KR102237661B1 - Wearable remote controller for robot control - Google Patents

Abstract

The present invention relates to a wearable remote controller, which can remotely control a robot arm multi-axially configured through movement of a wrist joint, pronation and supination of a wrist, movement of an elbow joint while a user wears the controller on a user's arm portion. According to the present invention, the wearable remote controller for controlling a robot comprises: a main controller sensing movement and a position change of the elbow joint, pronation and supination of the wrist, and movement of the wrist joint while worn by the arm portion of the user to generate and transmit a control signal corresponding to the movement; and a multi-axial robot arm remotely controlled and operated by the control signal transmitted from the main controller.

Description

Wearable remote controller for robot control

The present invention relates to a remote controller worn on the user's arm for the purpose of robot control, and more particularly, the movement of the elbow joint while the user is wearing it on his or her arm, pronation and pronation of the wrist, and wrist. It relates to a wearable remote control that enables remote control of a robot arm composed of multiple axes through joint movement.

In general, it can be said that the use of heavy equipment such as forklifts and excavators is essential at construction sites where heavy construction materials are used, or at demolition or rescue sites that require large-scale work due to fire, landslide, reconstruction, collapse, etc. .

However, in environments where heavy equipment is used, such as construction, demolition, or rescue sites, there is always the possibility of life-threatening accidents due to worker carelessness or mistakes, and the worker who boarded the heavy equipment dies due to unexpected unexpected situations such as collapse or explosion. Cases of serious injuries continue to occur.

Therefore, there is a need for a method to protect workers from various types of human accidents that may occur in the process of working with heavy equipment, and related to the conventional invention, “operation means remote control” in Korean Patent Publication No. 10-1243620 System” and “heavy equipment remote control system” of Korean Patent Publication No. 10-1559653 have been proposed and disclosed.

First of all, the “operating means remote control system” of Korean Patent Publication No. 10-1243620 is configured in a form that can be easily attached to and detached from heavy equipment, and it is configured to stably control heavy equipment even if a slight error occurs when attaching. As a result, an invention has been proposed for a system including a device that enables remote control of existing heavy equipment without modification.

In addition, in the “heavy equipment remote control system” of the Korean Patent Publication No. 10-1559653, it is possible to simultaneously control a plurality of heavy equipment by using a remote control unit in a synchronized state, thereby improving work efficiency and preventing accidents. An invention has been proposed for a system capable of minimizing personal injury caused by.

However, both the above and the conventional inventions are configured so that a user located in a place far from the heavy equipment can control heavy equipment using a remote control device equipped with a control means such as a lever, so the size, weight, and shape of the remote control device, etc. Accordingly, there may be a problem that is inconvenient to carry or install for use, and significant restrictions may occur in moving the position of a worker who is controlling the device.

In addition, when controlling heavy equipment using a remote control device as in the above-described conventional inventions, the control direction can be formed in the opposite direction to that when the operator actually controls the heavy equipment while boarding the heavy equipment. There is a risk of an accident due to inexperience in the operation of the product.

Therefore, it is easy to install for portability and use by solving all of the above problems, and there is no restriction in moving the location of the operator even during use, and when the operator actually controls the heavy equipment while on board the heavy equipment, Even when the control direction is formed in the opposite direction, there is a need for an apparatus or a system using the apparatus configured to significantly reduce the possibility of an accident due to inexperience in operation.

Republic of Korea Patent Publication No. 10-1243620 (2013. 03. 08.) Republic of Korea Patent Publication No. 10-1559653 (2015. 10. 05.)

The wearable remote controller for robot control according to the present invention is a technology proposed to solve the above problems,

There is a problem in which cases of death or serious injuries of workers due to various types of accidents that can occur in the process of working with heavy equipment continue to occur.

Conventional inventions for solving this problem are all configured so that a user located in a place far from the heavy equipment can control heavy equipment using a remote control device equipped with a control means such as a lever, so the size and weight of the remote control device And, depending on the shape, etc., there may be problems that are inconvenient to carry or install for use,

Significant restrictions may occur in moving the position of the operator controlling the device,

Since the control direction may be formed in the opposite direction than when the operator actually boards the heavy equipment and controls the heavy equipment, the purpose of this is to suggest a solution to this. It is done.

The present invention is to achieve the above object,

A main controller for generating and transmitting a control signal corresponding to the movement and position change of the elbow joint, the pronation and the pronation of the wrist, and the movement of the wrist joint while being worn on the user's arm; And a multi-axis robot arm that is remotely controlled and operated by a control signal transmitted from the main controller. It proposes a wearable remote controller for robot control, characterized in that configured to include.

In addition, the present invention is a mobile robot to which the robot arm is mounted; And a sub-controller that is controlled in a state held by a user to generate and transmit a control signal for controlling the mobile robot. It characterized in that it is configured to further include.

Wearable remote controller for robot control according to the present invention,

Since it is configured so that the user can control the heavy equipment while located in a place far away from the heavy equipment, it is effective to prevent death or serious injuries to the worker on board the heavy equipment due to unexpected unexpected situations such as collapse or explosion. And the effect of preventing life-threatening accidents caused by collisions between heavy equipment and workers,

By configuring the main controller for remote control of heavy equipment in the form of wearing it on the user's arm, it is easy to install for portability and use, and there is an effect that no restriction occurs in moving the position of the operator even during use.

Even when the control direction is formed in the opposite direction than when the operator actually boards the heavy equipment and controls the heavy equipment, the effect of remarkably reducing the possibility of accidents due to inexperience in operation can be expected.

1 is a basic configuration diagram of a wearable remote controller for controlling a robot according to the present invention.
Figure 2a is a perspective view showing the main controller of the present invention.
Figure 2b is a configuration diagram showing an embodiment of the operation of the robot arm using the main controller of the present invention.
3 is an exemplary view showing a state in which the user wears the main controller of the present invention.
Figure 4 is a perspective view showing a fixed hub of the present invention.
Figure 5a is a perspective view showing a gear portion of the present invention.
Figure 5b is a perspective view showing a second gear constituting the gear portion of the present invention.
Figure 6 is a perspective view showing the robot arm of the present invention.
7 is an exemplary view showing a state in which the robot arm of the present invention is mounted on a mobile robot.
Figure 8 is a configuration diagram showing an operating embodiment using the sub-controller of the present invention.

The present invention relates to a remote controller worn on the arm of a user for the purpose of controlling a robot,

A main controller 100 for generating and transmitting a control signal corresponding thereto by sensing movement and position change of the elbow joint, pronation and pronation of the wrist, and movement of the wrist joint while worn on the user's arm; And a multi-axis robot arm 200 that is remotely controlled and operated by a control signal transmitted from the main controller 100. It relates to a wearable remote controller for robot control, characterized in that configured to include.

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

First, the main controller 100 shown in FIG. 1 is a control device for remote control of the robot arm 200 and is configured in a form that can be worn on the user's arm, so that it is easy to carry and use, and if necessary. There is an effect that can be used while moving freely.

At this time, as a remote control method of the robot arm 200 using the main controller 100, the movement and position change of the elbow joint of the user wearing the main controller 100, pronation and pronation of the wrist, and the wrist joint. It is configured to use a method of detecting movement and generating and transmitting a control signal corresponding to the detected movement, which means that the present invention controls the robot arm 200 only with the movement of the user's arm and is used for work on behalf of a person. Means you can.

Specifically, as shown in Figure 2a, the main controller 100 is configured in a form that surrounds the rear portion of the upper arm of the user's arm, and is fixed to the user's arm by a fixing means such as a strap surrounding the front portion (110), a first connector 120 configured to surround the entire arm of the user's arm and rotatably coupled to the lower portion of the fixing portion 110, and a first connector 120 rotatably coupled to the distal end of the connector. It may be configured to include 2 connection parts 130.

In addition, as shown in FIGS. 2A and 2B, the main controller 100 includes a joystick for generating a control signal and is coupled to the distal end of the second connector 130 in a form capable of axial rotation. A signal generator that generates a control signal for controlling the robot arm 200 by detecting the branch 140 and the movement and position change of the elbow joint due to the user's arm movement, the pronation and pronation of the wrist, and the movement of the wrist joint. In addition, it may be configured to include a transmission unit 160 that transmits the control signal generated by the signal generation unit 150 to the robot arm 200.

Therefore, as shown in Figure 3, the user who wants to use the present invention, the upper arm of the arm is in close contact with the fixing part 110, and the forearm of the arm is surrounded by the first connection part 120 and the second connection part 130. The main controller 100 is worn in the form of gripping the gripping part 140 by hand, but can be fixed to the own arm using a fixing means such as a strap, and the robot arm 200 is moved by moving the elbow joint and the wrist. ) Can be controlled.

At this time, the upper arm, forearm, and hand of the arm are a continuous one constituting the user's arm integrally, and the fixing part 110, the first connection part 120, the second connection part 130 and the gripping part 140 are also the main controller As a continuous thing constituting 100, the fixing part 110 is not related to the forearm of the arm at all because it is a form that wraps the rear part of the upper arm of the arm, and the first connection part 120 and the second connection part 130 are also The same is the case, and overlapping or overlapping of a certain range may occur in the user according to the body characteristics or the size of the main controller 100.

On the other hand, the control signal generated according to the movement of the user wearing the main controller 100 is a first control signal according to the rotation of the first connection unit 120 to the fixing unit 110, the fixing unit 110 and the first control signal. 1 A second control signal according to a change in the position of the connection part 120, a third control signal according to the rotation of the second connection part 130 with respect to the first connection part 120, and the operation of the joystick constituting the gripping part 140 It can be classified as a fourth control signal by, and a sensor unit composed of a variable resistor or a gyro sensor for generating each control signal may be installed at each required position.

That is, in the connection structure in which the first connection part 120 is rotatably coupled to the lower part of the fixing part 110, a first sensor part for generating the first control signal may be installed, and the fixing part 110 2 A second sensor unit for generating a control signal may be installed, and a third sensor for generating a third control signal in a connection structure in which the second connection unit 130 is rotatably coupled to the first connection unit 120 An additional device may be installed, and a fourth sensor part for generating a fourth control signal may be installed on the joystick of the gripping part 140.

At this time, a variable resistance may be used for the first sensor unit, and the variable resistance is preferably installed at a position corresponding to an epicondyle located outside the user's elbow.

In addition, a gyro sensor may be used for the second sensor unit, and the gyro sensor is preferably installed at a position corresponding to the outer side of the humerus.

In addition, a variable resistance may be used for the third sensor unit, and the variable resistance is preferably installed at a position corresponding to the brush protrusion side of the ulna.

Accordingly, the first sensor unit may generate a first control signal as the first connection unit 120 rotates with respect to the fixing unit 110, and the second sensor unit may generate a second control signal according to a change in the position of the elbow and the humerus. May be generated, and the third sensor unit may generate a third control signal as the second connection unit 130 rotates with respect to the first connection unit 120, and the fourth sensor unit may generate a control signal according to rotation or push of the joystick. 4 Can generate control signals.

In this case, when a large change in the position of the user's elbow, humerus, etc. occurs, not only the link unit 220 but also the main body 210 may be rotated by a second control signal generated by the second sensor unit.

In addition, the present invention may be configured such that the fixed hub 170 is installed on the axis of each variable resistance constituting the first sensor unit and the third sensor unit, as shown in FIG. The fixed hub 170 composed of a pair of rod portions in which a semicircular groove forming a hole is formed at the center side may be installed in a form in which the through hole is penetrated by the axis of the variable resistance or the axis of the variable resistance is inserted. .

At this time, the pair of rod portions constituting the fixed hub 170 may be spaced apart from each other by a certain distance and maintain a certain shape by a bolt fastening method, and most of the stress acting perpendicular to the axis of the variable resistance is relieved. It is possible to prevent the failure of the variable resistance due to vertical stress.

In addition, the present invention transmits the rotation amount of the second connection part 130 with respect to the first connection part 120 to the variable resistance constituting the third sensor part, and at the same time, the rotation angle of the variable resistance is limited to within 360°. For the purpose of solving the problem, the distal end of the second connecting part 130 adjacent to the first connecting part 120 is configured in a gear shape, and the gear part 180 corresponding to the distal end of the second connecting part 130 is connected to the first connecting part. It can be provided in (120).

Specifically, as shown in FIG. 5A, the gear unit 180 directly corresponds to the first gear 181 and the first gear 181 corresponding to the distal end of the second connection unit 130 having a gear shape. A second gear 182 forming a gear ratio of 1:1 with the first gear 181, a third gear forming a gear ratio of 2:1 with the second gear 182 in direct correspondence to the second gear 182 (183), a fourth gear (184) that directly corresponds to the third gear (183) and forms a gear ratio of 2:1 to the third gear (183), and a fourth gear ( The fifth gear 185 and the fifth gear 185 forming a gear ratio of 2:1 and the fifth gear 185 are formed to have a gear ratio of 3:2 and a sixth that rotates the variable resistance. It may be configured to include a gear (186).

At this time, the first gear 181 and the sixth gear 186 are configured in a single gear shape, but as shown in FIG. 5B, the remaining second gear 182, third gear 183, and fourth gear The gear 184 and the fifth gear 185 are composed of an application unit (a) that receives rotational force from another gear and a transmission unit (b) that transmits rotational force, and the application unit (a) and the transmission unit (b) It is composed of a double structure with different sizes so that the gear ratio can be changed, and according to this configuration, the rotation amount of the sixth gear 186 is reduced to 1/12 compared to the rotation amount of the first gear 181 By doing so, the rotation angle of the variable resistor can be formed within a range of 360°.

In addition, the robot arm 200 shown in FIG. 1 is a robot that is remotely controlled by the main controller 100, and is transmitted from the main controller 100 in a state of being put into various sites such as construction, demolition or rescue sites. By remotely controlled and operated by a control signal, various tasks for construction, demolition or structure can be performed on behalf of the operator.

At this time, the robot arm 200 is composed of a multi-axis structure such as 5-axis, and can easily access objects in various positions in various directions and angles to perform necessary types of work. Servo motor for axial rotation of the angle may be mounted.

In addition, at the distal end of the robot arm 200, a clamp-shaped device for holding or hanging the object may be provided, but other types of devices may be mounted and used as necessary, such as a striking device or an excavation device.

Specifically, as shown in Figure 6, the robot arm 200 is installed in a form capable of axial rotation upward or downward on the main body 210 installed on the ground in a rotatable form, and Multi-joint type link unit 220 that implements various motions for accessing the object, and forceps that are installed in a form capable of axial rotation at the end of the link unit 220 to perform an unfolding or retracting operation to hold or hang the object It may be configured to include the unit 230.

In addition, the robot arm 200 includes a communication unit 240 for receiving a control signal transmitted from the main controller 100, and a body unit 210, a link unit 220, and a clamp unit using the received control signal. It may be configured to include a control unit 250 that controls the operation of 230, and as described above, the clamp unit 230 may be replaced with another type of device.

Therefore, the robot arm 200 can implement the user's intended motion by receiving a control signal generated and transmitted according to the movement of the user's elbow joint and wrist while wearing the main controller 100. A specific embodiment of the operation of the robot arm 200 according to the movement of the elbow joint and the wrist of is as follows.

First, as described above, the control signal transmitted from the main controller 100 may be classified into first to fourth control signals, and the first control signal is forward and backward of the link unit 220 in the form of an articulated joint. , The second control signal is the upward, downward and lateral movement of the link unit 220, the third control signal is the rotation of the clamp unit 230, and the fourth control signal is the retracting or unfolding operation of the clamp unit 230. It is a signal to generate.

That is, the first to fourth control signals are separate signals that may be sequentially or simultaneously generated for the control of the robot arm 200, but consequently result in a change in the position and control of the operation of the clamp unit 230.

Therefore, a user who wants to hold or hang an object using the robot arm 200 extends or bends the arm while wearing the main controller 100 on his arm, so that the link unit 220 in the form of a multi-joint is Control so that the clamp unit 230 can move forward or backward, and the link unit 220 is controlled by adjusting the height and direction when the arm is stretched or bent so that the position of the clamp unit 230 is moved upward and downward. Or it can be made to move in either direction of the side.

Thereafter, the user rotates the claw unit 230 so that an easy posture to hold or hang the object is established by protruding or meeting the wrist as necessary, and by controlling the joystick using a finger, the claw unit 230 It can be made to hold or hang, and the object can be separated from the clamp unit 230.

However, with the above configuration alone, the robot arm 200 can be used only when it is installed in a fixed place, thereby causing considerable restrictions on the types and types of tasks that can be performed, as shown in FIGS. 7 and 8. As described above, the present invention relates to a mobile robot 300 on which the robot arm 200 is mounted, and a sub-controller 500 that is controlled in a gripped state by a user to generate and transmit a control signal for controlling the mobile robot 300. It characterized in that it is configured to further include.

That is, the robot arm 200 is configured so that the main body 210 is installed on the upper end of the mobile robot 300 and can move together with the mobile robot 300 to expand the types and types of tasks that can be performed. The user may wear the main controller 100 on one of his arms and hold the sub-controller 500 with the other hand to simultaneously control the robot arm 200 and the mobile robot 300. You can do it.

In addition, as shown in FIG. 8, the present invention provides a camera 400 mounted on the robot arm 200 or the mobile robot 300 in a form in which the photographing direction can be switched in multiple directions, and the camera 400 It may be configured to further include a display device 600 that receives the captured image and displays it on the screen, and a control signal for controlling the camera 400 may be configured to be generated and transmitted through the sub-controller 500. have.

That is, the user can directly check the mobile robot 300 and the robot arm 200 with the naked eye at a short distance and control it through the main controller 100 and the sub-controller 500, but the situation at the site where the work is performed. Depending on the situation, it may be necessary to control it from a distance or to control it in a situation that cannot be seen with the naked eye.

Accordingly, the present invention is configured so that a user can check a real-time image captured through the camera 400 through the display device 600 and control the mobile robot 300 and the robot arm 200, and the user By directly controlling the angle and direction of the camera 400 through the sub-controller 500, images required for control of the mobile robot 300 and the robot arm 200 may be obtained.

At this time, the control signal generated by the control of the user holding the sub-controller 500 is a fifth control signal and a camera 400 for controlling the moving robot 300 forward and backward, and cornering to the left or right. It can be classified as a sixth control signal for controlling the angle and direction of, and the method for generating the fifth control signal and the sixth control signal can be embodied in different forms depending on the type or configuration of the sub-controller 500. have.

That is, the user may generate a fifth control signal for controlling the mobile robot 300 with his index finger and middle finger, using the sub-controller 500, and control the camera 400 with his thumb. 6 A control signal may be generated, but this method may be embodied in a different form according to the type or configuration of the sub-controller 500.

On the other hand, since the present invention is for controlling the robot arm 200 of considerable weight, there is always a possibility of occurrence of a personal accident due to carelessness, mistake, inexperience in operation, etc., and as a means for minimizing the occurrence of such personal accidents, the above It can be configured to enable setting of the safe mode using a joystick.

That is, since the robot arm 200 immediately implements the same or similar degree of movement according to the movement of the user's arm wearing the main controller 100, unnecessary movement of the arm due to the user's carelessness or mistake, etc. There is a high possibility of causing an accident.

To prevent the occurrence of such an accident, the joystick may be configured to be divided into a first joystick controlled by the user's index finger and a second joystick controlled by the user's thumb. The first joystick is controlled by the clamp unit 230 And the second joystick may be used for generation of the safe mode.

According to a specific embodiment of this, the present invention may be configured to limit the retracting or unfolding operation of the tongs 230 in a state in which the user pushes the second joystick in a direction such as the front, and the second joystick is reversed. In a state pulled in the direction, the operation of the link unit 220 may be limited, and when the second joystick is pressed vertically downward, the rotation of the clamp unit 230 may be limited.

Therefore, the user wearing the main controller 100 and the sub-controller 500 can limit the operation of the link unit 220 by pulling the second joystick during the process of controlling the mobile robot 300, During the process of controlling the robot arm 200, by pushing the second joystick, the operation of the clamp unit 230 for grabbing or hanging the object may be restricted, and by pressing the second joystick vertically downward, the clamp unit 230 is Rotation can be restricted.

In this way, when the movement of the second joystick by the user occurs, the operation of the link unit 220 or the clamp unit 230 is restricted, and when the user's control of the second joystick is released, the link unit (220) or the operation restriction of the clamp unit 230 may also be released.

However, since the operation restriction of the link unit 220 or the clamp unit 230 generated by the user's control of the second joystick does not necessarily occur in the above form, the present invention provides the second joystick. It may be configured in other forms such as to limit the operation of the clamp unit 230 by pulling.

In addition, the present invention is configured to memorize the posture of the robot arm 200 immediately before the operation restriction by the second joystick occurs, and after the operation restriction is released, the user is the same as the posture of the robot arm 200. Alternatively, it may be configured so that control by the main controller 100 can occur again only when a similar posture is implemented.

That is, since the posture of the robot arm 200 immediately before the operation restriction by the second joystick occurs is related to the posture of the user's arm wearing the main controller 100, the posture of the user’s arm is changed. When the operation restriction is released, the posture of the robot arm 200 may change drastically and greatly, which may cause various accidents such as personal accidents.

Accordingly, the present invention enables accidents caused by sudden and large changes of the robot arm 200 to be prevented by adopting the above configuration, and this configuration can be replaced with other configurations capable of preventing accidents. .

The embodiments introduced above are provided by way of example in order to sufficiently convey the technical idea of the present invention to those of ordinary skill in the technical field to which the present invention pertains, and the present invention is based on the above-described embodiments. It is not limited and may be embodied in other forms.

In order to clearly describe the present invention, parts irrelevant to the description are omitted from the drawings, and in the drawings, the width, length, thickness, etc. of components may be exaggerated or reduced for convenience.

In addition, the same reference numbers throughout the specification indicate the same elements.

100: main controller → 110: fixed part
→ 120: 1st connection part
→ 130: 2nd connection part
→ 140: gripping part
→ 150: signal generator
→ 160: Transmission part
→ 170: fixed hub
→ 180: gear unit → 181: first gear
→ 182: 2nd gear
→ 183: 3rd gear
→ 184: 4th gear
→ 185: 5th gear
→ 186: 6th gear
200: robot arm → 210: main body
→ 220: Link part
→ 230: clip part
→ 240: Ministry of Communication
→ 250: control unit
300: mobile robot
400: camera
500: sub controller
600: display device

Claims (5)

A main controller 100 for generating and transmitting a control signal corresponding thereto by sensing movement and position change of the elbow joint, pronation and pronation of the wrist, and movement of the wrist joint while worn on the user's arm; And a multi-axis robot arm 200 that is remotely controlled and operated by a control signal transmitted from the main controller 100. Including,
The main controller 100 includes a fixing part 110 configured to surround the rear part of the upper arm of the user's arm, and fixed to the user's arm by a fixing means such as a string surrounding the front part; A first connection part 120 configured to surround the entire arm of the user's arm and coupled to a lower portion of the fixing part 110 in a rotatable form; A second connection part 130 coupled to the distal end of the first connection part 120 in a rotatable form; A gripper 140 configured to include a joystick for generating a control signal and coupled to an end portion of the second connector 130; Signal generation unit 150 for generating a control signal for controlling the robot arm 200 by detecting the movement of the elbow joint and the position change of the forearm by the user's arm movement, the pronation and the pronation of the wrist, and the movement of the wrist joint ; And a transmission unit 160 for transmitting the control signal generated by the signal generation unit 150 to the robot arm 200. Consisting of including,
The robot arm 200 may include a main body 210 installed on the ground or the mobile robot 300 in a form capable of axial rotation; A multi-joint type link unit 220 installed on the main body 210 in a form capable of axial rotation upward or downward to implement various motions for accessing an object; A clamp unit 230 installed in a form capable of axial rotation at the end of the link unit 220 and performing an opening or retracting operation to hold or hang an object; Consisting of including,
The joystick is configured to be divided into a first joystick controlled by a user's index finger and a second joystick controlled by a user's thumb, and the first joystick is used for controlling the clamp unit 230, and the second joystick Is a wearable remote controller for robot control, characterized in that used as a purpose for the occurrence of a safe mode. According to claim 1, Mobile robot (300) to which the robot arm (200) is mounted; And a sub-controller 500 that is controlled in a state held by a user to generate and transmit a control signal for controlling the mobile robot 300; Wearable remote controller for robot control, characterized in that configured to include. The method of claim 2, further comprising: a camera (400) mounted on either the robot arm (200) or the mobile robot (300) in a form in which the photographing direction is switchable in multiple directions; And a display device 600 for receiving an image captured by the camera 400 and displaying it on a screen. A wearable remote controller for robot control, characterized in that configured to include, and wherein the sub-controller 500 is configured to generate and transmit a control signal for controlling the camera 400. delete The method of claim 1, wherein the robot arm (200) comprises: a communication unit (240) for receiving a control signal transmitted from the main controller (100); And a control unit 250 for controlling operations of the main body 210, the link unit 220, and the clamp unit 230 using the received control signal. Wearable remote controller for robot control, characterized in that configured to further include.

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