KR102045459B1 - Control device using sensor and move assist system having the same - Google Patents

Abstract

The present invention provides a sensor control device installed in a movement assistance system to assist movement of a user. The sensor control device has a predetermined area and is configured to detect a backrest portion configured to allow the user to lean on the back, and is installed on the backrest portion to sense pressure applied to the backrest portion or a distance between the backrest portion and the user. And a driving unit configured to operate the movement assistance system by using a sensing signal measured by the sensor unit.

Description

CONTROL DEVICE USING SENSOR AND MOVE ASSIST SYSTEM HAVING THE SAME}

The present invention relates to a sensor control device for controlling the driving of the movement assistance system by intuitively grasping the user's operation intention.

Recently, the world is rapidly entering an aging society due to the continuous increase of the elderly population as the life expectancy is extended. Many countries in Europe, including Japan, have already entered an aging society, and Korea and the United States are aging rapidly. With the age of aging, strokes, paralysis and disability are also on the rise, and the elderly who are incapacitated due to lack of muscle strength are increasing rapidly.

Accordingly, a mobility assistance system has been developed and used to support the daily lives of the elderly, disabled, and the like, such as walking, sitting and standing, and to support their muscle strength. The general movement assistance system includes a wheel, a driving unit, a handle unit, and the like, and the user operates by walking in a desired direction while holding and pushing the handle unit.

A further advanced movement assistance system is a movement assistance system configured in the form of a mobile robot driven and steered by an electric motor or the like. In this case, the user has a constant operation with the movement assistance system in order to move the movement assistance system in a desired direction and speed. Therefore, the mobility assistance system must grasp the user's willingness to operate the mobility assistance system, that is, the user's willingness to operate. In addition, the mobility assistance system should be configured to drive in compliance with the user's willingness to operate. Due to the characteristics of the mobility assistance system, a system capable of intuitively grasping the detailed operation of the user is required.

Accordingly, there is a demand for an apparatus that intuitively grasps the user's operation intention and efficiently controls the movement assistance system.

An object of the present invention is to provide a control device that can intuitively grasp the user's operation intention in order to efficiently control the movement assistance system.

In the sensor control device installed in the movement assistance system to assist the movement of the user, the sensor control device according to an embodiment of the present invention for realizing the above-described problem, has a predetermined area so that the user can lean on the back The movement aid using a backrest configured to be configured, a sensor unit installed to detect the pressure applied to the backrest unit or a distance between the backrest unit and the user, and a sensing signal measured by the sensor unit. A drive configured to operate the system.

According to an example related to the present invention, the backrest part includes a body coupled to and supported by a part of the movement assistance system, and a cover mounted to the body and formed to be elastically deformable when the user leans back. The sensor unit is installed in an inner space defined by the combination of the body and the cover.

As an example related to this, the sensor unit may include a plurality of pressure sensors configured to be supported by the body when the elastic deformation of the cover is pressed, and configured to sense a pressure at the time of pressing.

In addition, a rear surface of the cover may be formed with a relatively recessed sensor receiving portion, the plurality of pressure sensors may be mounted spaced apart from the sensor receiving portion at a predetermined interval.

The driving unit may be formed to generate different driving signals according to the pressing portion of the cover.

Alternatively, the cover may include a plurality of curved portions having different radii of curvature, and the plurality of pressure sensors may be at least one disposed on each of the plurality of curved portions.

As another example of this, a plurality of holes are formed in the cover, and the sensor unit is installed to correspond to the plurality of holes, respectively, and a plurality of infrared sensors are formed to sense a distance between the cover and the user using infrared light. It is provided.

In addition, in order to realize the above object, the present invention, the base frame having a first wheel portion, an upper frame rotatably coupled to the base frame and configured to place the user's arm, and rotates on the base frame A lower frame having a second wheel portion that is coupled to the ground frame and coupled to the ground with the first wheel portion, and connected to the base frame and the upper frame, respectively, and an angle of rotation of the upper frame with respect to the base frame; A first driving unit formed to adjust the second, and a second connected to the base frame and the lower frame, respectively, and configured to change a rotation angle of the lower frame relative to the base frame to adjust the height of the upper frame relative to the ground. Mounted on the drive unit and the base frame and the user can lean on the back. And a sensor unit installed to detect the pressure applied to the backrest unit or the distance between the backrest unit and the user, the first and second driving units and / or the first unit. The first and second wheel units propose a movement assistance system that is configured to be driven based on the sensing signal measured by the sensor unit.

According to an example related to the present invention, the backrest part includes a body coupled to the base frame and supported, and a cover mounted to the body and formed to be elastically deformable when the user leans back. It is installed in the inner space defined by the combination of the body and the cover.

As an example related to this, a plurality of holes are formed in the cover, and the sensor unit includes a plurality of infrared sensors installed to correspond to the plurality of holes, respectively, and detect a distance between the cover and the user using infrared light. Equipped.

The first and second wheel units may be driven to maintain a predetermined distance range from the backrest by using a distance between the backrest and the user measured by the plurality of infrared sensors.

According to another example related to the present invention, the movement assistance system further includes an operation unit mounted to the upper frame and configured to drive the first and second driving units by an operation, and the first and second driving units. Is driven by the operation of the operation unit using the sensing signal measured by the sensor unit as an application signal.

According to another example related to the present invention, the movement assistance system further includes a chair configured to allow a user to sit down, and a chair driver configured to retract the chair from the backrest, wherein the chair driver includes: It is formed to be driven based on the detection signal measured by the sensor unit.

According to the present invention having the above configuration, the driving unit is configured to control the driving of the movement assistance system by using the pressure applied to the backrest detected through the sensor or the distance between the backrest and the user. Through such a sensor control device, the user's manipulation intention can be grasped intuitively, and the movement assistance system can be controlled more efficiently based on this.

In addition, when the movement assistance system of the present invention is formed to be driven based on the user's manipulation intention detected by the sensor control device, malfunction of the user may be prevented and the walking safety of the user may be guaranteed.

The sensor control device of the present invention can be used to correct a posture of a user, and can be applied to various systems having a backrest as well as a movement assistance system.

1 is a perspective view of a movement assistance apparatus according to an embodiment of the present invention.
FIG. 2 is a conceptual diagram illustrating an implementation form and a movement trajectory of the movement assistance device shown in FIG. 1. FIG.
3A and 3B are conceptual views illustrating a state of walking rehabilitation and boarding movement of a user through the movement assistance device of FIG. 1, respectively.
4 is an enlarged view of an operation part of FIG. 1;
5A and 5B are conceptual views showing implementation examples of the backrest shown in FIG.
FIG. 6 is a conceptual view illustrating an example of a takeout structure of the chair illustrated in FIG. 1. FIG.
7 is an enlarged view of the scaffolding portion of FIG. 1;
FIG. 8 is a conceptual diagram illustrating an implementation form and a movement trajectory of the safety bar shown in FIG. 1. FIG.
9 is a conceptual view showing a detailed configuration of the locking device of FIG.

Hereinafter, a sensor control device and a movement assistance system having the same according to the present invention will be described in more detail with reference to the accompanying drawings.

In the present specification, the same or similar reference numerals are assigned to the same or similar components in different embodiments, and the description thereof is replaced with the first description. As used herein, the singular forms "a", "an" and "the" include plural forms unless the context clearly indicates otherwise.

1 is a perspective view of a movement assistance system 100 according to an embodiment of the present invention, FIG. 2 is a conceptual view illustrating an implementation form and a movement trajectory of the movement assistance system 100 illustrated in FIG. 1, and FIGS. 3A and 3B. FIG. 1 is a conceptual diagram illustrating a state of walking rehabilitation and boarding movement of a user through the movement assistance system 100 of FIG. 1, respectively.

1 to 3, the movement assistance system 100 is configured to safely and efficiently assist the sit / stand rehabilitation exercise in addition to the functions as a walking aid and a boarding movement device. The movement assistance system 100 includes a base frame 110, an upper frame 120, a lower frame 130, a first driver 140, and a second driver 150. Of these configurations, the base frame 110, the upper frame 120, and the lower frame 130 form a basic skeleton of the movement assistance system 100.

The base frame 110 is configured to form a user accommodation space therein. As shown, the base frame 110 may be composed of a pair of bars (bar) respectively disposed on the left and right sides of the user, each bar may be disposed to be inclined with respect to the ground.

The base frame 110 includes a first wheel part 111 formed to contact the ground. The first wheel 111 may be configured as a wheel integrated with a motor (In-Wheel Motor) or may be configured as a wheel (Omni-Wheel) of a form that can be driven in all directions within a predetermined angle. The first wheel part 111 is configured to move the movement assistance system 100 together with the second wheel part 131 which will be described later.

The upper frame 120 and the lower frame 130 are rotatably coupled to the base frame 110, respectively. In this figure, it is shown that the upper frame 120 and the lower frame 130 are installed in the upper portion and the center portion of the base frame 110, respectively. Each of the upper frame 120 and the lower frame 130 may be configured as a pair of bars just like the base frame 110.

The upper frame 120 is configured to place the user's arm. In this figure, it is shown that the armrest 163 is provided to the upper frame 120 to slide in the extending direction of the upper frame 120. The user can adjust the position so that the arm can be comfortably supported by moving the armrest 163 to the part where the elbow touches when the user wraps the operation unit 160 by hand.

The upper frame 120 may include an operation unit 160, and may be formed to apply an operation signal to the first and second driving units 140 and 150. In addition to the above functions, the operation unit 160 may be formed to steer the first and / or second wheel parts 111 and 131.

The lower frame 130 includes a second wheel part 131 configured to be in contact with the ground together with the first wheel part 111. The second wheel part 131 may be configured of an in-wheel motor or an omni-wheel like the first wheel part 111 described above, and the first and second wheel parts 111 and 131 may have different shapes. It may be composed of a combination of wheels having.

The base frame 110 and the lower frame 130 may be inclined in opposite directions with respect to the ground. In this drawing, when viewed from the right side, the base frame 110 is disposed to have a positive slope with respect to the ground and the lower frame 130 is disposed to have a negative slope with respect to the ground, so that the upper frame 120 ) And as a whole is shown in the form of 'ㅈ'.

The first driving unit 140 is connected to the base frame 110 and the upper frame 120, respectively, and is formed to adjust the rotation angle of the upper frame 120 with respect to the base frame 110. In addition, the second driving unit 150 is connected to the base frame 110 and the lower frame 130, respectively, and the upper frame 120 relative to the ground by changing the rotation angle of the lower frame 130 relative to the base frame 110 Is formed to adjust the height. The first and second driving units 140 and 150 may be driven independently of each other.

The first and second driving units 140 and 150 may be configured as linear actuators. The linear actuator is formed to adjust its rotational angle between the frames by adjusting its length by power. In the drawing, the linear actuator constituting the first driving unit 140 is disposed between the upper frame 120 and the base frame 110, and the linear actuator constituting the second driving unit 150 is the base frame 110 and the lower frame. Placed between 130, it is shown that the length is configured to increase or decrease.

In FIG. 2, the movement assistance system 100 is changed in various forms by the driving of the first and second driving units 140 and 150. As can be seen in Figures 3a and 3b, the mobility assistance system 100 can be largely transformed into a first state (FIG. 3a) to assist the user's walking rehabilitation and a second state (FIG. 3b) to support the user's boarding movement. have. Such modifications naturally occur in continuous motion and can be used to assist the user in standing / sitting rehabilitation training.

Hereinafter, the main part of the movement assistance system 100 is demonstrated in more detail.

4 is an enlarged view of a part of the operation unit 160 of FIG. 1.

Referring to FIG. 4, the manipulation unit 160 includes a first body 161 and a second body 162. The first body 161 is mounted to the inside of the upper frame 120, and has a strain gauge (161a) formed to measure the deformation according to the external force. The second body 162 is coupled to the first body 161 and exposed on the upper frame 120, and is formed to cause deformation of the strain gauge 161a by manipulation.

The first and / or second drivers 140 and 150 may be controlled based on the strain value measured by the strain gauge 161a. For example, if the user pushes the second body 162 forward, the mobility assistance system 100 may be modified to a first state (FIG. 3A) to assist the user in walking rehabilitation. On the contrary, when the user pulls the second body 162 backward, the movement assistance system 100 may be modified to the second state (FIG. 3B) to support the boarding movement of the user.

A second joystick 162a formed to steer the first and / or second wheel parts 111 and 131 may be installed in the second body 162. In order to smoothly operate the user, the joystick 162a may be disposed on the inclined surface 192b 'of the second body 162. In addition, the joystick 162a may be configured to be pressed, and may be configured to switch the movement assistance system 100 from one state to another during the pressing operation.

Upon activation of one of strain gauge 161a and joystick 162a the other may be configured to be deactivated. For example, in the first state (FIG. 3A), the strain gauge 161a may be set to be activated and the joystick 162a may be set to be deactivated. In contrast, in the second state (FIG. 3B), the joystick 162a may be activated and the strain gauge ( 161a may be set to be inactive.

The second body 162 may be provided with an electrode 162b configured to be in contact with the human body. As illustrated, the electrode 162b may be disposed at a place where a finger is placed when the user grips the operation unit 160, or may be disposed at a place where a palm is placed. The electrode 162b is formed to measure resistance of the human body, and the measured result may be used for body composition analysis. In addition, the strain gauge 161a and / or the joystick 162a may be configured to be activated only when electricity is applied to the electrode 162b, and may be configured to prevent a malfunction, not a direct manipulation of the user.

In addition, the second body 162 is provided with a light emitting unit 162c, it may be formed to display the current state of the movement assistance system 100, and operate in conjunction with the first and second driving unit (140, 150). It can be configured to. For example, the light emitting unit 162c may be formed to display red when the driving of the operation unit 160 is inactivated, and to display blue when the operation unit 160 is activated.

5A and 5B are conceptual views illustrating implementation examples of the backrest 171 illustrated in FIG. 1.

Referring to the previous drawings, the base frame 110 is provided with a support unit 170 configured to support at least a portion of the user's body. The support 170 includes a backrest 171 and a chair 172. The backrest 171 and the chair 172 have an inherent function to allow the user to sit comfortably in the second state (FIG. 3B). In addition to the above function, the present invention proposes an apparatus capable of controlling the movement assistance system 100 using the backrest 171.

First, referring to FIG. 5A, the backrest 171 may be configured to connect a pair of bars forming the base frame 110. The backrest 171 includes a body 171a coupled to and supported by the base frame 110 and a cover 171b mounted to the body 171a.

The cover 171b is preferably formed of a material that is elastically deformable when the user leans back. For example, the cover 171b may be formed of a synthetic resin such as rubber, silicone, or polyurethane. In this case, the body 171a may be formed of a rigid material, for example, a high strength plastic such as stainless steel or polycarbonate so as to support the user's back.

An internal space defined by the combination of the body 171a and the cover 171b is provided with a sensor 174 which is formed to sense the pressure applied to the backrest 171 or the distance between the backrest 171 and the user. The driving of the first and second driving units 140 and 150 and / or the first and second wheel units 111 and 131 may be controlled based on a sensing signal measured by the sensor 174. For example, when the user presses the backrest 171 in the first state (FIG. 3A), the sensor 174 senses this and the first and second driving units 140 and 150 use the movement assist system (see FIG. 3A). 100) can be transformed into the second state (FIG. 3B). At this time, the chair 172 may be configured to be drawn out from the backrest 171 so that the user can sit.

Looking at the structure in which the sensor 174 is installed on the backrest 171 in more detail, a relatively recessed sensor accommodating portion 171c is formed on the rear surface of the cover 171b. Although the drawing illustrates an example in which a long rectangular sensor accommodating portion 171c is formed on the rear surface of the cover 171b, the present invention is not limited thereto. For example, the sensor accommodating part 171c may be formed in a longitudinal shape of the backrest 171, or may be formed in a cell shape accommodating the sensor 174, respectively.

The sensor 174 is mounted spaced apart from the sensor accommodating portion 171c at a predetermined interval. In this figure, the sensor 174 is shown to be implemented by a plurality of pressure sensors that are configured to be supported by the body 171a when the elastic deformation of the cover 171b is pressed and formed to sense the pressure at the time of pressing.

The cover 171b may include a plurality of curved portions 171b 'and 171b ″ having different radii of curvature. The plurality of pressure sensors may include at least one of the plurality of curved portions 171b' and 171b ″. It may be arranged to detect the pressure applied to each curved portion (171b ', 171b ").

The first and second wheel parts 111 and 131 may be formed to generate different driving signals according to the pressing portion of the cover 171b. For example, when the left side of the cover 171b is pressed during the movement of the movement assistance system 100 in the second state (see FIG. 3B), the first and second wheel parts 111 and 131 may assist the movement. The system 100 can be configured to control the direction of rotation so that it can move to the left, and conversely, can be configured to control the direction of rotation to the right when the right side is pressed. In addition, if the pressure on the cover 171b is not detected during the movement (that is, when the user releases his back from the backrest 171), the first and second wheel parts 111 and 131 may move. It may be configured to switch the direction of rotation in the opposite direction to stop, or may be configured to stop the rotation by the operation of the brake. Again, when the user leans back against the backrest 171 and the central portion of the cover 171b is pressed, the first and second wheel portions 111 and 131 may be rotated to move the movement assistance system 100. .

The first and second driving units 140 and 150 may also be formed to generate different driving signals according to the pressing portion of the cover 171b. For example, when the plurality of curved portions 171b 'and 171b "are disposed above and below the backrest 171, when the user leans back and the curved portion 171b' above the backrest 171 is pressed [ Is configured to pressurize only the curved portion 171b "under the backrest 171 when the user simply leans back on the backrest 171, and the first and second driving parts 140 and 150 remove the movement assistance system 100. It can be driven to switch from the first state (see FIG. 3A) to the second state (see FIG. 3B) or from the second state (see FIG. 3B) to the first state (see FIG. 3A).

In addition, the first and second driving units 140 and 150 may be driven by an operation of the operation unit 160 using the sensing signal measured by the sensor 174 as an application signal. That is, the manipulation unit 160 may be configured to effectively drive the first and second driving units 140 and 150 only when the user leans against the back 171 and the pressure is sensed by the sensor 174. According to this, irrespective of the user's intention to ride or operation, the operation unit 160 may be operated to prevent malfunction.

5B shows another example of the backrest 271. The structure of the backrest 171 described above and a control method using the sensor 174 installed therein may be equally or similarly applied to the examples described below.

In this figure, the sensor 274 is configured to detect the distance between the backrest 271 and the user. Specifically, a plurality of holes 271d are formed in the cover 271b. The plurality of holes 271d may be disposed in the sensor accommodating part 271c. The sensor 274 may be implemented as a plurality of infrared sensors formed to detect a distance between the cover 271b and the user using infrared rays, and may be installed to correspond to the plurality of holes 271d, respectively.

The first and second wheel parts 111 and 131 may be driven to maintain a predetermined distance range from the backrest 271 by using the distance between the backrest 271 and the user measured by the plurality of infrared sensors. Can be. According to this, when the user is walking and rehabilitation in the first state (see FIG. 3A), the first and second wheel parts 111 and 131 are configured to adjust the rotation speed according to the user's moving speed, thereby moving the user. Walking rehabilitation can be performed without pushing the auxiliary system 100.

FIG. 6 is a conceptual diagram illustrating an example of a withdrawal structure of the chair 172 illustrated in FIG. 1.

Referring to FIG. 6, the support unit 170 may further include a chair driving unit 173 for controlling the movement of the chair 172. The chair 172 may be configured to be pulled out of the backrest 171 by the driving of the chair driving unit 173.

The chair driving unit 173 includes a rack 173a and a moving member 173b. The rack 173a may be formed to extend along the moving direction of the chair 172 on at least one side of the chair 172. The moving member 173b is coupled to the chair 172 and includes a pinion gear (not shown) that is engaged with the rack 173a and moved along the moving direction.

For smooth movement of the chair 172, the chair drive unit 173 is coupled to the guide rail 173c and the moving member 173b disposed in parallel with the rack 173a and slidably mounted to the guide rail 173c. It may be configured to further include a guide member 173d. When the rack 173a is disposed only on one side of the chair 172, the guide member 173d 'is directly coupled to the chair 172 on the other side of the chair 172 so as to slide on the guide rail 173c'. Can be configured.

The chair drive unit 173 detects the position of the motor 173e and the movable member 173b or the guide member 173d to rotate the rack 173a so that the chair 172 can be automatically controlled. It may be configured to further include a limit switch 173f formed to control the driving of the motor 173e. In this figure, as the motor 173e rotates, the rack 173a connected through the drive transmission device 173g is configured to rotate.

The chair driver 173 may be formed to be driven based on the detection signal measured by the sensor 174. For example, the chair driving unit 173 may move the chair 172 to take a more comfortable posture by using a pressure distribution according to the pressing portion of the cover 171a measured by the plurality of pressure sensors.

FIG. 7 is an enlarged view of a portion of the footrest 180 of FIG. 1.

Referring to FIG. 7, the scaffold 180 is rotatably coupled to the base frame 110. The footrest 180 is configured to allow the user to rest on the foot when the mobility assisting system 100 is placed in the second state (FIG. 3B). In the first state (FIG. 3A), the scaffold 180 may be accommodated in the scaffold receiving portion 110a of the base frame 110 to form an inner surface of the base frame 110.

In conjunction with the second driving unit 150 may be configured to be pulled out. Specifically, when the lower frame 130 is rotated with respect to the base frame 110 so that the height of the upper frame 120 with respect to the ground is lowered, the footrest accommodated in the base frame 110 by the driving of the motor 181. 180 may be drawn to the outside.

FIG. 8 is a conceptual diagram illustrating an implementation form and a movement trajectory of the safety bar 190 illustrated in FIG. 1, and FIG. 9 is a conceptual diagram illustrating a detailed configuration of the locking device 192 of FIG. 8.

Referring to FIG. 8, the safety bar 190 is installed on the upper frame 120 to promote safety of the user. For example, when the user is excessively moved forward while walking, it is configured to rely on the safety bar 190, thereby enabling more stable walking. The safety bar 190 may be provided with a terminal 191 having a display unit 191a. The terminal 191 may be configured to output information related to a user's state through the display unit 191a and may be configured to communicate with an external control system.

Safety bar 190 is rotatably coupled to any one bar 121 of the pair of bars (121, 122) constituting the upper frame 120, is detachably coupled to the other bar (122). Can be. Through the opening and closing structure, the user can open and close the safety bar 190 and enter and exit the movement assistance system 100.

The safety bar 190 may be configured to be coupled to and released from the other bar 122 by the locking device 192. 9 shows an example of a locking device 192 including a hook portion 192a, a hook portion 192b, an unlocking portion 192c, and an elastic pressing portion 192d.

The safety bar 190 is provided with a hook portion 192a. The hook portion 192a may be mounted in the form of a ring on the safety bar 190 as shown, or may be implemented in the form of a groove formed in the safety bar 190.

The hook portion 192b is mounted to the other bar 122 and is configured to be caught and released by the hook portion 192a. The hook portion 192b includes a hook portion 192a so that the hook portion 192a can be pushed out of the hook portion 192b when the safety bar 190 is moved toward the other bar 122. An inclined surface 192b 'may be formed in contact.

The unlocking part 192c is formed to be pushable on the other bar 122 to release the hook part 192b from the hook part 192a. When the safety bar 190 is pressed on the unlocking part 192c while being coupled to the other bar 122, the hook part 192b is pushed out and the hook part 192b with respect to the hook part 192a is caught. This can be released.

At this time, the other bar 122 is provided with an elastic pressing unit (192d), when the hook portion 192b to the hook portion 192a when pressing the safety bar 190, the latch is released, When the safety bar 190 is pushed out so that the safety bar 190 opens to an angle.

According to the present invention, walking rehabilitation, boarding movement, and sit / stand rehabilitation can be implemented in one movement assistance system 100, so that the problem of place and cost required when using multiple rehabilitation devices can be compensated. In addition, by providing a variety of convenience devices and safety devices can reduce the manpower required for conventional rehabilitation treatment or mobility assistance.

According to the present invention, the user easily adjusts the height of the movement assistance system 100 through the first and second driving units 140 and 150 and the first and second wheel parts 111 and 131 interlocked with the operation unit 160. Or change modes. In addition, since the strain gauge 161a and the joystick 162a are integrated and applied to the operation unit 160, user convenience may be increased.

The movement assistance system 100 of the present invention is configured to cope with various body sizes of a user by adjusting rotation angles of the upper frame 120 and the lower frame 130 with respect to the base frame 110. Therefore, the time and cost for manufacturing the apparatus for each size in the existing rehabilitation equipment can be reduced.

In addition, the present invention is provided with a chair 172 and a footrest 180 driven in conjunction with the state change of the movement assistance system 100, the user through a safety device such as a safety bar 190, the electrode 162b It is configured to prevent malfunction without injury or injury.

The driving unit (the first and second driving units 140 and 150 and the first and second wheel units 111 and 131) is a pressure or backrest 271 applied to the backrest 171 sensed through the sensors 174 and 274. And control the driving of the movement assistance system 100 using the distance between the user and the user. Through such a sensor control device, the user's manipulation intention can be grasped intuitively, and the movement assistance system 100 can be controlled more efficiently based on this.

In addition, when the movement assistance system 100 of the present invention is formed to be driven based on the user's manipulation intention detected by the sensor control device, malfunction of the user may be prevented and the walking safety of the user may be guaranteed.

The sensor control device of the present invention can be used to correct a posture of a user, and can be applied to various systems including a backrest as well as the movement assistance system 100.

The sensor control apparatus and the movement assistance system having the same described above are not limited to the method and configuration of the above-described embodiments. The present invention can be variously applied within the scope of the technical spirit protected.

Claims (13)

In the sensor control device installed in the movement assistance system to assist the movement of the user,
The sensor control device,
A backrest having a predetermined area and configured to allow the user to lean on the back;
A sensor unit installed at the backrest unit and configured to sense a pressure applied to the backrest unit or a distance between the backrest unit and the user; And
A driving unit configured to operate the movement assistance system by using the detection signal measured by the sensor unit,
The driving unit,
Operating the movement assistance system in a first state or a second state based on the detection signal measured by the sensor unit;
The first state is,
The height of the upper frame of the movement assistance system is adjusted to assist the user walking, the rotational speed of the wheel portion is adjusted according to the movement speed of the user,
The second state is,
The height of the upper frame of the movement assistance system is adjusted to be lower than the upper frame of the first state to assist the user's boarding, the sensor control device, characterized in that the chair is pulled out from the backrest. The method of claim 1,
The backrest part,
A body coupled to and supported by a portion of the movement assistance system; And
A cover mounted to the body and formed to be elastically deformable when the user leans back;
The sensor unit is a sensor control device, characterized in that installed in the inner space defined by the combination of the body and the cover. The method of claim 2,
The sensor unit, the sensor control device characterized in that it is provided with a plurality of pressure sensors configured to be supported by the body when the elastic deformation of the cover and to detect the pressure at the time of pressing. The method of claim 3,
The back of the cover is formed with a relatively recessed sensor receiving portion,
The plurality of pressure sensors are sensor control device, characterized in that mounted to be spaced apart from the sensor receiving portion at a predetermined interval. The method of claim 4, wherein
And the driving unit is configured to generate different driving signals according to the pressing portion of the cover. The method of claim 4, wherein
The cover includes a plurality of curved portions having different radii of curvature,
The plurality of pressure sensors are at least one sensor disposed in each of the plurality of curved portions. The method of claim 2,
A plurality of holes are formed in the cover,
The sensor unit may include a plurality of infrared sensors installed to correspond to the plurality of holes, respectively, and configured to sense a distance between the cover and the user using infrared light. In the movement assistance system to assist the movement of the user,
A base frame having a first wheel portion;
An upper frame rotatably coupled to the base frame and configured to place a user's arm on the base frame;
A lower frame rotatably coupled to the base frame and having a second wheel portion configured to be in contact with the ground together with the first wheel portion;
First driving parts connected to the base frame and the upper frame, respectively, to adjust a rotation angle of the upper frame with respect to the base frame;
A second driving part connected to the base frame and the lower frame, respectively, and configured to adjust a height of the upper frame with respect to the ground by changing a rotation angle of the lower frame with respect to the base frame;
A backrest mounted to the base frame and configured to allow the user to lean on the back; And
A sensor unit installed on the backrest unit and configured to sense a pressure applied to the backrest unit or a distance between the backrest unit and the user,
The first and second driving units and the first and second wheel units are formed to be driven based on the detection signal measured by the sensor unit.
The first and second driving unit,
Operating the movement assistance system in a first state or a second state based on the detection signal measured by the sensor unit;
The first state is,
The height of the upper frame is adjusted to assist the user walking, the rotational speed of the first and second wheel portion is adjusted to match the movement speed of the user,
The second state is,
The height of the upper frame is adjusted to be lower than the upper frame of the first state so as to assist the user's boarding, the movement assistance system, characterized in that the chair is pulled out from the backrest. The method of claim 8,
The backrest part,
A body coupled to and supported by the base frame; And
A cover mounted to the body and formed to be elastically deformable when the user leans back;
The sensor unit is installed in the interior space defined by the combination of the body and the cover movement assistance system. The method of claim 9,
A plurality of holes are formed in the cover,
The sensor unit may include a plurality of infrared sensors installed to correspond to the plurality of holes, respectively, and configured to sense a distance between the cover and the user using infrared light. In the movement assistance system to assist the movement of the user,
A base frame having a first wheel portion;
An upper frame rotatably coupled to the base frame and configured to place a user's arm on the base frame;
A lower frame rotatably coupled to the base frame and having a second wheel portion configured to be in contact with the ground together with the first wheel portion;
First driving parts connected to the base frame and the upper frame, respectively, and configured to adjust a rotation angle of the upper frame with respect to the base frame;
A second driving part connected to the base frame and the lower frame, respectively, and configured to adjust a height of the upper frame with respect to the ground by changing a rotation angle of the lower frame with respect to the base frame;
A backrest mounted to the base frame and configured to allow the user to lean on the back; And
A sensor unit installed on the backrest unit and configured to sense a pressure applied to the backrest unit or a distance between the backrest unit and the user,
The first and second driving units or the first and second wheel units are formed to be driven based on the detection signal measured by the sensor unit.
The first and second driving unit,
Operating the movement assistance system in a first state or a second state based on the detection signal measured by the sensor unit;
The first state is,
The height of the upper frame is adjusted to assist the user walking, the rotational speed of the first and second wheel portion is adjusted to match the movement speed of the user,
The second state is,
And the upper frame height is adjusted to be lower than the height of the upper frame in the first state so as to assist the boarding of the user, and the chair is pulled out from the backrest part. The method of claim 11,
The backrest part,
A body coupled to and supported by the base frame; And
A cover mounted to the body and formed to be elastically deformable when the user leans back;
The sensor unit is installed in the interior space defined by the combination of the body and the cover movement assistance system. The method of claim 12,
A plurality of holes are formed in the cover,
The sensor unit may include a plurality of infrared sensors installed to correspond to the plurality of holes, respectively, and configured to sense a distance between the cover and the user using infrared light.

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