KR102308550B1 - Wearable motion measuring device for wearer's motion intention recognition, and motion recognition method using the same, wearable robot including the same, and control method therefor - Google Patents

Abstract

A wearable motion measurement device according to an embodiment of the present invention includes a sensor configured to cause a change in inductance when a deformation of a muscle or joint due to movement of a wearer wearing clothes and the clothes causes a change in inductance, and the inductance in the sensor It is configured to determine the movement intention of the wearer by detecting the change.

Description

Wearable motion measuring device for wearer's motion intention recognition, and motion recognition method using the same, wearable robot including the same, and control method therefor}

The present invention relates to a wearable motion measuring device, a motion recognition method using the same, a wearable robot and a control method thereof, and more particularly, to a wearable motion measuring device capable of recognizing a wearer's motion intention, a motion recognition method using the same, and a wearable robot and It's about how to control it.

In general, workers, cargo workers, courier workers, etc. in the industrial field often perform the operation of repeatedly lifting and moving heavy objects.

This work requires several people, or depending on the site situation, heavy equipment, cranes, and auxiliary equipment such as pulleys are inconvenient to be used. In addition, when a person works directly, there is a problem of increased fatigue and decreased work efficiency, as well as industrial accidents such as musculoskeletal damage and avoidance of related occupations due to high work intensity, and when using auxiliary equipment Since it requires a relatively wide moving space or installation space, there is a problem that the range of use is limited.

Due to these problems, there is a need for a wearable muscle support device to alleviate the motion of standing up with a repetitive load or the motion of withstanding a heavy load.

Most recently developed muscle strength assistive devices are driven by attaching them to the side of an arm or leg using a motor and a frame.

This type of strength assisting device is composed of a frame or a motor for driving various frames, and thus has a heavy and hard weight, which prevents natural movement and is uncomfortable to wear.

Therefore, it is required to develop a wearable robot (clothes for strengthening muscle strength) that is light in weight and is attached to a position similar to that of the muscles of the human body and does not interfere with the movement of the body and can improve the responsiveness of various movements.

In connection with the development of such a wearable robot, the development of a wearable motion measuring device capable of recognizing the wearer's motion intention is also required.
[Prior art literature]
Republic of Korea Patent Publication No. 10-2020-0005897 (published on January 17, 2020)
Republic of Korea Patent Publication No. 10-2019-0103100 (published on September 4, 2019)

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SUMMARY OF THE INVENTION The present invention aims to solve the above problems and other problems related thereto.

An exemplary object of the present invention is that a person's intention to move is expressed through a change in the thickness of a muscle and a change in the joint angle. It is intended to measure with a relatively simple configuration and cost-effectively by using changes in diameter and joint angle.

The technical task to be achieved by the wearable motion measuring device for intention recognition of the wearer and the intention recognition method thereof according to the technical idea of the technology disclosed in the present specification is not limited to the tasks mentioned above, and another task not mentioned is as follows. It will be clearly understood by those skilled in the art from the description.

A wearable motion measurement device according to an embodiment of the present invention includes a sensor configured to cause a change in inductance when a deformation of a muscle or joint due to movement of a wearer wearing clothes and the clothes causes a change in inductance, and the inductance in the sensor It is configured to determine the movement intention of the wearer by detecting the change.

In addition, a method for recognizing the intention of a wearer's motion according to another embodiment of the present invention includes the steps of: causing a linear displacement in a sensor when the wearer's movement from a first motion to a second motion; measuring a change in inductance according to the linear displacement; and determining whether the wearer intends to move based on the change in the inductance.

The sensor is configured to measure a linear displacement.

The linear displacement is measured by a spring of conductive material.

The sensor is configured to measure a change in shape of the muscle caused by the wearer's intention to move from the first motion to the second motion. ,

The change in the shape of the muscle is a change in the length or thickness of the muscle.

The spring is disposed in a direction in which the length or thickness of the muscle changes, and is disposed in a direction orthogonal to the muscle to measure a change in the thickness of the muscle.

The sensor is configured to measure an angular change of the joint caused by the deformation of the wearer from a first motion to a second motion.

The spring is disposed in a direction perpendicular to the axis of rotation of the joint.

The wearable motion measurement device is a type of clothing worn on a part of the body or clothing in the form of full body clothes.

In addition, the wearable robot according to another embodiment of the present invention, clothes; an intention recognition unit configured to determine a movement intention of the wearer of the garment using the motion measurement device described above; a control unit to generate a driving control signal to the driving unit according to the signal from the intention recognition unit; and a driving unit configured to generate a driving force for muscle strength assistance in response to a driving control signal from the control unit.

In addition, a control method of a wearable robot according to another embodiment of the present invention includes: recognizing a movement intention of a wearer of the wearable robot using the above-described method for recognizing a wearer's motion intention; generating a driving control signal for an action of a driving unit based on a result of recognition determination of the wearer's intention to move; and generating a driving force for muscle strength assistance based on the generated driving control signal.

According to an embodiment of the present invention, it is possible to provide a wearable motion measurement device capable of measuring a wearer's intention to move with a relatively simple configuration and cost-effectively, a method for recognizing a wearer's motion intention using the same, a wearable robot including the same, and a control method thereof.

By the wearable motion measuring device according to the embodiment of the present invention, it is also possible to predict the exercise effect and fatigue by monitoring changes in muscle length, thickness, and joint range of motion according to the intensity and frequency of exercise or work.

In addition, the wearable motion measuring device according to an embodiment of the present invention is combined with a wearable robot to measure the length, thickness, or joint angle change of the muscle when the wearer walks or lifts an object, and based on this, the wearer It is possible to grasp the intention of the wearable robot and control the wearable robot using this information.

On the other hand, the effects described above are merely exemplary, and effects predicted or expected from the detailed configuration of the present invention from the point of view of those skilled in the art may also be added to the inherent effects of the present invention.

1 is a block diagram of a wearable robot according to an embodiment of the present invention.
FIG. 2 is a view for explaining the operation of the wearable robot of FIG. 1 .
3 is an exemplary configuration diagram of the cloth-type flexible actuator unit of FIG. 2 .
FIG. 4 is a view showing contraction and relaxation operations of the cloth-type flexible actuator unit of FIG. 3 .
5 shows an inductance measuring device using a spring as a wearable displacement measuring device for recognizing a wearer's intention according to an embodiment of the present invention.
6 is a graph showing the relationship between inductance and spring length in the inductance measuring device of FIG. 5 .
7 shows an embodiment of a wearable motion measuring device implemented by utilizing the spring displacement sensor shown in FIG. 5 .
FIG. 8 shows an example of actual wearing of the wearable motion measuring device of FIG. 7 .
9 is a case in which the thickness change of the biceps muscle is measured by placing a spring sensor on the wrist protector at right angles to the contraction direction of the biceps muscle, which is the experimental example of FIG. Result, (b) shows the measurement result of muscle thickness change when force is applied to the muscle to withstand the load without arm movement.

Hereinafter, the embodiments disclosed in the present specification will be described in detail with reference to the accompanying drawings, but the same or similar components will be given the same reference numbers regardless of reference numerals, and redundant descriptions thereof will be omitted. The suffixes "module" and "part" for the components used in the following description are given or mixed in consideration of only the ease of writing the specification, and do not have a meaning or role distinct from each other by themselves. In addition, in describing the embodiments disclosed in the present specification, if it is determined that detailed descriptions of related known technologies may obscure the gist of the embodiments disclosed in the present specification, the detailed description thereof will be omitted. In addition, the accompanying drawings are only for easy understanding of the embodiments disclosed in the present specification, and the technical spirit disclosed herein is not limited by the accompanying drawings, and all changes included in the spirit and scope of the present invention , should be understood to include equivalents or substitutes.

Terms including an ordinal number, such as first, second, etc., may be used to describe various elements, but the elements are not limited by the terms. The above terms are used only for the purpose of distinguishing one component from another.

When a component is referred to as being “connected” or “connected” to another component, it is understood that the other component may be directly connected or connected to the other component, but other components may exist in between. it should be On the other hand, when it is mentioned that a certain element is "directly connected" or "directly connected" to another element, it should be understood that the other element does not exist in the middle.

The singular expression includes the plural expression unless the context clearly dictates otherwise.

In the present application, terms such as "comprises" or "have" are intended to designate that a feature, number, step, operation, component, part, or combination thereof described in the specification exists, but one or more other features It should be understood that this does not preclude the existence or addition of numbers, steps, operations, components, parts, or combinations thereof.

While the present disclosure has been illustrated and described in detail in the drawings and the foregoing description, the present disclosure is to be considered illustrative and not restrictive in nature, and that only certain embodiments have been shown and described and remain within the spirit of the present disclosure. It will be understood that all changes and modifications that are entered are desirably protected.

Wearable robot and its control method

First, with reference to FIGS. 1 and 2 , a wearable motion measuring device according to an embodiment of the present invention, a method for recognizing a motion intention using the same, and a wearable robot (or a muscle augmentation prosthetic robot) including the same will be described below. do.

1 is a block diagram of a wearable robot according to an embodiment of the present invention, and FIG. 2 is a state diagram for explaining the operation of the wearable robot according to an embodiment of the present invention.

1 and 2 , a wearable robot according to an embodiment of the present invention may include an assembly of a clothing body 20 and a cloth-type flexible actuator 10 connected to the clothing body 20 .

The clothing body 20 is a part that forms the base of the clothing for muscle strength enhancement. Here, the upper is described as an example, but the present invention is not limited thereto, and may be applied to the lower portion.

The garment body 20 may include an endothelium and an outer skin, and the cloth-type flexible actuator 10 may be provided, for example, between the endothelium and the outer skin. In particular, the cloth-type flexible actuator 10 may be disposed in the vicinity of a position corresponding to the joint of the wearer's body on the clothing body.

The clothing body 20 may include first and second body fixing parts 510 and 520 . The first and second body fixing parts 510 and 520 may be respectively disposed on opposite sides of each other based on the corresponding positions of the joints in the clothing body 20 . For example, when the joint is an elbow, the first body fixing part 510 may be a part corresponding to the upper arm, and the second body fixing part 520 may be a part corresponding to the lower arm.

At this time, one side of the flexible actuator assembly may be fixed to the first body fixing part, and the other side may be fixed to the second body fixing part of the clothing body.

Here, the first and second body fixing parts may include a band, and the band wraps around the wearer's arm, so that the artificial muscle is in close contact with the wearer's arm, or the first and second body fixing parts do not move on the wearer's body. can be made to be fixed.

Referring back to FIGS. 1 and 3 , the flexible actuator according to this embodiment may further include a control unit 300 , an electricity supply unit 310 , a sensing unit 320 and a power supply unit 330 , and a sensing unit 320 . ) includes a force sensing unit 320b and an intention recognition unit 320a.

The control unit 300 may be configured to control whether electricity is supplied to the thermally responsive member 100 so that the thermally responsive member 100 can be changed from a contracted state to a relaxed state, or vice versa. Hereinafter, a case in which the thermal reaction member is contracted by the supply of electricity will be described as an embodiment.

Specifically, the control unit 300 may control whether electricity is supplied to the thermal reaction member 100 through the electricity supply unit 310 . When the control unit 300 transmits an electricity supply signal to the electricity supply unit 310 , the electricity supply unit 310 may supply current to the thermal reaction member 100 . In addition, when the control unit 300 transmits an electricity supply stop signal to the electricity supply unit 310 , the electricity supply unit 310 may stop supplying the current so that the current does not flow to the thermal reaction member 100 any more.

When a current is supplied to the thermal reaction member 100 by controlling whether or not electricity is supplied as described above, heat is generated and the thermal reaction member 100 is contracted. When the current supply is stopped, the temperature is decreased and the thermal reaction member 100 is relaxed do.

The electricity supply unit 310 is connected to the thermal reaction member and corresponds to a current driver for current control, force control, or cooling control, such as may be configured to supply current to the thermal reaction member, and a detailed description thereof will be omitted.

The intention recognizing unit 320a of the sensing unit 320 may include a sensor configured to detect the wearer's biometric information or motion. Here, the biometric information may include an EMG. For example, when the intention recognizing unit 320a includes an EMG sensor, the sensor detects a movement or motion of the wearer's muscle (specifically, a contraction motion or a relaxation motion) according to gripping, moving, and supporting of a heavy object. can do. As another example, the intention recognizing unit 320a may include a voice sensor, and in this case, the sensor may be configured to receive the current wearer's behavior, state, requirements, etc. through voice information of the wearer.

In addition, the force sensing unit 320b among the sensing units 320 may include a sensor configured to detect deformation of the thermally responsive member 100 .

Meanwhile, the present invention features a wearable motion measurement device corresponding to the intention recognition unit 320a, and provides an intention recognition method that is simple in configuration and cost-effective compared to the prior art. This will be described again in detail.

The power supply unit 330 may be configured to supply electricity to at least one of the control unit 300 , the electricity supply unit 310 , and the sensing unit 320 .

The control unit 300 may control the current supplied by the electricity supply unit 310 to the thermal reaction member based on the information sensed by the sensing unit 320 .

For example, when the wearer performs an operation that requires the contraction of the thermal reaction member, such as bending the arm, the intention recognition unit 320a may transmit the measured information to the control unit 300 , and the control unit 300 . may determine that the wearer intends to bend the arm based on this information. In addition, the controller 300 may calculate the force required to bend the wearer's arm, and calculate the target force to be output from the flexible actuator 10 . And, to implement this, the control unit 300 may control the current supplied from the electricity supply unit 310 to the thermal reaction member so that the calculated target force is output.

As an example of operation, in the wearable robot, when the sensor corresponding to the intention recognition unit 320a configured to detect the motion of the wearer detects the relaxation motion of the wearer, the control unit 300 of the wearable robot is located in the actuator arranged on the side of the relaxation muscle. The electricity supply unit 310 may be controlled to cut off the power supply to the thermal response member and supply power to the thermal response member in the actuator arranged on the side of the contractile muscle.

On the other hand, fabric-type flexible actuators can be arranged in an antagonistic structure and used for muscle support. Referring to FIG. 2 , an exemplary wearable robot may include a pair of first and second cloth-type flexible actuators 10a and 10b. When the wearer wears the wearable robot, the first and second cloth-type flexible actuators may be disposed to face each other so that the first and second cloth-type flexible actuators are positioned inside and outside the arm (or leg).

Here, the control unit of the wearable robot, when a preset motion of the wearer, for example, a bending motion of the arm (or leg) is sensed, the first cloth-type flexible actuator 10a contracts, and/or the second cloth The type flexible actuator 10b may be configured to relax. That is, the control unit controls the electric supply to supply power to the thermally responsive member of the first cloth-type flexible actuator 10a, and/or the heat-responsive member of the second cloth-type flexible actuator 10b is cut off from power supply At the same time, it is possible to control the electricity supply unit so that power is supplied to the cooling air supply unit of the second cloth-type flexible actuator (10b).

On the other hand, the assembly of the cloth-type flexible actuator 10 functions to generate a driving force for muscle strength assistance, and may be embodied in various configurations for this purpose. These various types of flow actuator assemblies can be combined or interlocked with the wearable motion measurement device and the intention recognition method using the same according to the present invention. Hereinafter, only one example of the flexible actuator assembly will be described for better understanding.

The embodiments described herein are limited to the case of a thermally responsive member that causes the flexible actuator to contract through Joule heating using electric current.

The assembly of the flexible actuator 10 as exemplarily shown in FIGS. 1 and 2 is a pair of first and second flexible actuators 10a and 2 configured to be changeable between a contracted state and a relaxed state according to a change in temperature. A flexible actuator (10b) and a control unit (300) configured to control the power supply for changing the operation between the contracted state and the relaxed state of the first flexible actuator and the second flexible actuator.

The example of the flexible actuator 10 unit shown in FIG. 3 is configured so that the actuator itself contracts and expands as the thermal reaction member 100 disposed inside the main body contracts and expands by the controller 300 .

The thermal reaction member 100 may extend in one direction and may be configured to be contracted or relaxed along the lengthwise direction extended according to a change in temperature. For example, the thermally responsive member may contract in one direction in response to heat generated when electricity is supplied. In addition, when the supply of electricity is stopped and the temperature is reduced, it may be relaxed in one direction and in the opposite direction.

The thermal reaction member 100 may be formed of a shape memory alloy material that responds to heat. For example, the thermal reaction member 100 may be made of a shape memory alloy wire or a shape memory alloy spring. Alternatively, the thermally responsive member 100 is not only a shape memory alloy material, but also a variety of thermally responsive materials that react by heat, for example, shape memory resin, shape memory polymer (SMP), carbon It may be made of a nanotube (carbon nanotube), polyethylene (polyethylene), polyamide (polyamide), nylon (nylon), or the like.

The thermally responsive member 100 may be composed of a plurality of bundles, and in this case, the plurality of thermally responsive members may be arranged in parallel.

Exemplarily, a portion 110a of one side, another portion 110b of one side, a portion 120a of the other side, and another portion 120b of the other side of the plurality of thermal reaction members may be connected to each other. . In addition, a part of the other side and the other part (120a, 120b) may be connected to each other. According to this structure, the current flows in the order of a part 110a of one side of the thermal reaction member, a part and another part 120a, 120b of the other side, and another part 110b of one side of the thermal reaction member, or vice versa. can

The thermal reaction member 100 may be accommodated in the body 400 . The body 400 may be formed in a shape that completely surrounds the thermal reaction member 100 .

First and second fixing parts 510 and 520 may be disposed on one side or the other side of the body 400 . One side of the aforementioned thermal reaction member may be fixed to the first fixing unit 510 , and the other side of the thermal reaction member may be fixed to the second fixing unit 520 .

Meanwhile, the first and second fixing parts 510 and 520 may include holes. The flexible actuator according to the present embodiment may be used in connection with other members using such a hole.

The body 400 may be made of various materials, and preferably, may be made of a material that can be contracted or relaxed together when the thermal reaction member is contracted or relaxed. For example, the body may be made of a flexible material, more preferably a fabric material.

In order to insulate each of the thermal reaction members from each other, a stitch portion 430 may be formed in the body. According to such a structure, each of the thermal reaction members may be prevented from contacting each other.

FIG. 4 is a view for illustrating a contraction or relaxation operation of the cloth-type flexible actuator unit according to FIG. 3 .

Figure 4 (a) is an initial relaxed state of the cloth-type flexible actuator 10, showing a state in which the power of the flexible actuator 10 is turned off and there is no input of cooling air into the actuator.

Next, (b) of FIG. 4 shows that the cloth-type flexible actuator 10 is deformed from a relaxed state to a contracted state, and the power of the flexible actuator 10 is turned on and there is no cooling air input. When an electric current flows through the thermally responsive member to contract, the body (fabric) may be contracted along with the thermally responsive member.

Next, (c) of FIG. 4 shows that the cloth-type flexible actuator 10 is transformed from a contracted state to a relaxed state, the power of the flexible actuator 10 is turned off and cooling air input by the cooling air supply unit 200 is started. indicates the status.

Finally, FIG. 3(d) shows that the cloth-type flexible actuator 10 is in an initial relaxed state in a short time because the cooling rate of the thermal reaction member 100 is improved by the cooling air of the cooling air supply unit 200. Indicates the returned state.

intention recognition unit : wearable motion Measuring device and using it motion intention Recognition method

As mentioned above, in the present invention, for example, a wearable motion measurement device corresponding to the intention recognition unit 320a of the wearable robot is characterized, and using this, the structure is simple and cost-effective compared to the prior art such as an EMG sensor. It provides an intention recognition method.

In the present invention, a person's intention to move is expressed through a change in the thickness of a muscle and a change in the joint angle, and the intention of a person to bend and straighten arms, legs, waist, etc. The basic technical idea is to measure and judge using changes in

That is, the wearable motion measurement apparatus according to an embodiment of the present invention is configured to recognize the wearer's intention through the sensor 322 when the wearer wants to pick up a heavy object. Here, the sensor is configured such that movement from the first motion to the second motion causes a change in inductance, and should be configured to determine the intention of the wearer to move by sensing the change in inductance in the sensor.

The sensor 322 is configured to measure a linear displacement, which may be measured by, for example, a spring of conductive material. That is, the sensor 322 uses the principle that the inductance of a spring made of a conductive material changes with respect to deformation in the longitudinal direction.

5, specifically, the inductance L of the spring, which is the sensor 322, is a function L(l) of the spring length l and can be expressed as follows. 5 is a schematic diagram of an inductance measuring device using a spring sensor as an embodiment of a wearable displacement measuring device according to the present invention.

[Equation 1] L = (N ² × d ² ) / (18d + 40l)

Here, N is the number of rotations of the spring, l is the length of the spring, and r and d are the radius and diameter of the spring, respectively.

From the above equation, it can be seen that the inductance decreases as the length of the spring increases, as confirmed in FIG. 6 . 6 is a graph showing the relationship between inductance and spring length in the inductance measuring device of FIG. 5 .

As in this embodiment, the sensor using the principle that the inductance changes with respect to the deformation of a spring made of a conductive material has an advantage that it can be widely used for measuring linear displacement because the price is lower than that of a conventional high-spec sensor.

7 shows an embodiment of a wearable motion measurement device implemented using a spring displacement sensor according to an embodiment.

The wearable motion measurement device, which is the intention recognition unit 320a shown in FIG. 7 , is implemented by inserting a sensor 322 composed of a spring into the garment 321 . By inserting the spring into the elastic garment so that the change in the muscle or joint is reflected in the length of the spring, it is configured to measure the change in the thickness of the muscle or the change in the angle of the joint.

The elastic garment 321 may be in the form of clothes worn on a part of the body, such as an arm tossie, a wrist protector, or a leg protector, or in the form of full body clothes in the form of underwear, leggings, and tights.

The sensor 322 composed of a spring can be easily attached to a place where the length and thickness of the muscle and the angle of the joint are changed by the movement of the body.

That is, the spring sensor is configured to measure the shape change of the muscle caused by the wearer's intention to move from the first motion to the second motion. A change in the shape of a muscle causes a change in the length or thickness of the muscle. Such a spring is disposed in a direction in which the length or thickness of the muscle changes, for example, as shown in FIG. 7 , is disposed in the garment 321 in a direction orthogonal to the muscle to measure the change in the thickness of the muscle.

Further, the spring sensor is configured to measure an angular change in the joint caused by the deformation of the wearer's first motion to a second motion. For example, as shown in FIG. 7 , a sensor 322 composed of a spring is disposed in the garment 321 in a direction orthogonal to the axis of rotation of the elbow joint.

FIG. 8 shows an example of actual wearing of the wearable motion measurement device of FIG. 7, and FIG. 9 is an experimental result in FIG. 8, in which a spring sensor was placed on the wrist guard at a right angle to the biceps muscle contraction direction to measure the change in the thickness of the biceps is the case Figure 9 (a) is the result of measuring the thickness change of the muscle when the arm is simply bent and unfolded, (b) is the measurement result of the muscle thickness change when the force is applied to the muscle to withstand the load without the movement of the arm indicates

As described above, by using a wearable motion measuring device in the form of full-body clothes in the form of clothes or underwear, leggings, and tights worn on a part of the body that is stretchable using a spring sensor, the length and thickness of muscles can be measured according to the intensity and frequency of exercise or work. By monitoring changes and changes in joint range of motion, exercise effects and fatigue can be predicted.

On the other hand, the wearable motion measuring apparatus described above may be used in combination with or in conjunction with a wearable robot. The control method of the wearable robot includes the steps of recognizing the movement intention of the wearer of the wearable robot using the wearer intention recognition method described above, and driving control for the operation of the driving unit based on the recognition determination result of the wearer's movement intention generating a signal, and generating a driving force for muscle strength assistance based on the generated driving control signal.

By combining a wearable motion measurement device with a wearable robot, when the wearer walks or lifts an object, the length, thickness, or joint angle change of the muscle is measured, and the wearer's intention can be determined based on this. Using this information, it is possible to control the wearable robot.

The above-described apparatus and its control may be implemented by a hardware component, a software component, and/or a combination of the hardware component and the software component. For example, the devices and components described in the embodiments may include a processor, a controller, an arithmetic logic unit (ALU), a digital signal processor, a microcomputer, a field programmable gate array (FPGA), and a programmable logic unit (PLU). It may be implemented using one or more general purpose or special purpose computers, such as a logic unit, microprocessor, or any other device capable of executing and responding to instructions. The processing device may execute an operating system (OS) and one or more software applications running on the operating system. The processing device may also access, store, manipulate, process, and generate data in response to execution of the software. For convenience of understanding, although one processing device is sometimes described as being used, one of ordinary skill in the art will recognize that the processing device may include a plurality of processing elements and/or multiple types of processing elements. it can be seen that there is For example, the processing device may include a plurality of processors or one processor and one controller. Other processing configurations are also possible, such as parallel processors.

Software may comprise a computer program, code, instructions, or a combination of one or more of these, which configures the processing device to operate as desired or, independently or in combination, instructs the processing device to operate as desired. can do. Software and/or data may be permanently or temporarily placed on any type of machine, component, physical device, virtual device, computer storage medium or device to be interpreted by or provide instructions or data to the processing device. can be materialized. The software may be distributed over networked computer systems, and stored or executed in a distributed manner. Software and data may be stored in one or more computer-readable recording media.

The method according to the embodiment may be implemented in the form of program instructions that can be executed through various computer means and recorded in a computer-readable medium. The computer-readable medium may include program instructions, data files, data structures, etc. alone or in combination. The program instructions recorded on the medium may be specially designed and configured for the embodiment, or may be known and available to those skilled in the art of computer software. Examples of the computer-readable recording medium include magnetic media such as hard disks, floppy disks and magnetic tapes, optical media such as CD-ROMs and DVDs, and magnetic such as floppy disks. - includes magneto-optical media, and hardware devices specially configured to store and execute program instructions, such as ROM, RAM, flash memory, and the like. Examples of program instructions include not only machine language codes such as those generated by a compiler, but also high-level language codes that can be executed by a computer using an interpreter or the like. The hardware devices described above may be configured to operate as one or more software modules to perform the operations of the embodiments, and vice versa.

As described above, although the embodiments have been described with reference to the limited embodiments and drawings, various modifications and variations are possible from the above description by those skilled in the art. For example, the described techniques are performed in a different order than the described method, and/or the described components of the system, structure, apparatus, circuit, etc. are combined or combined in a different form than the described method, or other components Or substituted or substituted by equivalents may achieve an appropriate result.

Therefore, other implementations, other embodiments, and equivalents to the claims are also within the scope of the following claims.

10 Flexible actuator
300 control
310 Electricity supply unit 320 Sensor unit
320a intent recognition unit
321 Garment 322, 323 Sensor
330 power supply

Claims (20)

A wearable motion measurement device comprising:
cloth; and
and a sensor configured to cause a change in inductance by deformation of a muscle or joint caused by movement of a wearer wearing the garment,
configured to determine the wearer's intention to move by sensing an inductance change in the sensor,
Wearable motion measurement device.
The method of claim 1,
The sensor is configured to measure a linear displacement in response to a deformation of a muscle or joint,
Wearable motion measurement device.
3. The method of claim 2,
The linear displacement is measured by a spring of conductive material,
Wearable motion measurement device.
4. The method of claim 3,
wherein the sensor is configured to measure a change in shape of a muscle caused by a wearer's intention to move from a first motion to a second motion;
Wearable motion measurement device.
5. The method of claim 4,
The shape change of the muscle is a change in the length or thickness of the muscle,
Wearable motion measurement device.
6. The method of claim 5,
The spring is disposed in a direction in which the length or thickness of the muscle changes,
Wearable motion measurement device.
7. The method of claim 6,
The spring is disposed in a direction perpendicular to the muscle to measure a change in the thickness of the muscle,
Wearable motion measurement device.
4. The method of claim 3,
wherein the sensor is configured to measure an angular change in a joint caused by a deformation of the wearer from a first motion to a second motion;
Wearable motion measurement device.
9. The method of claim 8,
The spring is disposed in a direction perpendicular to the axis of rotation of the joint,
Wearable motion measurement device.
6. The method of claim 5,
The wearable motion measurement device is a type of clothing worn on a part of the body or clothing in the form of full body clothes,
Wearable motion measurement device.
A wearable motion recognition method comprising:
causing a linear displacement of the sensor by movement of the wearer from the first motion to the second motion;
measuring, by a controller, a change in inductance according to the linear displacement; and
determining, by the controller, whether the wearer intends to move based on the change in the inductance
containing,
Wearable motion recognition method.
12. The method of claim 11,
The linear displacement of the sensor is generated by a spring of a conductive material,
Wearable motion recognition method.
13. The method of claim 12,
The linear displacement of the sensor is based on a change in the shape of the muscle caused by the wearer's intention to move.
Wearable motion recognition method.
14. The method of claim 13,
The shape change of the muscle is a change in the length or thickness of the muscle,
Wearable motion recognition method.
15. The method of claim 14,
The spring is disposed in a direction in which the length or thickness of the muscle changes,
Wearable motion recognition method.
16. The method of claim 15,
The spring is disposed in a direction perpendicular to the muscle to measure a change in the thickness of the muscle,
Wearable motion recognition method.
13. The method of claim 12,
The linear displacement of the sensor is based on the angular change of the joint caused by the wearer's intention to move,
Wearable motion recognition method.
18. The method of claim 17,
The spring is disposed in a direction perpendicular to the axis of rotation of the joint,
Wearable motion recognition method.
As a wearable robot,
cloth;
An intention recognition unit configured to determine a movement intention of a wearer of the garment using the motion measuring device according to any one of claims 1 to 10;
a control unit to generate a driving control signal to the driving unit according to the signal from the intention recognition unit; and
A driving unit configured to generate a driving force for muscle strength assistance by a driving control signal from the control unit
containing,
wearable robot.
A control method for a wearable robot, comprising:
19. The method of any one of claims 11 to 18, further comprising: recognizing, by a controller, a movement intention of a wearer of the wearable robot using the motion recognition method;
generating, by the control unit, a driving control signal for the operation of the driving unit based on the recognition determination result of the wearer's movement intention; and
generating, by the control unit, a driving force for muscle strength assistance based on the generated driving control signal
containing,
Control method of wearable robot.

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