KR102630930B1 - Method, apparatus and computer program for assisting power of wearable robot - Google Patents

Abstract

The present invention is carried out by a computing device and includes the step of controlling the driving unit based on sensing data and exercise data. The step of controlling the driving unit based on the sensing data and exercise data includes controlling the driving unit based on the sensing data and exercise data. A step of acquiring exercise ability information, a step of determining the physical strength level based on the exercise ability information, a step of acquiring information about the adjustment direction of the driving part, and driving signal information corresponding to the adjustment direction based on the determination result of the physical strength level. Includes acquisition steps. According to an embodiment of the present invention, active strength exercise assistance or strength assistance can be provided depending on the user's physical strength without the user manually controlling the output of the driving unit, so that a hybrid type of exercise performance ability can be easily provided. , it is possible to secure and save the optimal profile related to power assistance customized to the user, allowing users who reuse the wearable robot to provide faster and more accurate output setting values of the drive unit.

Description

Method, apparatus and computer program for assisting power of wearable robot {Method, apparatus and computer program for assisting power of wearable robot}

The present invention relates to a power assistance method, device, and computer program for wearable robots. In detail, the present invention relates to a technology that determines the physical strength level of a user who wears a wearable robot and performs exercise such as walking, and provides drag or complementary force during the movement process according to the judgment result.

A wearable robot is a device that assists the user's movements by wearing clothing and transmitting assistive force to the clothing from a driving part such as a motor. The wearable robot described above helps users who need walking assistance and rehabilitation treatment to easily carry out their daily lives or receive treatment. Compared to existing exoskeleton-type rehabilitation robots, the wearable robot has a low weight and volume, making it easy to handle and wear. can do.

However, in the case of conventional wearable robots, they do not operate in accordance with the user's physical condition and only provide uniform assistance. Therefore, the assistance effect of conventional wearable robots is reduced for users who are relatively strong or have a lot of stamina, and for users who are relatively strong or have a lot of stamina, the assistive power is weak, which reduces the effectiveness in daily life or during treatment. There is.

Therefore, there is a need to develop technology that can actively determine the physical strength of a user wearing a wearable robot as he or she moves and provide appropriate force support based on this.

Various embodiments of the present invention are intended to solve the above problems, and the purpose is to provide power as much as necessary based on the user's physical condition and movement.

In addition, the purpose of the present invention is to assist muscle strength exercise or muscle strength itself depending on the user's condition.

The problems to be solved by the present invention are not limited to the problems mentioned above, and other problems not mentioned can be clearly understood by those skilled in the art from the description below.

To this end, the present invention is implemented by a computing device and includes the step of controlling the driving unit based on sensing data and exercise data. The step of controlling the driving unit based on the sensing data and exercise data includes the step of controlling the driving unit based on the sensing data and exercise data. A step of acquiring exercise capacity information based on the step, a step of determining the physical strength level based on the exercise ability information, a step of acquiring information about the adjustment direction of the driving part, and a drive corresponding to the adjustment direction based on the determination result of the physical strength level. It includes the step of acquiring signal information.

In addition, the present invention further includes obtaining basic information about the user and obtaining optimal parameter information about the driving unit before controlling the driving unit based on sensing data and exercise data, and the driving unit provides optimal parameter information. The output is controlled in response.

In addition, before the step of controlling the driving unit based on the sensing data and exercise data, the method further includes receiving an input as to whether the driving unit is in an auxiliary mode, and when the auxiliary mode is input, the output of the driving unit is controlled.

In addition, the step of acquiring exercise ability information based on sensing data and exercise data includes acquiring information about the rotation speed of the driving unit per preset reference time, and dividing the obtained information about the rotation speed of the driving unit into the preset reference rotation speed. It includes a step of comparing and obtaining low physical force information or high physical force information based on the comparison result between the rotation speed of the driving unit and the reference rotation speed.

In addition, the step of determining the physical fitness level based on the exercise ability information further includes determining that the physical fitness level is low in response to the acquisition of low physical fitness information, and recording the first standard in which the number of acquired low physical fitness information is preset. If the number is exceeded, a judgment of physical fitness level is made.

In addition, the step of determining the physical strength level based on the exercise ability information further includes determining that the physical strength level is high in response to the acquisition of the high strength information, and recording the second standard in which the number of acquired high strength information is preset. If the number is exceeded, a judgment of physical fitness level is made.

In addition, the step of acquiring drive signal information corresponding to the adjustment direction based on the determination result of the physical strength level includes instructing the provision of drag to the driving unit when the physical strength level is judged to be high and the step of instructing the driving unit to provide drag when the physical strength level is judged to be low. It includes a step of instructing the provision of complementary power.

In addition, after the step of acquiring drive signal information corresponding to the adjustment direction based on the determination result of the physical fitness level, the step of re-obtaining optimal parameter information based on the drive signal information is further included.

According to an embodiment of the present invention, active strength exercise assistance or strength assistance can be provided depending on the user's physical condition without the user manually controlling the output of the driving unit, thereby easily providing hybrid exercise performance ability. You can.

In addition, through the present invention, it is possible to strengthen cardiorespiratory function and induce muscular endurance for users with weak strength or stamina.

In addition, through the present invention, it is possible to secure and store an optimal profile related to power assistance customized to the user, allowing users who reuse the wearable robot to provide faster and more accurate output setting values of the driving unit.

The effects of the present invention are not limited to the effects mentioned above, and other effects not mentioned will be clearly understood by those skilled in the art from the description below.

Figure 1 is a diagram showing the overall system for power assistance of a wearable robot according to an embodiment of the present invention.
Figure 2 is a diagram showing the configuration of a computing device according to an embodiment of the present invention.
Figure 3 is a diagram generally showing a power assistance method for a wearable robot according to an embodiment of the present invention.
Figure 4 is a diagram showing the process of inputting basic information according to an embodiment of the present invention.
Figure 5 is a diagram illustrating a process for receiving input as to whether the auxiliary mode is available according to an embodiment of the present invention.
Figure 6 is a diagram showing the process of acquiring sensing data and exercise data according to an embodiment of the present invention.
Figure 7 is a diagram showing a process for controlling the output of a driver and obtaining optimal parameter information according to an embodiment of the present invention.
Figure 8 is a diagram showing a process for acquiring exercise ability information according to an embodiment of the present invention.
Figure 9 is a diagram illustrating a process for providing drag or complementary force based on athletic ability information according to an embodiment of the present invention.

The terminology used herein is for describing embodiments and is not intended to limit the invention. As used herein, singular forms also include plural forms, unless specifically stated otherwise in the context. As used in the specification, “comprises” and/or “comprising” does not exclude the presence or addition of one or more other elements in addition to the mentioned elements. Like reference numerals refer to like elements throughout the specification, and “and/or” includes each and every combination of one or more of the referenced elements. Although “first”, “second”, etc. are used to describe various components, these components are of course not limited by these terms. These terms are merely used to distinguish one component from another. Therefore, it goes without saying that the first component mentioned below may also be a second component within the technical spirit of the present invention.

Unless otherwise defined, all terms (including technical and scientific terms) used in this specification may be used with meanings commonly understood by those skilled in the art to which the present invention pertains. Additionally, terms defined in commonly used dictionaries are not interpreted ideally or excessively unless clearly specifically defined.

As used in the specification, the term “unit” or “module” refers to a hardware component such as software, FPGA, or ASIC, and the “unit” or “module” performs certain roles. However, “part” or “module” is not limited to software or hardware. A “unit” or “module” may be configured to reside on an addressable storage medium and may be configured to run on one or more processors. Thus, as an example, a “part” or “module” refers to components such as software components, object-oriented software components, class components, and task components, processes, functions, properties, Includes procedures, subroutines, segments of program code, drivers, firmware, microcode, circuits, data, databases, data structures, tables, arrays, and variables. The functionality provided within components and “parts” or “modules” can be combined into smaller components and “parts” or “modules” or into additional components and “parts” or “modules”. Could be further separated.

Spatially relative terms such as “below”, “beneath”, “lower”, “above”, “upper”, etc. are used as a single term as shown in the drawing. It can be used to easily describe the correlation between a component and other components. Spatially relative terms should be understood as terms that include different directions of components during use or operation in addition to the directions shown in the drawings. For example, if you flip a component shown in a drawing, a component described as "below" or "beneath" another component will be placed "above" the other component. You can. Accordingly, the illustrative term “down” may include both downward and upward directions. Components can also be oriented in other directions, so spatially relative terms can be interpreted according to orientation.

In this specification, a computer refers to all types of hardware devices including at least one processor, and depending on the embodiment, it may be understood as encompassing software configurations that operate on the hardware device. For example, a computer can be understood to include, but is not limited to, a smartphone, tablet PC, desktop, laptop, and user clients and applications running on each device.

Before explaining the present invention in detail, a “user” is a subject who wears a wearable robot according to the present invention and performs exercises such as walking.

Figure 1 is a diagram showing the overall system for power assistance of a wearable robot according to an embodiment of the present invention.

The present invention includes a computing device 100 and a wearable robot, and the wearable robot can be adjusted under the control of the computing device 100. Additionally, the user can select an assistance mode necessary for adjusting the wearable robot through the use terminal 300 carried by the user, and in addition, various information related to the adjustment of the wearable robot can be provided through the computing device 100.

The computing device 100 is a data management device related to driving control of a wearable robot. To this end, the computing device 100 controls the driving unit that moves the wearable robot based on sensing data and movement data. In detail, the computing device 100 acquires exercise ability information, determines the user's physical strength level based on this, obtains information regarding the adjustment direction of the driving unit, and adjusts the adjustment direction based on the determined physical strength level of the user. Acquire corresponding driving signal information.

The wearable robot 200 is configured to assist the user with the force required for exercise such as walking while worn by the user. For this purpose, the wearable robot 200 includes one or more members that can be worn on the body and a driving unit that is driven while connected to the member with a wire, and applies force by winding and unwinding the wire. Additionally, a sensor unit connected to the drive unit to acquire sensing data and motion data may be further provided.

The use terminal 300 is configured to receive various information that can be obtained during the power assistance process of the wearable robot and to input whether or not to be in assistance mode after wearing the wearable robot, and is provided as a terminal carried by the user. For this purpose, , The use terminal 300 may include at least a portion of a touchable display that allows you to visually check and input various information, and various UIs (e.g., assistance mode determination) provided by the computing device 100 through the display. UI, physical strength level UI, control information UI, etc.) can be output. For example, the user terminal 300 may receive the above-described UI implemented on the web or app from the computing device 100, including at least one of a smartphone, tablet PC, laptop, and desktop, but is limited thereto. It doesn't work.

The server is a configuration that stores a series of information that can be obtained during the power assistance process of the wearable robot, and the above-described series of configurations can be connected to a network.

FIG. 2 is a diagram showing the internal configuration of the computing device 100 according to an embodiment of the present invention.

The computing device 100 according to the present invention may include a processor 101 and a memory 102. In various embodiments, computing device 100 may further include a network interface (or communication interface), storage (not shown), and a bus (not shown).

In one embodiment, the processor may control the overall operation of each component of the computing device 100. The processor may be configured to include a Central Processing Unit (CPU), Micro Processor Unit (MPU), Micro Controller Unit (MCU), or any type of processor well known in the art.

In various embodiments, the processor may perform operations on at least one application or program for executing a method (eg, a power assistance method for a wearable robot) according to embodiments of the present invention. In various embodiments, the processor may include one or more cores (not shown), a graphics processing unit (not shown), and/or a connection path (e.g., bus, etc.) for transmitting and receiving signals to and from other components. .

In various embodiments, the processor 101 includes random access memory (RAM) (not shown) and read-only memory (ROM) that temporarily and/or permanently store signals (or data) processed within the processor. , not shown) may be further included. Additionally, the processor may be implemented in the form of a system on chip (SoC) that includes at least one of a graphics processing unit, RAM, and ROM.

In one embodiment, processor 101 may perform the method described with respect to FIGS. 3-9 by executing one or more instructions stored in memory 102. For example, by executing one or more instructions stored in memory, the processor receives basic information, receives input as to whether it is in an auxiliary mode, checks the presence or absence of optimal parameters, and acquires sensing data and exercise data. An action to acquire exercise ability information based on sensing data and exercise data, an action to determine physical strength level based on exercise ability information, an action to collect information about the direction of adjustment, and an action to determine physical strength level based on the results. An operation of acquiring and transmitting driving signal information corresponding to information about the adjustment direction, an operation of acquiring control information about the driving unit, and an operation of obtaining modified optimal parameters based on the control information about the driving unit can be performed. .

In one embodiment, memory may store various data, instructions and/or information. Programs (one or more instructions) for processing and controlling the processor can be stored in the memory. Programs stored in memory may be divided into a plurality of modules according to their functions.

Figure 3 is a diagram generally showing a power assistance method for a wearable robot according to an embodiment of the present invention.

The power assistance method of a wearable robot according to the present invention is carried out by the computing device 100, and includes the steps of inputting basic information (s110), receiving input as to whether the assistance mode is in operation (s120), and obtaining optimal parameters ( s130), acquiring sensing data (s140), acquiring exercise data (s150), controlling the driving unit (s160), and obtaining modified optimal parameters (s170).

Acquisition of basic information means that basic information formed according to an input (eg, touch) from the user terminal 300 is transmitted to the computing device 100.

Receiving input as to whether the assist mode is available can be done based on an input from the user terminal 300 in the same way as obtaining basic information, or motion information about the user can be obtained and based on this, it can be decided whether to implement the assist mode or standby mode. .

The acquisition of optimal parameters is performed by the computing device 100, and predetermined parameters may be obtained based on the result of checking the presence or absence of the optimal parameters.

Acquisition of sensing data and motion data is performed in an auxiliary mode, and the computing device 100 receives the sensing data and motion data acquired by the sensor unit.

The process of controlling the driving part is based on sensing data and exercise data, obtaining exercise capacity information, determining the physical strength level, obtaining the adjustment direction of the driving part, and adjusting the driving part's adjustment direction based on the determined physical strength level. This is carried out sequentially through the process of acquiring and transmitting the corresponding driving signal information.

Obtaining the modified optimal parameters is performed based on obtaining control information from a driving unit controlled by driving signal information.

Figure 4 is a diagram showing the process of inputting basic information according to an embodiment of the present invention.

As described above, the step s110 of acquiring basic information is performed through a process of loading basic information input by the use terminal 300 or pre-stored in the computing device 100 or the server. Here, the basic information may include, but is not limited to, physical information about the user such as height, weight, and gender. As another example, the basic information may further include information about special information (e.g., medical history) that may affect the user's ability to exercise, such as walking.

As another embodiment, the use terminal 300 forms basic information in the form of an input form through a separate UI (e.g., basic information input UI) provided through the computing device 100, and the basic information formed through this is A reply may be sent to computing device 100.

Figure 5 is a diagram illustrating a process for receiving input as to whether the auxiliary mode is available according to an embodiment of the present invention.

The step (s120) of receiving input as to whether the assist mode is enabled is to guide the user wearing the wearable robot to select assist mode or standby mode.

The operation of a wearable robot is divided into standby mode and assistance mode. The standby mode does not provide assistance to assist the user's strength and can be considered an off state. On the other hand, the auxiliary mode is a state in which auxiliary force to assist the user's force is applied through the driving unit. The user selects the standby mode or the auxiliary mode as described above, and the computing device 100 can control the driving unit formed in the wearable robot to implement the auxiliary mode or the standby mode based on the user's selection.

Meanwhile, selection of assistance mode for wearable robots can be divided into passive reception and active reception.

Manual reception of the auxiliary mode means selecting the auxiliary mode through the user terminal 300 (s121), and this can be implemented with a separate UI (e.g., auxiliary mode selection UI) provided through the computing device 100. . As another embodiment, selection of the assistance mode can be received through a separate input means (e.g., button, touch-type display) connected to the wearable robot.

Active reception of the assistive mode means actively determining and implementing the assistive mode based on the movements of the user wearing the wearable robot. To this end, it includes the steps of acquiring motion information and determining implementation of the assistance mode based on the motion information.

The step s122 of acquiring movement information is performed on a user wearing a wearable robot. The computing device 100 obtains information about the user's movement through the sensor unit.

Here, the user's movement information may include, but is not limited to, information about the joint rotation of the lower extremity, the degree of movement distance, etc. The computing device 100 may calculate and obtain the user's number of steps based on the above movement information.

The step (s123) of determining whether to implement the assistance mode based on the movement information is provided for the purpose of determining whether assistance needs to be provided as the user actually walks. To this end, the computing device 100 determines whether the user has started walking based on the movement information. In detail, the computing device 100 compares the movement information with a predetermined number of steps and executes the assistance mode according to the comparison result. The number of steps in the motion information first obtained by the computing device 100 is compared with the number of steps specified.

If the number of steps in the movement information does not exceed the preset number of steps, the computing device 100 determines that the user is not walking and enters standby mode.

On the other hand, when the number of steps of the user reflected in the motion information exceeds the preset number of steps, the computing device 100 determines that the user is in a walking state and executes the assistance mode. Accordingly, output control of the driving unit may be performed through the computing device 100.

As described above, the assist mode is selectively implemented in response to the user's movement, thereby preventing a situation in which a user who does not want to move is unintentionally provided with assistive force, thereby preventing unintended injuries and reduced battery efficiency. It can be prevented.

In addition, assistive power can be automatically provided according to the user's body movements, such as walking. This has the effect of reducing inconvenience because the user does not have to manually manipulate a separate configuration to execute the assistance mode, and maximizes convenience for physically challenged users.

Figure 6 is a diagram showing the process of acquiring sensing data and exercise data according to an embodiment of the present invention.

Before acquiring sensing data and exercise data, a step of acquiring optimal parameter information may be preceded.

The step s130 of acquiring optimal parameter information is provided to provide an assistive environment suitable for the user's walking. To this end, the computing device 100 first checks the presence or absence of optimal parameter information based on the acquired basic information.

Optimal parameter information may include, but is not limited to, the encoder value of the drive unit, speed, torque, IMU data, user's walking speed, information on walking balance, energy consumption per standard time, etc.

When a user wears the wearable robot according to the present invention and walks for the first time, existing parameters preset by the computing device 100 are first selected, and the output of the driving unit is controlled in response to the existing parameters. Afterwards, the driving unit is controlled according to the acquisition of sensing data and motion data, which will be described later, and optimal parameter information is formed based on the control information acquired in the driving unit control process. Thereafter, during additional walking by the same user, optimal parameter information replacing the previously used existing parameters is selected, and the driving unit output is controlled in response to the selected optimal parameter information.

Sensing data and exercise data can be collected in assist mode, but are not limited to this and can also be collected and stored separately in standby mode.

As a user wearing a wearable robot performs a movement using joints, such as walking, the computing device 100 may acquire sensing data and movement data through a sensor unit connected to the body or the wearable robot.

The step s140 of acquiring sensing data collects data about the user's movements and the corresponding driving unit, and is performed by the computing device 100. Sensing data is measured in real time based on the sensor unit and includes joint angle, angular velocity, acceleration, encoder value of the driving part, speed, torque, current used, tension of the wire, current applied to the driving part, voltage, temperature, GPS value of the wearable robot, etc. Includes, but is not limited to.

The step of acquiring exercise data (s150) involves calculating and acquiring exercise data based on the previously acquired sensing data, and is performed by the computing device 100. In detail, the computing device 100 acquires exercise data through calculation of sensing data, and the exercise data includes real-time power consumption, work rate, momentum, user's energy consumption, gait cycle, gait speed, and gait balance regarding the driving unit. It includes, but is not limited to, information about.

Figure 7 is a diagram showing a process for controlling the output of a driver and obtaining optimal parameter information according to an embodiment of the present invention.

Sensing data and movement data are collected while the user wears the wearable robot and moves, and the output of the driving part can be controlled based on this.

The step (s160) of controlling the driving unit based on sensing data and exercise data actively and selectively provides assistive force according to the user's physical condition. The assistive force is the drag that reacts to the force exerted by the user and the user's It is classified into a complementary force that acts in the same direction as the applied force and assists. In this process, control information for the driving unit is formed, and the computing device 100 can obtain the above control information and use it to update optimal parameters, which will be described later.

To this end, the process of controlling the driving unit based on sensing data and exercise data includes the steps of acquiring exercise ability information (s161), determining the physical strength level (s162), and obtaining information about the adjustment direction of the driving unit ( s163), obtaining driving signal information (s164), and obtaining control information (s165).

In the step s161 of acquiring exercise capacity information, the computing device 100 selectively acquires low-body strength information and high-body strength information that defines the user's physical strength state based on sensing data and exercise data.

Thereafter, the computing device 100 makes a final determination of the user's physical strength level based on the acquired exercise ability information and acquires drive signal information in connection with information on the adjustment direction of the drive unit. The driving signal information controls the driving unit, such as a motor, to apply drag or complementary force by winding or unwinding the stretching means, such as wire, which constitutes the wearable robot.

Thereafter, the computing device 100 obtains control information regarding the driving unit whose output is provided by the driving signal information, and modifies and stores optimal parameter information based on the obtained control information.

Figure 8 is a diagram showing a process for acquiring exercise ability information according to an embodiment of the present invention.

The step of acquiring exercise capacity information (s161) includes acquiring information about the rotation speed of the driving unit (s1611), comparing the information about the rotation speed of the driving unit with a preset reference rotation speed (s1612), and low physical fitness information. Or it includes the step of acquiring solid force information (s1612a, s1612b).

In the step s1611 of acquiring information about the number of rotations of the driving unit, the computing device 100 connected to the sensor unit acquires information about the number of rotations of the driving section rotated for a preset reference time (e.g., 10 seconds). . This is to determine the state of body movement based on the user's physical strength. This can be obtained based on sensing data and exercise data.

The step (s1612) of comparing information about the rotation speed of the driving unit with the preset reference rotation speed is to check whether physical strength is reduced or physical strength is sufficient, and is performed by the computing device 100. In detail, the computing device 100 compares the preset reference rotation speed with the obtained information about the rotation speed of the driving unit. In addition, as the rotation speed of the driving unit compared under the control of the computing device 100 is repeatedly compared at predetermined reference intervals (eg, 3 minutes), a plurality of low physical force information or high physical force information may be acquired and accumulated.

The preset reference rotation speed includes a lower limit motor rotation speed and an upper limit motor rotation speed. The lower limit motor rotation speed is used as a standard item to determine the user's physical decline, and is specified and stored in advance. In addition, the upper limit motor rotation speed is used as a standard item for determining whether the user's physical strength is sufficient, and is preset to be the same as the lower limit motor rotation speed and stored in the computing device 100 or a separate server.

If the rotation speed of the driving part is greater than the lower limit motor rotation speed, it means that the physical strength of the user wearing the wearable robot is not significantly reduced.

On the other hand, when the rotation speed of the driving part is less than the lower limit motor rotation speed, it means that the speed of moving the body, such as joints, becomes significantly slower as the user's physical strength is extremely reduced. Accordingly, the computing device 100 performs a step (s1612a) of acquiring low stamina information, and the low stamina information is information indicating that the user's stamina should be replenished in a state in which the user's basic information is combined (e.g. : A graph of the reduction in the number of rotations of the driving unit per hour), etc. may be included.

Additionally, when the rotation speed of the driving unit is less than the upper limit motor rotation speed, the user's physical strength is not excessively high and may be considered to be maintained at an appropriate level.

On the other hand, if the rotation speed of the driving unit is greater than the upper limit motor rotation speed, it means that the user's physical strength is not reduced while using unnecessary output of the driving unit while wearing the wearable robot. Based on this, the computing device 100 performs a step (s1612b) of acquiring solid force information. High-strength information includes the same type of information as low-strength information, but may further include information indicating that the user needs strength exercise (e.g., strength exercise need information).

Figure 9 is a diagram illustrating a process for providing drag or complementary force based on athletic ability information according to an embodiment of the present invention.

The step of determining the physical strength level (s162) is performed after obtaining the aforementioned exercise ability information, and determines the user's physical strength level based on the number of acquisitions of high strength information and low physical strength information. In other words, a determination of the user's physical fitness level is made only when the collection of high and low physical strength information is sufficient.

The step (s162a) of determining that the physical fitness level is low in response to the acquisition of low physical fitness information is performed by the computing device 100, and the number of acquired low physical fitness information is divided into a preset first standard record number (e.g., 3). ), and based on the comparison results, it is determined that the user's physical strength level is low.

When the number of low stamina information does not exceed the first standard number of records, it means that the user's stamina may not be continuously low. In other words, if the number of low stamina information is not sufficient, the user's actual stamina may be temporarily low. In the case described above, the determination of the physical fitness level is postponed and the cumulative low physical fitness information obtained at a preset standard interval is waited.

On the other hand, when the number of low stamina information exceeds the first standard number of records, it means that the user's stamina is continuously low. In detail, if low stamina information is continuously recorded, it can be predicted that there is a high possibility that the user's stamina will not recover. Accordingly, the computing device 100 determines that the user's physical strength level is low.

The step (s162b) of determining that the physical strength level is high in response to the acquisition of high physical strength information is carried out on the same principle as the step of determining that the physical strength level is low in response to the acquisition of low physical strength information described above, except that the obtained high physical strength information It is determined that the user's physical strength level is high by comparing the number with the preset second standard number of records (e.g., 5).

If the number of high-force information does not exceed the second standard record number, judgment of the physical fitness level is postponed and the accumulation of high-force information obtained at the standard interval is waited.

If the number of high-strength information exceeds the second standard record number, the computing device 100 determines that the user's physical strength level is high.

As described above, when the number of low stamina information and high stamina information exceeds the existing first and second standard records, respectively, a determination of the stamina level is made, preventing data processing based on the user's indiscriminate judgment of the stamina level. This can be prevented and the reliability of the determined user's physical fitness level can be increased.

The step s163 of acquiring information about the adjustment direction of the driving unit is to obtain information that is the basis for controlling the driving unit according to the determination of the user's physical strength level, and is provided as information about the adjustment direction of the driving unit. In detail, the computing device 100 obtains information about the adjustment direction of the driving unit from the sensor unit.

Here, the adjustment direction of the drive unit refers to the direction in which the drive unit winds and unwinds the stretching means such as a wire, and in another sense, may be the direction in which the limb is straightened or bent.

For example, information regarding the direction of adjustment of the driving unit may be provided as “direction away from the torso” or “direction of extending the elbow,” etc., but is not limited thereto.

The process (s164) of acquiring the driving signal information is performed by the computing device 100 in response to the information regarding the adjustment direction of the driving unit obtained earlier, and the driving signal information can be obtained based on the result of determining the physical strength level. there is.

The driving signal information may include the meaning of instructing the provision of drag to the driving unit or the provision of complementary force, which includes the step of instructing the provision of drag to the driving unit (s164a) and the provision of complementary force to the driving unit. It includes a step (s164b) indicating, and each step may have a variable order or may be performed in parallel.

The step (s164a) of instructing the driving unit to provide drag is to control the driving unit so that drag is applied when it is determined that the user's physical strength level is high. The computing device 100 controls the output of the driving unit so that a drag force acts against the user's movement.

For example, if the user's physical strength level is high while the user is moving in the “direction of extending the elbow” and the adjustment direction of the driving part is recorded in the same way, the computing device 100 may set the “elbow Controls the output of the drive unit to increase in the “bending direction.” Accordingly, a user whose physical strength is not reduced can perform muscle strength improvement exercises based on resistance received during the rotation of the elbow.

The step (s164b) of instructing the provision of complementary force to the driving unit is to provide complementary force to a user determined to have a low level of physical strength, and the computing device 100 adjusts the driving unit so that the complementary force is applied in the same direction as the user's movement. Controls output.

For example, when it is determined that the physical strength level of the user moving in the “direction of straightening the elbow” is low, the computing device 100 controls the output of the driving unit to increase in the same “direction of straightening the elbow.” Accordingly, the user can straighten the elbow at the same angle with less force.

By controlling the drag or supplementary force of the driving unit for the users described above, it is possible to naturally induce users with a high level of physical strength to improve muscle strength exercise, cardiopulmonary function, and muscular endurance.

In addition, it can actively provide force assistance or exercise induction functions corresponding to the user's physical strength level, which has a significant effect in terms of health promotion.

Meanwhile, a step (s165) in which control information is acquired for the driving unit whose output is controlled according to the acquisition of the driving signal information is performed, and the control information includes information on the pressing direction change time of the driving unit and the user's physical strength level, Additionally, it may further include sensing data and exercise data about the user. Through this, preparations for updating the optimal parameter information necessary for controlling the output of the drive unit are completed, and the computing device 100 re-acquires the optimal parameter information in response (s170), providing optimal parameter information for the output of the drive unit. Update .

Through the series of configurations and processes described above, muscle strength assistance in terms of health promotion and welfare of the user can be provided customized according to the user's physical strength level. In addition, through the present invention, unnecessary power consumption used for the output of the driving unit can be reduced.

Above, embodiments of the present invention have been described with reference to the attached drawings, but those skilled in the art will understand that the present invention can be implemented in other specific forms without changing its technical idea or essential features. You will be able to understand it. Therefore, the embodiments described above should be understood in all respects as illustrative and not restrictive.

100: Computing device 200: Wearable robot
300: terminal in use

Claims (10)

A step performed by a computing device to receive input as to whether an auxiliary mode is available for the driving unit; And controlling the driving unit based on sensing data and motion data,
When the auxiliary mode is input, the output of the driver is controlled,
The auxiliary mode is divided into passive reception and active reception,
If the auxiliary mode is classified as active reception, determining whether to implement the auxiliary mode or standby mode based on the user's movements;
It further includes,
The step of determining whether to implement the assistance mode based on the user's movement is,
Obtaining movement information for the user wearing a wearable robot;
determining whether the user has started walking based on the movement information;
When it is determined that the user has started walking, comparing the number of steps of the user obtained based on the movement information with a predetermined number of steps; and
executing the assist mode when the user's number of steps exceeds the preset number of steps, and executing the standby mode when the user's number of steps does not exceed the preset number of steps;
Including,
The step of controlling the driving unit based on sensing data and exercise data is,
Obtaining exercise ability information based on sensing data and exercise data;
Determining physical fitness level based on the exercise ability information;
Obtaining information about the adjustment direction of the driving unit; and
A power assistance method for a wearable robot comprising: acquiring drive signal information corresponding to the adjustment direction based on a determination result of the physical strength level.
According to claim 1,
Before controlling the driving unit based on sensing data and exercise data,
Obtaining basic information about the user; and
Further comprising: obtaining optimal parameter information regarding the driving unit,
A power assistance method for a wearable robot, wherein the driving unit is output controlled in response to the optimal parameter information. delete According to claim 1,
The step of acquiring exercise ability information based on sensing data and exercise data is,
Obtaining information about the number of rotations of the driving unit per preset reference time;
Comparing the obtained information about the rotation speed of the driving unit with a preset reference rotation speed; and
A power assistance method for a wearable robot comprising; acquiring low physical force information or high physical force information based on a comparison result between the rotation speed of the driving unit and the reference rotation speed. According to claim 4,
The step of determining the physical strength level based on the exercise ability information is,
Further comprising: determining that the physical fitness level is low in response to the acquisition of the low physical fitness information,
A power assistance method for a wearable robot, characterized in that a determination of the physical fitness level is made when the number of obtained low physical fitness information exceeds a preset first standard number of records. According to claim 4,
The step of determining the physical strength level based on the exercise ability information is,
Further comprising: determining that the physical strength level is high in response to the acquisition of the high strength information,
A power assistance method for a wearable robot, characterized in that a determination of the physical strength level is performed when the number of obtained high-force information exceeds a preset second standard record number. According to claim 1,
The step of acquiring driving signal information corresponding to the adjustment direction based on the determination result of the physical fitness level,
When it is determined that the physical strength level is high, instructing the driving unit to provide drag; and
A power assistance method for a wearable robot, comprising: instructing the driving unit to provide supplementary force when it is determined that the physical strength level is low. According to claim 1,
After the step of acquiring driving signal information corresponding to the adjustment direction based on the determination result of the physical fitness level,
A power assistance method for a wearable robot, further comprising: reacquiring optimal parameter information based on drive signal information. A memory that stores one or more instructions; and
A processor executing the one or more instructions stored in the memory,
The apparatus wherein the processor performs the method of claim 1 by executing the one or more instructions. A computer program combined with a computer as hardware and stored on a computer-readable recording medium so as to perform the method of claim 1.