KR102508865B1 - Wearable Robot Having Structure To Minimize Acceleration Impact - Google Patents

Abstract

A wearable robot including an acceleration impact minimization structure is disclosed. A wearable robot according to an embodiment of the present invention includes a suit in the form of a garment in which a plurality of bending joints are provided at positions corresponding to the wearer's joints; a joint driving unit built into the bending joint and driven according to a control signal from a control unit; It is mounted on the inner surface of the suit and has a structure in direct contact with the wearer's body, and is spaced apart from the inner surface of the suit by a predetermined length by the first elastic restoring member mounted on the inner surface of the suit, and the movement of the wearer's body An inner motion detection unit that changes the separation distance from the inner surface of the suit according to; It is mounted on the outer surface of the suit and has a structure in direct contact with an external object. An outer movement detection unit in which the separation distance with the outer surface of the chute is changed according to; A control unit mounted inside the suit and controlling the operation of the joint drive unit based on data obtained through the inner motion detector and the outer motion detector.

Description

Wearable robot having structure to minimize acceleration impact

The present invention relates to a wearable robot, and more particularly, to a wearable robot including a structure for minimizing an acceleration impulse.

In general, a walking assistance device is a means used to assist a patient or an elderly person who has difficulty walking in rehabilitation or to assist their behavior.

Conventional walking aids are simple mechanisms that operate according to the movement of the wearer, but recently developed walking aids combine computers and ergonomic mechanisms to provide more convenience and excellent strength enhancing effects.

The walking aids as described above can be largely divided into three fields. First, the field of assistive devices in the form of supporting the wearer's weight instead and balancing them using the strength of the upper body when moving while leaning on the human body, and second, It can be divided into a wheelchair field that enables people who cannot walk to walk, and a wearable robot field that assists muscle strength by attaching actuators to the lower extremity joints of people who cannot walk easily.

As an example of the above conventional walking assistance device, Korea Patent Registration No. 716597 discloses an intelligent muscular strength and walking assistance robot.

As shown in FIG. 1 , the intelligent muscle strength and walking assistance robot includes an exoskeleton worn on the wearer's lower body, a caster walker driven by a motor, and an arm connecting the exoskeleton and the caster walker. The exoskeleton has a configuration in which hip and knee joints are installed on the left and right leg frames, respectively, while waist braces, thigh braces, and calf braces worn by the wearer are coupled to the leg frames. The caster walker with wheels is driven by a separate driving motor and has a handle that the wearer can hold and support. The arm installed on the caster walker and connected to the exoskeleton has a built-in driving device composed of a motor and a gear to drive the hip and knee joints of the exoskeleton, respectively.

These conventional walking assistance devices or robots can be said to be very useful for rehabilitation through muscle strength enhancement as well as walking assistance because the caster walker moves on its own and operates the hip and knee joints of the exoskeleton through the driving device of the arm.

However, conventional walking assistance devices have difficulties in control due to backlash due to an excessively complex structure of the driving device, and are difficult to use in terrain such as stairs, and are very difficult to carry.

In addition, when grasping, pushing, or lifting an external object using a wearable robot including a conventional walking aid, the wearer cannot accurately grasp the weight of the external object. Due to this, the wearer has a problem in that it is difficult to finely adjust force using the wearable robot and cannot move at high speed.

Wearable robots according to the prior art are applied with a technology for predicting the next movement using the wearer's movement pattern, but there is a problem in that various movements are limited. There is a problem happening.

In addition, in the case of the wearable robot according to the prior art, it is a structure that is worn in close contact with the wearer's body surface, and the force applied from the outside is accelerated when walking, when in contact with an external object, or when lifting an external object, so that the wearer's It can cause shock to the body. Also, even when the wearer makes a sudden movement, the wearer's body and the suit of the wearable robot collide with each other, so that an impact may be applied to the wearer's body.

Therefore, there is a need for a technique capable of solving the above-mentioned problems according to the prior art.

Korean Registered Patent Publication No. 10-1099521 (registration date: December 21, 2011)

An object of the present invention is to provide a wearable robot that can reduce dependence on mechanical systems in movement and balance control and give more allocation to the capabilities of the wearer, targeting the general public,

Another object of the present invention is to provide a high-speed movement of the wearer so that the wearer can stably support and walk without deformation of the body so that the wearer can walk, targeting paraplegic patients, elderly people with weak muscle strength, and patients with reduced muscle strength. and to provide a wearable robot including a structure that does not burden the body by implementing natural movements.

In order to achieve this object, a wearable robot according to an aspect of the present invention has a plurality of bending joints provided at positions corresponding to the wearer's joints, and detects bending angles, bending angular velocities, and bending torques at the plurality of bending joints. A suit in the form of a garment equipped with a sensor; a joint driving unit built into the bending joint and driven according to a control signal from a control unit; It is mounted on the inner surface of the suit and has a structure in direct contact with the wearer's body, and is spaced apart from the inner surface of the suit by a predetermined length by the first elastic restoring member mounted on the inner surface of the suit, and the movement of the wearer's body An inner motion detection unit that changes the separation distance from the inner surface of the suit according to; It is mounted on the outer surface of the suit and has a structure in direct contact with an external object. An outer movement detection unit in which a separation distance with the outer surface of the chute is changed according to; A controller mounted inside the suit and controlling the operation of the joint drive unit based on data acquired through the inner motion detector and the outer motion detector.

In one embodiment of the present invention, the suit, a first wearing portion that is spaced apart from the wearer's joint in one direction by a predetermined distance is mounted in a structure that surrounds a part of the wearer's body; and a second wearing part coupled to the first wearing part by a bent joint and spaced apart from the wearer's joint in the other direction by a predetermined distance to surround a part of the wearer's body.

In this case, the inside motion detection unit and the outside motion detection unit are mounted as a pair facing opposite directions, and the inside motion detection unit is continuously mounted along the inner circumferential surface of the suit to cover a part of the wearer's body. The motion detection unit may be continuously mounted in a form surrounding the outer circumferential surface of the suit.

Also, the inner motion detector and the outer motion detector may have a ring structure surrounding a part of the wearer's body.

In this case, the inner motion detecting unit and the outer motion detecting unit may have a structure in which a plurality of plate-shaped structures form a group to form a shape surrounding a part of the wearer's body.

In addition, the plurality of plate-like structures constituting the inner motion detection unit and the outer motion detection unit may be connected to each other by a binding member having an elastic restoring force of a predetermined size.

In one embodiment of the present invention, the control unit detects the moving direction and speed of the wearer's body from the inner motion detector, detects the contact position with the external object and the amount of pressing force from the outer motion detector, and stores the detected data Based on this, it is possible to determine the operating direction of the joint drive unit and the magnitude of the rotational torque.

In this case, in the process of calculating the rotational torque of the joint drive unit based on the detected data, the control unit calculates the rotational torque by multiplying a preset amplification constant, and the amplification constant is the pressure detected by the external motion detection unit. It increases in proportion to the data value, and may be set differently according to the type of wearer's joint where the corresponding bending joint is located.

In one embodiment of the present invention, the inner motion detection unit has a structure in which a plurality of plate-like structures form a group so as to surround a part of the wearer's body, and the length spaced apart from the inner surface of the suit is the wearer's body. It is set differently for each part, and the outer motion detection unit has a structure in which a plurality of plate-like structures form a group so as to surround a part of the outer surface of the suit, and the length separated from the outer surface of the suit is a part of the wearer's body. It can be set differently for each.

In addition, the inner motion detection unit, the distance from the inner surface of the suit increases the distance from the wearer's joint, and the wearer's joint distance decreases, the outer motion detection unit, spaced apart from the inner surface of the suit The length may increase as it moves away from the wearer's joint and decrease as it approaches the wearer's joint.

As described above, according to the wearable robot of the present invention, the inner motion detection unit and the outer motion detection unit having a specific structure are provided in a suit equipped with a plurality of bending joints and joint driving units, and a predetermined length is provided between the inner motion detection unit and the suit. By forming a gap and forming a gap of a predetermined length between the outer motion detector and the suit, in detecting the direction and speed of the wearer's motion, acceleration shock can be absorbed through the gap and calculation time can be secured. , Through this, it is possible to implement high-speed movement and natural movement of the wearer, resulting in less dependence on mechanical systems in movement and balance control, more allocation to the wearer's abilities, and a wearable robot that does not strain the wearer's body. can provide.

In addition, according to the wearable robot of the present invention, a first wearing part disposed on one side and a second wearing part disposed on the other side with the wearer's joint as the center, and the first wearing part and the second wearing part have inner sides of the ring structure. By arranging the motion detection unit and the lateral motion detection unit in a specific form, it is possible to accurately and continuously detect the direction and speed of the wearer's movement, and after detection, the position restoration of the internal motion detection unit and the lateral motion detection unit can be effectively implemented, so that the wearer's It is possible to implement high-speed movement and natural movement of the body, and as a result, it is possible to provide a wearable robot that does not put too much strain on the wearer's body.

In addition, according to the wearable robot of the present invention, the inner motion detector and the outer motion detector are configured in a structure in which a plurality of plate-like structures form a group so as to surround a part of the wearer's body, thereby detecting the movement of the wearer's body surface. It can be detected in various directions, and based on the detected data, the direction and speed of the wearer's movement can be more accurately and precisely detected, and as a result, the wearer's high-speed movement and natural movement can be realized, and at the same time, the wearer's It is possible to provide a wearable robot that does not put too much strain on the human body.

In addition, according to the wearable robot of the present invention, the value of the amplification constant is set differently according to the type of the wearer's joint where the corresponding bending joint is located, and the length spaced apart from the inner surface of the suit is set differently for each part of the wearer's body, It is possible to fundamentally block the occurrence of acceleration impact that can damage the wearer's body surface and effectively detect the wearer's movement, and as a result, it is possible to implement the wearer's high-speed movement and natural movement, and at the same time, the wearer's It is possible to provide a wearable robot that does not put too much strain on the body.

1 is a side view showing a wearable suit according to the prior art.
2 is a configuration diagram showing a wearable robot according to an embodiment of the present invention.
3 is a cross-sectional schematic diagram illustrating a wearable robot suit, an inner motion detector, and an outer motion detector according to an embodiment of the present invention.
4 is an enlarged view of part A of FIG. 3 .
5 is a schematic cross-sectional view illustrating a wearable robot suit, an inner motion detector, and an outer motion detector according to another embodiment of the present invention.
6 is a side view illustrating a wearable robot according to an embodiment of the present invention.
FIG. 7 is a side view illustrating a state in which the wearable robot shown in FIG. 6 is worn on a wearer's body.
FIG. 8 is a schematic diagram showing a comparison between the distanced lengths of the inner and outer motion detectors of the wearable robot shown in FIG. 6 .
9 is a photograph showing a field to which the wearable robot according to an embodiment of the present invention can be applied.

Hereinafter, preferred embodiments of the present invention will be described in detail with reference to the drawings. Prior to this, terms or words used in this specification and claims should not be construed as limited to ordinary or dictionary meanings, but should be interpreted as meanings and concepts consistent with the technical spirit of the present invention.

Throughout this specification, when a member is said to be located “on” another member, this includes not only a case where a member is in contact with another member, but also a case where another member exists between the two members. Throughout this specification, when a certain component is said to "include", it means that it may further include other components without excluding other components unless otherwise stated.

FIG. 2 is a configuration diagram showing a wearable robot according to an embodiment of the present invention, and FIG. 3 is a cross-sectional schematic diagram showing a suit, an inner motion detector, and an outer motion detector of the wearable robot according to an embodiment of the present invention. 4, an enlarged view of part A of FIG. 3 is shown.

Referring to these drawings, the wearable robot 100 according to the present embodiment includes a suit 110 having a specific structure, a joint drive unit 120, an inside motion detection unit 130, an outside motion detection unit 140, and a control unit 160. It may be a configuration that includes.

In this case, according to the present embodiment, the chute 110 equipped with the plurality of bending joints 111 and the joint drive unit 120 is provided with an inside motion detection unit 130 and an outside motion detection unit 140 having a specific structure, By forming a gap of a predetermined length between the inner motion detection unit 130 and the suit 110 and forming a gap of a predetermined length between the outer motion detection unit 140 and the suit 110, the movement direction according to the wearer's movement and In detecting the speed, it is possible to absorb the acceleration shock through the gap and secure the calculation time at the same time, and through this, it is possible to implement the wearer's high-speed movement and natural movement, resulting in reduced dependence on the mechanical system in movement and balance control. It is possible to give more quota to the wearer's ability and to provide a wearable robot that does not put too much strain on the wearer's body.

Specifically, the suit 110 is a clothing-type configuration that surrounds a part of the wearer's body, and is provided with a bending joint 111 at a position corresponding to the wearer's joint, and a plurality of bending joints 111 have a bending angle and bending It is preferable to have a structure in which a detection sensor for detecting angular velocity and bending torque is mounted. At this time, the joint driving unit 120 driven according to the control signal of the control unit 160 may be incorporated in the bending joint 111 .

As shown in FIGS. 3 and 4 , the inner motion detection unit 130 and the outer motion detection unit 140 according to the present embodiment are configured to be independently mounted on the inner and outer surfaces of the suit 110, respectively. .

Specifically, the inner motion detection unit 130 is a structure that is mounted on the inner surface of the suit 110 and directly contacts the body of the wearer, and is attached to the first elastic restoring member 151 mounted on the inner surface of the suit 110. It is arranged spaced apart from the inner surface of the suit 110 by a predetermined length, and the distance between the suit 110 and the inner surface may be changed according to the movement of the wearer's body.

In addition, the outer motion detection unit 140 is a structure that is mounted on the outer surface of the suit 110 to directly contact an external object, and is mounted on the outer surface of the suit 110 by the second elastic restoring member 152 mounted on the suit It is disposed spaced apart from the outer surface of the 110 by a predetermined length, and the distance between the chute 110 and the outer surface may be changed according to the contact pressure of the external object.

The control unit 160 according to the present embodiment is a configuration mounted inside the suit 110, and controls the joint driving unit 120 based on data obtained through the inside motion detection unit 130 and the outside motion detection unit 140. operation can be controlled.

Specifically, as shown in FIG. 4 , the control unit 160 may detect the moving direction and speed of the wearer's body from the inner motion detection unit 130 . In addition, the control unit 160 may detect a contact position with an external object and a magnitude of pressing force from the external motion detection unit 140, and may determine an operating direction and a rotational torque magnitude of the joint driving unit 120 based on the detected data. . In some cases, since detection data is absent due to contact with an external object in the case of a simple movement of the wearer, the data detected from the external movement detection unit 140 is omitted or ignored to operate the joint driving unit 120 and the amount of rotational torque. can decide

In this case, the control unit 160 may calculate the rotational torque by multiplying the rotational torque by a predetermined amplification constant in the process of calculating the rotational torque of the joint driving unit 120 based on the detected data. The above-mentioned amplification constant increases in proportion to the value of the pressure data detected by the external motion detection unit 140, and is preferably set differently according to the type of wearer's joint where the corresponding bending joint 111 is located.

As shown in FIG. 2 , the control unit 160 according to the present embodiment may mount a data storage unit 161 therein. The data storage unit 161 stores a drive program of the joint drive unit 120 driven by a control signal of the control unit 160, and may store data such as a wearer's wearing position, body size, weight, and the like. The control unit 160 controls each component constituting the wearable robot 100 using the data stored in the data storage unit 161 . In some cases, after deriving a movement pattern by recording the movement of the wearer in real time, when the wearer moves according to the pattern, a control signal corresponding to the pattern is transmitted to the joint driving unit 120 so that the wearable robot 100 More natural movements can be realized.

5 is a cross-sectional schematic diagram illustrating a suit, an inner motion detector, and an outer motion detector of a wearable robot according to another embodiment of the present invention.

Referring to FIG. 5 together with FIG. 2 , the inner motion detecting unit 130 and the outer motion detecting unit 140 according to the present embodiment include a plurality of plate-like structures 130a and 140a so as to surround a part of the wearer's body. It may be a structure forming a group of

Specifically, as shown in FIG. 5 , the inner motion detection unit 130 has a structure in which a plurality of plate-like structures 130a form a group to form a shape surrounding a part of the wearer's body. At this time, it is preferable that the length of the inner motion detection unit 130 and the inner surface of the suit 110 is set differently for each part of the wearer's body. In addition, the outer motion detection unit 140 has a structure in which a plurality of plate-like structures 140a form a group so as to form a shape surrounding a portion of the outer surface of the suit 110 . At this time, it is preferable that the outer surface and the spaced length of the suit 110 be set differently for each part of the wearer's body.

More preferably, as shown in FIG. 5 , the plurality of plate-like structures constituting the inner motion detection unit 130 and the outer motion detection unit 140 are connected to each other by binding members 130b and 140b having elastic restoring force of a predetermined size. can be connected At this time, the binding members 130b and 140b may be made of a waterproof and dustproof material or a material having such a material deposited or coated on the outer surface so that foreign substances cannot penetrate from the outside to the inside of the wearer's body direction. there is.

In this case, according to the present embodiment, the inner motion detecting unit 130 and the outer motion detecting unit 140 are configured in a structure in which a plurality of plate-like structures form a group so as to surround a part of the wearer's body. The movement of the body surface can be detected in various directions, and based on the detected data, the direction and speed of the wearer's movement can be more accurately and precisely detected, and as a result, the wearer's high-speed movement and natural movement can be realized. At the same time, it is possible to provide a wearable robot that does not put too much strain on the wearer's body.

More specifically, as shown in FIG. 8, the inner motion detection unit 130, the length of the suit 110 spaced apart from the inner surface increases as it moves away from the wearer's joints, and decreases as it gets closer to the wearer's joints. It is preferable to be installed so that In addition, the outer motion detection unit 140 is preferably mounted such that the length of the outer surface and the spaced distance of the suit 110 increases as it moves away from the wearer's joint and decreases as it approaches the wearer's joint.

In this case, according to the present embodiment, the value of the amplification constant is set differently according to the type of joint of the wearer where the corresponding bending joint is located, and the length separated from the inner surface of the suit 110 is set differently for each part of the wearer's body. By doing so, it is possible to fundamentally block the occurrence of acceleration shock that can damage the wearer's body surface and at the same time effectively detect the wearer's movement, and as a result, it is possible to implement the wearer's high-speed movement and natural movement, and at the same time It is possible to provide a wearable robot that does not put too much strain on a wearer's body.

6 is a side view showing the wearable robot according to an embodiment of the present invention, and FIG. 7 is a side view showing the wearable robot shown in FIG. 6 being worn on a wearer's body.

Referring to these drawings together with FIG. 2 , the suit 110 according to this embodiment may be composed of a plurality of wearing parts 110a and 110b. For example, a wearable part with a structure covering the torso including the wearer's chest, a wearing part with a structure that covers part or all of an arm, a wearing part with a structure that covers part or all of a foot, and a wearing part with a structure that wraps around a wearer's joints can

6 and 7 show a wearable robot 100 including wearable parts 110a and 110b having a structure wrapping around a wearer's joints.

Specifically, the wearable robot 100 according to this embodiment includes a first wearing part 110a mounted in a structure that surrounds a part of the wearer's body by being spaced apart from each other by a predetermined distance from one side and the other side of the wearer's joint, and It may be configured to include the second wearing part 110b. At this time, the first wearing part 110a and the second wearing part 110b may be bound by a bending joint 111 disposed adjacent to the wearer's joint.

As described above, it is preferable that the inside motion detection unit 130 and the outside motion detection unit 140 according to the present embodiment are mounted as a pair facing opposite directions. At this time, the inner motion detection unit 130 may be continuously mounted along the inner circumferential surface of the suit 110 in a form surrounding a part of the wearer's body. At the same time, the outer motion detection unit 140 is preferably continuously mounted in a form surrounding the outer circumferential surface of the suit 110.

6 and 7 show only the inner motion detecting unit 130 and the outer motion detecting unit 140, which have structures surrounding a part of the wearer's body, but may be a ring structure that can cover a finger or arm of the wearer in some cases. Of course, the structures of the inner motion detection unit 130 and the outer motion detection unit 140 can be changed into various structures according to the size and shape of the part to be worn and the designer's intention.

In this case, according to the present embodiment, a first wearing part 110a disposed on one side around the wearer's joint and a second wearing part 110b disposed on the other side, and the first wearing part 110a and By arranging the inner motion detector 130 and the outer motion detector 140 in a specific form on the second wearing part 110b, the direction and speed of the wearer's motion can be accurately and continuously detected, and the detected Afterward, it is possible to effectively restore the positions of the inner motion detection unit 130 and the outer motion detection unit 140, so that high-speed movement and natural motion of the wearer can be implemented, and as a result, a wearable robot that does not put too much strain on the wearer's body can be provided. can

9 shows a picture showing a field to which the wearable robot according to an embodiment of the present invention can be applied.

As shown in FIG. 9 , the wearable robot according to this embodiment can be applied to various fields according to the wearer's wearing position, wearing type, and application field.

Specifically, when worn on the shoulder and upper body, it can be used in work and rehabilitation fields. When worn on the arm, it can be used in work, daily life and game fields. When worn on the hand, it can be used in rehabilitation, daily life and game fields. can be utilized for

Of course, the various fields shown in FIG. 9 are only one embodiment and are not limited thereto.

In the above detailed description of the present invention, only specific embodiments thereof have been described. However, it should be understood that the present invention is not limited to the particular forms mentioned in the detailed description, but rather it is understood to include all modifications, equivalents and substitutes within the spirit and scope of the present invention as defined by the appended claims. It should be.

That is, the present invention is not limited to the specific embodiments and descriptions described above, and anyone having ordinary knowledge in the technical field to which the present invention belongs can make various modifications without departing from the gist of the present invention claimed in the claims. is possible, and such variations fall within the protection scope of the present invention.

10: wearer's body
11: wearer's joints
12: wearer's thigh
13: wearer's calf
100: wearable robot
110: suit
111: bending joint
110a: first wearing part
110b: second wearing part
120: joint driving unit
130: inner movement detection unit
130a: plate-like structure
130b: binding member
140: external movement detection unit
140a: plate-like structure
140b: binding member
151: first elastic restoring member
152: second elastic restoring member
160: control unit
161: data storage unit

Claims (5)

A plurality of bending joints 111 are provided at positions corresponding to the joints of the wearer, and a plurality of bending joints 111 are equipped with detection sensors for detecting bending angles, bending angular velocities, and bending torques. Suit 110 in the form of clothing ;
a joint driving unit 120 built into the bending joint 111 and driven according to a control signal from the control unit 160;
It is mounted on the inner surface of the suit 110 and has a structure in direct contact with the wearer's body, and the inner surface of the suit 110 and the predetermined an inner motion detection unit 130 that is spaced apart from each other by a length and changes a distance from the inner surface of the suit 110 according to the movement of the wearer's body;
It is mounted on the outer surface of the chute 110 and has a structure in direct contact with an external object. Is arranged spaced apart by, according to the contact pressing force of the external object chute 110, the outer movement detection unit 140 in which the separation distance with the outer surface is changed; and
A control unit 160 mounted inside the suit 110 and controlling the operation of the joint driving unit 120 based on data obtained through the inner motion detecting unit 130 and the outer motion detecting unit 140;
including,
The chute 110,
A first wearing part 110a spaced apart from the wearer's joint by a predetermined distance in one direction and mounted in a structure that surrounds a part of the wearer's body; and
A second wearing part 110b coupled to the first wearing part 110a by a bending joint 111 and mounted in a structure that surrounds a part of the wearer's body by being spaced apart by a predetermined distance from the wearer's joint to the other side;
including,
The inside motion detection unit 130 and the outside motion detection unit 140 are mounted as a pair facing opposite directions,
The inner motion detection unit 130 is continuously mounted along the inner circumferential surface of the suit 110 in a form surrounding a part of the wearer's body,
The wearable robot, characterized in that the outer motion detection unit 140 is continuously mounted in a form surrounding the outer circumferential surface of the suit (110).
delete A plurality of bending joints 111 are provided at positions corresponding to the joints of the wearer, and a plurality of bending joints 111 are equipped with detection sensors for detecting bending angles, bending angular velocities, and bending torques. Suit 110 in the form of clothing ;
a joint driving unit 120 built into the bending joint 111 and driven according to a control signal from the control unit 160;
It is mounted on the inner surface of the suit 110 and has a structure in direct contact with the wearer's body, and the inner surface of the suit 110 and the predetermined an inner motion detection unit 130 that is spaced apart from each other by a length and changes a distance from the inner surface of the suit 110 according to the movement of the wearer's body;
It is mounted on the outer surface of the chute 110 and has a structure in direct contact with an external object. Is arranged spaced apart by, according to the contact pressing force of the external object chute 110, the outer movement detection unit 140 in which the separation distance with the outer surface is changed; and
A control unit 160 mounted inside the suit 110 and controlling the operation of the joint driving unit 120 based on data obtained through the inner motion detecting unit 130 and the outer motion detecting unit 140;
including,
The controller 160,
Detecting the direction and speed of movement of the wearer's body from the inner movement detector 130;
Detecting the contact position with the external object and the magnitude of the pressing force from the external motion detection unit 140,
A wearable robot characterized in that the operating direction and rotational torque of the joint driving unit 120 are determined based on the detected data.
According to claim 3,
The controller 160,
In the process of calculating the rotational torque of the joint drive unit 120 based on the detected data, the rotational torque is calculated by multiplying the preset amplification constant,
The amplification constant increases in proportion to the pressure data value detected from the external motion detection unit 140, and is set differently depending on the type of wearer's joint where the corresponding bending joint 111 is located Wearable robot, characterized in that.
A plurality of bending joints 111 are provided at positions corresponding to the joints of the wearer, and a plurality of bending joints 111 are equipped with detection sensors for detecting bending angles, bending angular velocities, and bending torques. Suit 110 in the form of clothing ;
a joint driving unit 120 built into the bending joint 111 and driven according to a control signal from the control unit 160;
It is mounted on the inner surface of the suit 110 and has a structure in direct contact with the wearer's body, and the inner surface of the suit 110 and the predetermined an inner motion detection unit 130 that is spaced apart from each other by a length and changes a distance from the inner surface of the suit 110 according to the movement of the wearer's body;
It is mounted on the outer surface of the chute 110 and has a structure in direct contact with an external object. Is arranged spaced apart by, according to the contact pressing force of the external object chute 110, the outer movement detection unit 140 in which the separation distance with the outer surface is changed; and
A control unit 160 mounted inside the suit 110 and controlling the operation of the joint driving unit 120 based on data obtained through the inner motion detecting unit 130 and the outer motion detecting unit 140;
including,
The inner motion detector 130 has a structure in which a plurality of plate-like structures 130a form a group so as to surround a part of the wearer's body, and the length spaced apart from the inner surface of the suit 110 is the wearer's body. Each part is set differently,
The outer motion detector 140 has a structure in which a plurality of plate-like structures 140a form a group so as to surround a portion of the outer surface of the suit 110, and has a length spaced apart from the outer surface of the suit 110. is a wearable robot characterized in that it is set differently for each part of the wearer's body.

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