joint motion part 110 is worn will be described as being included in the range of the joint described in the present invention, and the same applies to the entire specification and claims.

The joint motion part 110 is worn to surround the joint of the user. The joint motion part 110 includes a plurality of actuators 112. Actuator 112 operates by converting external energy into mechanical kinetic energy. The actuator 112 used in the present embodiment is a polymer soft actuator. Polymer soft actuator 112 is a concept derived from artificial muscle technology that is intended to have light weight and high output and flexibility, and refers to a flexible material or device that converts external energy into mechanical kinetic energy based on a smart polymer material. The polymeric smart actuator 112 is deformed by a voltage in an electroactive polymer material. That is, the polymer soft actuator 112 is deformed by the voltage when the voltage is applied and operates so that the angle is controlled in many directions. The polymer soft actuator 112 may be driven to have a stretching action or be curved to be bent. The polymer soft actuator 112 in the present embodiment will be described as being operated to perform expansion and contraction.

The polymeric soft actuator 112 is provided with a plurality of units to surround the user's joints. The operation of the polymer soft actuator 112 is controlled through the motion control unit 130. The end of the polymer soft actuator 112 is connected to the band portion 120 worn between the joints of the user so as to close and support the polymer soft actuator 112 to the user's joints. In addition, the polymer soft actuator 112 may be provided in an extended state inside the band 120 described later.

The band portion 120 is worn between the joints of the user and the joints. The band portion 120 is made of a material having good stretchability. The band portion 120 is provided with a coupling member 122 for detachably coupling the two sides to each other. The coupling member 122 may be in the form of a velcro or a zipper. The joining member 122 refers to the portion indicated by the broken line in the band portion 120. The joint motion part 110, that is, a plurality of polymer soft actuators 112 are connected between the band parts 120. When the band part 120 is worn by the user, the polymer soft actuator 112 is provided between the band part 120 as described above, and is held in close contact with the joint in a state of wrapping the joint of the user. In addition, the polymer soft actuator 112 of the joint motion part 110 can be extended inside the band part 120. This is because if the various polymer soft actuators 112 are provided only at the joints of the user, the motion of the body muscles can not be accurately simulated and the motion can be simplified, so that the polymer soft actuators 112 can be inserted into the band part 120 .

The band part 120 may be provided to surround the joint motion part 110 positioned between the joint and the joint. When the band part 120 is fabricated so as to cover the joint part 110, the band part 120 can be manufactured in the form of wearable clothes such as a wet suit as a whole.

The band unit 120 includes a detection sensor 125. The sensing sensor 125 senses the position of the band part 120 worn by the user's body. The position of the band part 120 sensed by the sensing sensor 125 is transmitted to the motion controller 130. The motion control unit 130 receives the position of the band unit 120 and compares the position of the band unit 120 with the data of the user to be taken and then, when a comparison value is generated, activates the joint motion unit 110 to move the joint unit 110 and the band unit 120 By repositioning the position, the user is able to recognize the correct regularity. In other words, the user's posture can be recalibrated by repositioning the joint part 110 and the band part 120.

The motion control unit 130 stores data on the regular posture (correct posture) that the user should take in advance, or receives the data from the outside (the external transmission module 140) in real time. The data about the stillness that is stored in advance in the motion controller 130 or transmitted from the outside in real time may be an appropriate position and angle of the joints according to the attitude. The motion controller 130 controls the movement of the user's body in accordance with data (position of the body according to the positions and angles of the joints) stored in advance or received in real time by the plurality of polymer soft actuators A voltage is applied to the polymer soft actuator 112 to drive the polymer soft actuator 112 so that the user can recognize the correct polarity. At this time, the plurality of polymer soft actuators 112 are allowed to move in a posture in which different voltages are applied to each other. Specifically, when the arm is flexed inward, the polymer soft actuator 112 adjacent to the joint inside the elbow applies a voltage so as to shrink, and the polymer soft actuator 112 adjacent to the joint at the back of the elbow is tensioned Apply the voltage as much as possible.

At this time, the detection sensor 125 provided in the band part 120 continuously senses the position of the band part 120, that is, the position of the body, as described above, and the position of the band part 120 sensed, The motion controller 130 senses the position of the band part 120 in accordance with the data of the stereotyped data stored in advance or in real time and then immediately actuates the joint motion part 110 again so that the user's body The motion control unit 130 controls the motion of the user.

In this embodiment, although not shown, data on the still image stored in the motion control unit 130 or transmitted from the outside may be output through the display device 132 of the user.

There are three functions that can be implemented through the display device 132.

First, when the user desires to use data stored in advance in the motion control unit 130, the user can select various kinds of still images, which are output through the display device 312, Or you can choose the one you want to correct.

In the second case, when the data for the normal tax is received from the external transmission module 140, a person who can perform the special operation separately transmits data on the regular tax through the motion capture device to the motion control unit 130 in real time It is possible to more directly and flexibly calibrate the user's posture, which can be monitored through the display device 132.

Third, data on the current posture taken by the user is received through the motion controller 130 and can be output and monitored in real time through the display device 132.

The still image output through the display device 132 can be expressed in various kinds of postures, and the user can select the posture he or she wants to learn or correct. The motion controller 130 drives the joint motion unit 110 using data about the normal motion selected by the user. The display device 132 may be a personal computer or a portable terminal of a user and the motion controller 130 may be embedded in the display device 132 and may operate wired or wirelessly with the joint motion part 110. If the joint motion unit 110 and the motion control unit 130 are wirelessly connected to each other, the joint motion unit 110 is provided with a battery unit (not shown) for supplying power to the joint motion unit 110 according to a signal from the motion control unit 130, Can be further connected.

The robot chute 100 for attitude correction according to an embodiment of the present invention having the above-described configuration may be configured such that the robot chute 100 configured in the articulating part 120 according to data stored in advance in the motion controller 130 or received in real- A plurality of polymer soft actuators 112 are operated to adjust the positions and angles of the joints, thereby supporting the user to take a proper posture, thereby calibrating the posture.

When the sensed posture is not correct, the motion control unit 130 drives the joint motion unit 110 to detect the position and angle of the joint of the user, So that it is possible to continuously correct the posture by correcting the posture.

In addition, the angle of the joint of the user can be adjusted through the stretchable polymer soft actuator 112, and the length can be stretched to fit the size of the user's body, so that it can be worn by all users.

In this specification, a method of calibrating a user's posture using the robot chute 100 has been described. However, the present invention is not limited to this, and a user may wear the posture correcting robot suit 100 according to the present invention It may be used to sense the movement of the joint motion part 110 or the position of the band part 120 by the detection sensor 125 to capture the user's motion.

Now, a description will be made of a posture correcting method using the posture correcting robot suit according to an embodiment of the present invention.

FIG. 3 shows a step diagram of a posture correction method using a robot suit for a posture correction according to an embodiment of the present invention. Referring to FIG. 3, the posture correcting method using the robot suit for posture correction according to an embodiment of the present invention includes an articulating part 110, which is worn on a user's joint and converts external energy into mechanical kinetic energy, A step S100 of wearing the chute 100 including the chest 100 and a step of calibrating the posture of the user by transmitting the data on the normal position stored in the movement control unit 130 to the joint movement unit 110 to actuate the joint movement unit 110 (S300) of continuously sensing the user's attitude through the sensing sensor 125 and re-orienting the user's attitude by operating the joint motion part 110 when the user's attitude is not correct.

The step of wearing the suit (S100) is a step for the user to wear the above-described posture correcting robot suit 100. [ The user wears the band part 120 of the robot chute 100 between the joints and the joints. At this time, the joint motion part 110 connected between the band parts 120 is worn to naturally wrap the joint part of the user. The joint motion part 110 includes a plurality of polymer soft actuators 112 surrounding the joints of the user as described above.

The step S200 of calibrating the user's posture by operating the joint motion part may include a step S200 of storing the data on the still image data to be taken by the user in advance in the motion control unit 130 or received from outside, The polymer soft actuator 112 of the joint motion part 110 is driven to adjust the position and angle of the joint. The joint is tightly supported and supported by a plurality of polymer soft actuators 112 surrounding the joints by receiving a voltage from the motion control unit 130 and adjusting its position and angle.

The user's posture is changed by the joint having the position and the angle adjusted along the joint motion part 110 and the joint motion part 110 receives data about the normal motion from the motion control part 130, The attitude of the changed user becomes the fixed price that the user wants to correct.

The step S300 of monitoring the user's position using the sensing sensor may be performed while the user's body is calibrated using the chute 100 without any intention or perception by the user's movement or surrounding environment, The posture of the user can be changed. The detection sensor 125 is provided in the band part 120 surrounding the body of the user and continuously senses the position of the band part 120, that is, the position of the body part worn by the band part 120. The position of the body sensed by the sensing sensor 125 is transmitted to the display device 132 of the motion controller 130 to output and monitor the posture of the user in real time.

The step of re-orienting the user's posture (S400) compares the data (position of each body according to the position and angle of the joint) of the regular prescription stored in the motion control unit 130 with the posture of the user measured through step S300 If the user's posture is judged to be incorrect, the joint movement part 110 and / or the band part 120 are immediately moved to the motion control part 130 in accordance with the pre- So that the user's posture is recalibrated continuously.

It is to be understood that the terms "comprises", "comprising", or "having" as used in the foregoing description mean that a constituent element can be implanted unless specifically stated otherwise, But should be interpreted to include additional components. All terms, including technical and scientific terms, have the same meaning as commonly understood by one of ordinary skill in the art to which this invention belongs, unless otherwise defined. Commonly used terms, such as predefined terms, should be interpreted to be consistent with the contextual meanings of the related art, and are not to be construed as ideal or overly formal, unless expressly defined to the contrary.

The foregoing description is merely illustrative of the technical idea of the present invention, and various changes and modifications may be made by those skilled in the art without departing from the essential characteristics of the present invention. Therefore, the embodiments disclosed in the present invention are intended to illustrate rather than limit the scope of the present invention, and the scope of the technical idea of the present invention is not limited by these embodiments. The scope of protection of the present invention should be construed according to the following claims, and all technical ideas within the scope of equivalents should be construed as falling within the scope of the present invention.

100: robot suit 110: joint motion part
112: Polymer soft actuator 120: Band portion
125: detection sensor 130: motion control unit

Claims (4)

In a robot suit that is easy to wear and detach,
A joint motion part for surrounding the joint of the user and forcing the joint of the user to move as the external energy is converted into mechanical kinetic energy and is operated;
A band part which is worn between the joints of the user and is connected to the joint motion part so that the joint motion part is in contact with and supported by the joint; And
And a motion control unit for transmitting data on the normal motion to the joint motion unit and controlling the operation of the joint motion unit,
The joint motion part is configured such that a plurality of linear polymeric soft actuators having a predetermined width are wrapped around the joints in a circumferential direction so that a voltage is independently applied to the polymeric soft actuators so that each of the polymer soft actuators Mechanical force is applied to the joints due to the combination of shrinkage or tension,
The band portion is provided so as to surround the joint motion portion so that the polymer soft actuator can be completely brought into close contact with the user's skin by the band portion,
Wherein the joint motion part operates the joint of the user in accordance with the still image data of the motion control part, thereby recognizing the normal motion and correcting the posture of the user correctly.
The method according to claim 1,
When the user's posture is sensed by the sensing sensor, and the data of the user's posture sensed by the sensing sensor and the normal prescription stored in the exercise control unit are different, And the user moves his or her posture to re-calibrate the robot with a stationary robot.
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