KR102067127B1 - Reaction force adjusting device of exoskeleton system and variable stiffness actuator using the same - Google Patents

Abstract

Reaction force control device of the exoskeleton system according to the present invention, the first link body and the second link body connected to each other to enable joint movement; A joint axis connected between the first link body and the second link body, the joint shaft being constrained to be connected to the second link body without being constrained with the first link body; Joint drive means for rotating a second link member relative to the first link member about the joint axis; A variable elastic body installed between the first link member and the joint shaft and provided with an elastic member to provide reaction force during joint movement; By including a control actuator for translating the position of the elastic member to increase or decrease the reaction force in the variable elastic body, the user can set the desired reaction force to move more comfortable to the treatment effect and wear performance It can increase.

Description

Reaction force adjusting device of exoskeleton system and variable stiffness actuator using the same

The present invention relates to a wearable exoskeleton system used as a medical walking device.

In general, wearable exoskeleton systems have been developed and used for medical, commercial, and military applications.

The medical exoskeleton device is configured to assist or replace the strength of the wearer's leg, and is used to restore the user's mobility or assist the wearer's walking for rehabilitation treatment. In addition, commercial and military exoskeleton devices are used to prevent injury and increase the user's power.

Most of these wearable exoskeleton systems are installed so that the driving device is installed in the joint portion, such as the knee to drive the joint and walking and walking assistance.

However, the wearable exoskeleton system of the prior art has a problem of implementing a more comfortable and excellent exoskeleton system because it is not configured to adjust the reaction force of the user's desired level, that is, the reaction force.

Korean Patent Publication No. 10-2017-0052374 Korea Patent Registration No. 10-1368817 Korea Patent Registration No. 10-0890430

The present invention has been made to solve the above problems, by configuring the elastic member to translate the reaction force provided on the joint portion by appropriately to move the user to set the desired level of reaction force to move more comfortably It is an object of the present invention to provide a reaction force control device of an exoskeleton system and a variable elastic actuator used therein, which can increase the therapeutic effect and wear performance.

Reaction force control apparatus of the exoskeleton system according to the present invention for realizing the above object, the first link body and the second link body connected to each other to enable joint movement; A joint axis connected between the first link body and the second link body, the joint shaft being constrained to be connected to the second link body without being constrained with the first link body; Joint drive means for rotating a second link member relative to the first link member about the joint axis; A variable elastic body installed between the first link member and the joint shaft and provided with an elastic member to provide reaction force during joint movement; And a control actuator for translating the position of the elastic member in the variable elastic body to increase or decrease the reaction force.

A reaction force measuring means connected to the first link member and the joint shaft to measure reaction force, and a control unit configured to receive a measurement signal of the reaction force measurement means and output a control signal to an adjustment actuator according to the reaction force setting of the user; It is preferred to be configured.

The joint driving means is disposed inside a joint portion to which the first link body and the second link body are connected, and the variable elastic body and the adjustment actuator are disposed at one side of the outer side of the joint portion, and the reaction force measuring means is located at the other side of the joint portion. It is preferred to be arranged in.

The reaction force measuring means may be composed of a torque sensor.

The joint drive means may be configured such that a joint actuator supported on the first link member rotates the drive gear provided on the joint shaft.

The variable elastic actuator of the exoskeleton system according to the present invention for realizing the above object is provided to adjust the reaction force of the joint portion, the first link body and the second link body connected to the joint axis; An inner rotor connected to the joint shaft and rotating together, an outer support positioned outside the inner rotor and fixed to the first link member, and positioned to allow translational movement between the inner rotor and the outer support A variable elastic body including an elastic member to provide reaction force during joint movement; And a control actuator for translating the position of the elastic member in the variable elastic body to increase or decrease the reaction force.

The inner rotor is formed in a cross-shaped structure is preferably connected to the joint axis in the central portion.

The outer support is preferably formed in a rectangular structure is fixed to the first link body.

Preferably, four elastic members are provided between each side of the cross-shaped structure of the inner rotating body and the outer support.

Preferably, the inner rotating body and the outer support are provided with a moving slot for translating both ends of each elastic member.

It is preferable that the adjustment actuator is a linear actuator provided on the outer support to translate the elastic member.

Means for solving the problems of the present invention as described above, will be described in more detail and clearly through examples such as 'details for the implementation of the invention', or the accompanying 'drawings' to be described below, wherein In addition to the main problem solving means as described above, various problem solving means according to the present invention will be further presented and described.

The reaction force control device of the exoskeleton system according to the present invention and the variable elastic actuator used therein are configured to adjust the reaction force provided to the skeletal joint portion by translating the elastic member to adjust the reaction force to a level desired by the user. By generating and operating the exoskeleton in accordance with the conditions of use it has the effect of improving the treatment effect and wear performance of the wearer.

1 is a perspective view showing an exoskeleton system equipped with a reaction force control device according to an embodiment of the present invention.
2 is a perspective view of an essential part of the reaction force control device according to an embodiment of the present invention.
3 is a partially exploded perspective view showing a reaction force control device according to an embodiment of the present invention.
4A and 4B are diagrams illustrating a variable elastic actuator of a reaction force adjusting device according to an embodiment of the present invention.
Figure 5 is a side view showing a state before the joint movement in one embodiment of the present invention.
Figure 6 is a side view showing the joint motion state in one embodiment of the present invention.
7 and 8 are side views of a state in which the reaction force is increased by operating the variable elastic actuator in one embodiment of the present invention,
7 is a state diagram before joint movement,
8 is a state diagram at the time of joint movement.

Hereinafter, exemplary embodiments of the present invention will be described with reference to the accompanying drawings.

1 to 4b is a view showing a reaction force control device of the exoskeleton system according to an embodiment of the present invention, Figure 1 is a perspective view of the exoskeleton system, Figure 2 is a perspective view of the main portion of the reaction force control device, Figure 3 is a reaction force control device 4A and 4B are a schematic view and a perspective view of a variable elastic actuator.

5 to 8 are side views illustrating a state before and after joint motion according to reaction force control in an embodiment of the present invention.

Referring to these drawings, the exoskeleton system is composed of two exoskeletons 20 in the shape of a human leg on both lower sides of the main frame 10.

As described above, the exoskeleton system composed of the main frame 10 and the two exoskeletons 20 may be configured to be worn on a human body, and thus the human body wear structure may be variously implemented based on a known wearing technology. In the example, the description thereof will be omitted, and the description will be given based on the reaction force adjusting device, which is a main component of the present invention.

Reaction force control device of the exoskeleton system according to an embodiment of the present invention, the first link body 22 and the second link body 24 are connected to each other to enable joint movement, and the first link body 22 and A joint shaft 30 (FIG. 3) connected between the second link bodies 24, and a joint for rotating the second link member 24 with respect to the first link member 22 about the joint axis 30. It is connected between the drive means 40 and the joint shaft 30 is provided between the first link member 22 and the second link member 24 and the elastic member 56 is provided to provide a reaction force during the joint movement. The variable elastic body 50, the control actuator 60 for increasing or decreasing the reaction force by translationally moving the position of the elastic member 56 in the variable elastic body 50, the first link body 22 and the joint shaft ( 30 is connected to the reaction force measuring means 70 for measuring the reaction force, and receives the measurement signal of the reaction force measurement means 70 and adjusts the actuator according to the user's reaction force setting The control unit 100 for outputting a control signal to the transmitter 60, and the reaction force setting unit 110 for inputting a reaction force or a sense of force desired by the user to the control unit 100 is preferably configured.

When described in detail with respect to the main components of the reaction force control device according to an embodiment of the present invention configured as described above.

First, the first link body 22 and the second link body 24 are formed in a straight rod-shaped structure, the inside is preferably formed to have a space.

The first link member 22 may be configured to allow relative rotation to the main frame 10.

The second link member 24 is connected to the first link member 22 by the articulation shaft 30. As shown in FIG. 3, the joint linking portion 24a of the second link member 24 is connected to the first link member 22. It may be configured to be connected in a manner that the joint shaft 30 penetrates in the state inserted into the joint connecting portion 22a of the). Of course, on the contrary, it is also possible to configure the joint connecting portion of the first link member 22 to be connected in the inserted state inside the joint connecting portion of the second link member 24.

Meanwhile, referring to FIG. 1, the second link member 24 may be configured to be connected to the foot link member 26 through the joint driving device 25 at the lower end thereof.

Next, referring to FIG. 3, the joint shaft 30 is installed through the first link body 22 and the second link body 24 coupled to each other, and rotates relative to the first link body 22. It is preferable that the bearing and the like are interposed so as to be able to rotate freely, and the second link member 24 is constrained to be connected to each other through a key groove.

Next, the joint driving means 40 is disposed inside the joint portion where the first link body 22 and the second link body 24 are coupled to each other so that the second link body 24 with respect to the first link body 22. It is configured to move by rotating.

The joint driving means 40 includes a joint actuator 42 installed inside the first link member 22 and a driving gear 45 provided on the joint shaft 30 to rotate by the joint actuator 42. Can be configured.

Therefore, before the joint driving means 40 is operated, the first link body 22 and the second link body 24 are in the vertical direction as shown in FIGS. 4A, 4B, and 5, and then the joint driving means 40. 6), the joint actuator 42 rotates the joint shaft 30 through the drive gear 45, as shown in FIGS. 24) can also be rotated with the joint movement. At this time, the inner rotary body 52 of the variable elastic body 50 to be described below is rotated while compressing the elastic member 56 as the joint axis 30 rotates.

Here, the joint actuator 42 is preferably composed of a step motor or the like for precisely rotating the drive gear 45.

Next, the variable elastic body 50 is configured on the outer side of the joint portion is configured to adjust the reaction force during the joint operation.

The variable elastic body 50 includes an inner rotor 52 connected to the joint shaft, an outer support 54 positioned outside the inner rotor 52 and fixed to the first link member 22, and an inner side. It is preferably configured to include an elastic member 56 positioned between the rotating body 52 and the outer support 54 to provide translational force.

Here, the inner rotating body 52 may be formed in a cross-shaped structure, is configured such that the joint shaft 30 is coupled to the center portion thereof, as the joint shaft 30 rotates in the inner side of the outer support 54. It is preferably configured to be able to rotate.

The outer support body 54 is preferably formed in a substantially rectangular structure and is fixed to the first link member 22.

Four elastic members 56 are sequentially installed in the clockwise or counterclockwise direction between each side of the cross-shaped structure of the inner rotor 52 and the outer support 54.

The elastic member 56 may be configured as a compression coil spring, but is not limited thereto and may be variously configured using a known elastic member as long as it provides a means for providing an elastic force.

However, each elastic member 56 is configured to be able to translate between the inner rotation body 52 and the outer support 54 for reaction force adjustment. To this end, it is preferable that the moving slots 52a and 54a are respectively formed in the inner rotating body 52 and the outer supporter 54 so that translational movement is possible at portions where both ends of the elastic member 56 are inserted.

In addition, the moving slots 52a and 54a may include moving bodies 56a and 56b coupled to both ends of the elastic members 56 and linearly moving along the moving slots 52a and 54a. If the moving body (56a, 56b) is coupled to both ends of the elastic member 56 in the state that can be linearly moved without departing from the moving slot (52a, 54a) can be designed and configured in various ways depending on the implementation conditions will be.

In addition, the movable body 56a coupled to the movable slot 52a of the inner rotating body 52 may be configured to install a roller or the like for smooth translational movement, to enable rolling motion within the movable slot 52a. have.

In addition, the movable body 56b coupled to the movable slot 54a on the outer support body 54 side is extended to the inner side of the elastic member 56 (for example, an intermediate portion of the elastic member) so as not to bend the elastic member. It may be formed to extend.

Next, the adjustment actuator 60 is installed on the outer supporter 54 and configured to adjust the reaction force of the elastic member 56 during joint movement by translating each elastic member according to the signal of the controller 100.

Such control actuator 60 may be installed on each of the four outer surface of the outer support 54 having a quadrilateral structure as illustrated in Figure 4a, 4b and the like.

At this time, each of the adjustment actuator 60 may be composed of a linear actuator for translating the elastic member 56, the linear actuator is a motor 62 provided in the motor housing 63, and each elastic member 56 It may be configured to include a moving bar 64 connected to the moving body 56b of the linear movement by the motor 62.

 The adjustment actuator 60 is not limited to the above-described configuration of the linear actuator, and may be configured using various known actuators as long as it is a structure capable of translating the elastic member.

Next, the reaction force measuring means 70 is disposed on the other side of the outer side of the joint portion to which the first link body 22 and the second link body 24 are connected, that is, opposite to the variable elastic body 50 and thus of the variable elastic body 50. It is configured to measure the reaction force or the adverse reaction force during joint operation.

The reaction force measuring means 70 is preferably composed of a torque sensor 72, the sensor housing is fixed to the first link member 22, the rotating body formed inside the sensor housing is connected to the joint shaft 30 It is preferable to be configured to be coupled to measure the torque and the like according to the relative rotation.

Next, the control unit 100 receives the measurement signal from the reaction force measuring means 70 and simultaneously adjusts the reaction force by outputting a control signal to the adjustment actuator 60 according to the reaction force setting of the user input through the reaction force setting unit 110. It is configured to be.

That is, the control unit 100 receives a signal from the reaction force setting unit 110 and the reaction force measuring means 70, and generates a target reaction force (inverse) generation algorithm according to the input signal based on the reaction force generation algorithm already input. It is preferable to be configured to output to the adjustment actuator 60 to follow the target reaction force.

The control unit 100 may be configured to control all parts of the reaction force control device of the wearable exoskeleton system including the joint driving means 40, is installed in the main frame 10 as shown in FIG. Can be configured.

Next, the reaction force setting unit 110 may be configured to input a reaction force or force of a level desired by the user to the controller 100.

The reaction force setting unit 110 may be configured in various input methods according to the implementation conditions, such as a button type, dial type, touch type.

In the present exemplary embodiment, the reaction force setting unit 110 is illustrated in the main frame 10. However, the reaction force setting unit 110 is not limited thereto.

The operation of the reaction force control device of the wearable exoskeleton system of the present invention as described above will be described.

When the user sets the target spring reaction force to a desired level through the reaction force setting unit 110, the control unit 100 executes a preset reaction force generation algorithm according to the reaction force setting of the user to drive the adjustment actuator 60. . In this case, as shown in FIG. 7, the spring reaction force of the elastic member 56 increases as the four elastic members 56 translate outwardly by the adjustment actuator 60.

When the reaction force of the variable elastic body 50 is increased in this way, the reaction force of the spring is measured by the reaction force measuring means 70 located on the opposite side. When the measurement spring reaction force is larger than the target spring reaction force, the outer support 54 is rotated in reverse to reduce the reaction force. . Of course, if the measuring spring reaction force is smaller than the target spring reaction force, each elastic member 56 is further moved to increase the spring reaction force.

By adjusting the spring reaction force of the variable elastic body 50 according to the target spring reaction force in this way, when the measurement spring reaction force and the target spring reaction force are the same, the control unit 100 controls the joint actuator 42 of the joint drive means 40. It drives and rotates the 2nd link body 24 with respect to the 1st link body 22 to a target position as shown in FIG. At this time, the target spring reaction force acts as the inner rotor 52 of the variable elastic body 50 is also rotated while simultaneously compressing the translating elastic member 56.

Although the embodiment of the present invention described above focuses on the exoskeletal structure of the knee joint, it is not necessarily limited thereto, and of course, the present invention may be similarly applied to other exoskeleton structures such as elbows.

In addition, the present invention may be applied to a wearable system of a virtual reality device and may be applied to a robot having an exoskeleton structure.

As described above, the technical idea described in the embodiments of the present invention may be implemented independently, or may be implemented in combination with each other. In addition, the present invention has been described through the embodiments described in the drawings and the detailed description of the invention, which is merely exemplary, and those skilled in the art to which the present invention pertains various modifications and equivalent other embodiments therefrom It is possible. Therefore, the technical protection scope of the present invention will be defined by the appended claims.

10: main frame 20: exoskeleton
22: first link member 24: second link member
26: foot linkage 30: joint axis
40: joint drive means 42: joint actuator
45 drive gear 50 variable elastic body
52: inner rotor 52a: moving slot
54 outer support 54a moving slot
56 elastic member 56a, 56b mobile body
60: regulating actuator 62: motor
63: motor housing 64: moving bar
70: reaction force measuring means 100: control unit
110: reaction force setting unit

Claims (12)

The first link member and the second link member are installed to regulate the reaction force of the joint portion connected to the joint axis;
An inner rotor connected to the joint axis and rotating together, an outer support positioned outside the inner rotor and fixed to the first link member, and positioned to allow translational movement between the inner rotor and the outer support A variable elastic body including an elastic member to provide reaction force during joint movement;
And a control actuator for translating the position of the elastic member in the variable elastic body to increase or decrease the reaction force.
The inner rotary body and the outer support is a variable elastic actuator of the exoskeleton system, characterized in that the movement slot for translating both ends of each elastic member is formed. The method according to claim 1,
The inner rotor is formed in a cross-shaped structure is a variable elastic actuator of the exoskeleton system, characterized in that the joint axis is connected to the central portion. The method according to claim 1,
The outer support is formed in a rectangular structure and the variable elastic actuator of the exoskeleton system, characterized in that is installed to be fixed to the first link body. The method according to claim 1,
The elastic member is variable elastic actuator of the exoskeleton system, characterized in that four are installed between each side of the cross-shaped structure of the inner rotor and the outer support. The method according to claim 1,
The control actuator is a variable elastic actuator of the exoskeleton system, characterized in that the linear actuator is installed on the outer support to translate the elastic member. delete delete delete delete delete delete delete

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