KR102665999B1 - An Exoskeleton Device With a Regression Actuator - Google Patents

Abstract

The exoskeleton device according to the present invention includes a main body 100 and a left and right rotating body 200 that are placed on the back of the human body when worn, and the main body 100 is composed of a main-battery and a controller. The left and right rotating bodies 200 include a middle support 210, an upper support 220 rotating on the upper side of the middle support, and a lower support 230 rotating on the lower side of the middle support. The main body and the left and right rotating bodies are connected to the left and right connecting bars (CC), respectively. An upper driving unit 210U, a lower driving unit 210D, and a return driving unit 210B are installed on the middle support 210, the upper driving unit 210U rotates the upper support 220, and the lower driving unit 210D Rotates the lower support 230, and the return drive unit 210B is an auxiliary drive data acquisition module that acquires the patient's muscle drive angle and the difference angle (Rd) of the muscle drive angle with respect to the walking angle of the mechanical walking drive. (210B0), a main power detection module (210B1) that detects the main power applied to the drive motor and outputs an event signal when the main power is not supplied to the drive motor, the upper bending angle formed by the upper support and the middle support, and An angle detection module (210B2, angle sense) that detects the lower bending angle formed by the middle support and the lower support, and according to the event signal, calculates the difference angle between the upper and lower bending angles with respect to the previously stored upper and lower upright angles, and , a drive control module (210B3) that converts the difference angle into upper and lower return drive signals for driving the drive motor, the angle detection module, the main power detection module, and the auxiliary unit that provides drive power to the drive control module. It is made up of batteries.

Description

An Exoskeleton Device With a Regression Actuator}

The present invention relates to an exoskeleton device, and more specifically, to an exoskeleton device having a return drive unit to prevent the rotation shaft of the drive motor from freely rotating when the power applied to the drive motor is cut off during walking.

Recently, with the development of robotic technology, muscle assistance devices that assist human body movements are being developed. Most muscle assistance devices generate movement power using the rotation of a motor.

For example, Patent Publication No. 10-2019-0004854 discloses a wearable muscle strength assist device and a control method thereof. The prior art document includes a main body supporting the wearer's upper body, a plurality of leg pulleys respectively disposed on both sides of the main body, and a plurality of wire parts respectively connected to the leg pulleys, and a tensile force applied to the plurality of wire parts. It is provided with a driving force to rotate each of the plurality of leg pulleys.

Most muscle assist devices are equipped with a battery, a reducer to reduce the rotation speed of the motor, and a pulley to replace the joints of the human body, and generate driving force according to pre-stored drive control to drive them.

The battery installed in the muscle assistance device supplies the necessary power to the drive motor and circuit, but the charge may decrease more quickly depending on the usage conditions. The muscle strength assist device outputs a warning signal when the charged power amount is less than a predetermined charge amount, but the wearer may not be aware of this. If the battery is completely discharged, the power applied to the drive motor is cut off, and the rotation shaft of the drive motor rotates freely. As a result, the leg support being rotated by the drive motor cannot be supported, and the wearer may lose the center of gravity and fall.

Publication of Patent No. 10-2019-0004854, wearable muscle strength assist device and method of controlling the same Registered Patent Publication No. 10-1988078, wearable muscle strength assist device Registered Patent Publication No. 10-2163284, Wearable robot and its control method Registered Patent Publication No. 10-2142570, upper arm module of a wearable muscle strength assist device and a wearable strength assist device including the same

The purpose of the present invention is to provide an exoskeleton device having a return drive unit that can prevent the rotating body from freely rotating when the wearer wearing the exoskeleton device is walking and power is not applied to the drive motor.

The problems to be solved by the present invention are not limited to the problems mentioned. Other technical problems not mentioned will be clearly understood by those skilled in the art from the following description.

The exoskeleton device according to the present invention includes a main body 100 and a left and right rotating body 200 that are placed on the back of the human body when worn, and the main body 100 is composed of a main-battery and a controller. The left and right rotating bodies 200 include a middle support 210, an upper support 220 rotating on the upper side of the middle support, and a lower support 230 rotating on the lower side of the middle support. The main body and the left and right rotating bodies are connected by left and right connecting bars (CC), respectively.

In addition, an upper driving part 210U, a lower driving part 210D, and a return driving part 210B are installed on the middle support 210, and the upper driving part 210U rotates the upper support 220, and the lower driving part ( 210D) rotates the lower support 230, and the return drive unit 210B acquires the patient's muscle drive angle and auxiliary drive data to obtain the difference angle (Rd) of the muscle drive angle with respect to the walking angle of the mechanical walking drive. An acquisition module (210B0), a main power detection module (210B1) that detects the main power applied to the drive motor and outputs an event signal when the main power is not supplied to the drive motor, and an upper bend formed by the upper support and the middle support. An angle detection module (210B2, angle sense) that detects the angle and the lower bending angle formed by the middle support and lower support, and according to the event signal, detects the difference angle between the upper and lower bending angles with respect to the previously stored upper and lower upright angles. A drive control module (210B3) calculates and converts the difference angle into upper and lower return drive signals for driving the drive motor, and provides drive power to the angle detection module, the main power detection module, and the drive control module. It consists of an auxiliary battery that

Additionally, the upper and lower return driving signals are output to the upper and lower driving units 210U and 210D.

In addition, the return driving unit 210B drives the upper and lower driving units to change the arrangement of the upper, middle, and lower supports from the running state to the upright state.

In addition, in the driving state, the angle formed by the middle support and the upper support is less than 180 degrees, the angle formed by the middle support and the lower support is less than 180 degrees, and in the upright state, the angle formed by the middle support and the upper support is 180 degrees. , the angle formed by the middle support and the lower support may be 180 degrees.

When power is not applied to the drive motor for various reasons such as failure of the control device, battery consumption, etc., the rotation axis of the drive motor rotates freely, and due to the free rotation, the exoskeleton device loses its center of gravity due to its own weight.

According to the present invention, when the main power is not supplied, the rotation of the rotation shaft is restrained using the auxiliary power, and then the drive motor is driven at low speed from the walking state to the upright state. Accordingly, the wearer of the exoskeleton device can safely return to the upright posture without losing the center of gravity due to magnetic force.

Figure 1 shows a state in which a wearer wears an exoskeleton device according to the present invention.
Figure 2 is a perspective view of an exoskeleton device according to the present invention.
Figure 3 is a perspective view of a rotating body installed in an exoskeleton device according to the present invention.
Figure 4 is a configuration diagram of a return driving unit according to the present invention.
Figure 5 shows the rotation angle of the support measured in mechanical drive and free drive.
Figure 6 shows the angle formed by the upper body and legs of the human body in an upright state and a walking state.
Figure 7 shows a return driving method according to the present invention.

Hereinafter, embodiments of the present invention will be described in detail with reference to the attached drawings. For convenience of explanation, components shown in the drawings may be exaggerated, omitted, or schematically represented.

The present invention relates to an exoskeleton device that can change from a walking state to an upright state using auxiliary power when the main power is not applied to the drive motor due to various reasons such as discharge, cutoff, or failure of the charging power.

Figure 1 shows a state in which a wearer wears an exoskeleton device according to the present invention, and Figure 2 is a perspective view of the exoskeleton device according to the present invention.

The exoskeleton device according to the present invention includes a main body 100 and left and right rotating bodies 200 that are seated on the back of the human body when worn. Referring to the drawing, the main body of the exoskeleton device and the left and right rotating bodies are connected to the left and right connecting rods (CC), respectively. The connecting rod extends from the left and right sides of the lower part of the main body, is bent forward, and is connected to the left and right rotating bodies, respectively.

The main body 100 consists of a main-battery and a controller. The main battery provides driving energy to the controller and the driving motor installed on the rotating body. The main battery can be charged using a charging method. The controller controls the rotation of the drive motor installed on the rotating body. The controller has walking modes such as normal speed mode, fast speed mode, stair ascending mode, stair descending mode, left turn mode, and right turn mode, and operates the selected mode according to the wearer's selection.

The left and right rotating bodies 200 include a middle support 210, an upper support 220 rotating on the upper side of the middle support, a lower support 230 rotating on a lower side of the middle support, and a lower side of the lower support. Includes a foot seat 240 that is coupled.

Figure 3 is a perspective view of a rotating body installed in an exoskeleton device according to the present invention.

An upper driving part 210U, a lower driving part 210D, and a return driving part 210B are installed on the middle support 210 of the left and right rotating bodies. The upper driving unit rotates the upper support 220, and the lower driving unit rotates the lower support 230.

The upper and lower driving units 210U and 210D may include a driving motor 211 and a reducer 212. The drive motor 211 generates rotational force, and the reducer 212 reduces the rotation speed of the drive motor.

A return driving unit 210B is connected to the upper and lower driving units. The return driving unit 210B drives the upper and lower driving units to change the upper, middle, and lower supports from the traveling state to the upright state. A detailed description of such a recursive driving unit will be described later.

A foot seat 240 is coupled to the lower part of the lower support 230. The foot seat 240 consists of a seat ring 241 that surrounds the wearer's ankle, and a bending band 242 that is fixed to both sides of the seat ring and supports the sole of the wearer's foot. The seating ring 241 may be composed of a fixed semicircular ring 241c fixed to the lower support and a rotating semicircular ring 241r that rotates from the fixed semicircular ring. As an example, the rotating semicircular ring can be rotated from the fixed semicircular ring, the wearer's ankle is seated on the inside of the fixed semicircular ring, and then the rotating semicircular ring can be closed and fastened to the fixed semicircular ring.

Figure 4 is a configuration diagram of a return driving unit according to the present invention.

The return drive unit 210B according to the present invention includes an auxiliary drive data acquisition module 210B0, a main power detection module 210B1, an angle detection module 210B2 (angle sense), a drive control module 210B3, and an auxiliary battery. Includes (210B4, sub-battery).

The auxiliary drive data acquisition module 210B0 acquires auxiliary drive data for return drive.

Figure 5 shows the rotation angle of the support measured in mechanical drive and free drive.

The auxiliary drive data acquisition module 210B0 acquires the patient's muscle drive angle and calculates the difference angle of the muscle drive angle with respect to the walking angle of the mechanical walking drive. Here, the mechanical walking drive refers to the walking drive of the exoskeleton force device implemented in a state where power is normally supplied, and the muscle force drive angle is a state in which no driving force is applied to the driving part of the exoskeleton force device, that is, a free drive state of the exoskeleton force device. It refers to the angle of the support measured at .

The auxiliary drive data includes the rotation angle (Rd+Rp) driven in a mechanical drive state, the difference angle (Rd) with respect to the rotation angle (Rp) using the patient's muscle strength in the free drive state, and the difference angle (Rd) of the motor corresponding to the difference angle. It may be a torque value. In one embodiment, the difference angle Rd of the auxiliary drive data may be given a negative (-) value and the difference angle may be given a value of 0.

In the drawings, reference numeral MP represents the rotation angle of the support when mechanically driven, and reference numeral PP represents the rotation angle of the support measured in a free driving state. Referring to the drawing, in the section 0 to 0.75 sec, the difference angle (Rd) represents a positive (+) value, and in the section 0.75 to 1, it represents a negative (-) difference angle value. The section with the positive difference angle shows a state of insufficient muscle strength, and the section with the negative difference angle shows a state of muscle strength sufficient for walking.

The difference angle Rd obtained in this way and the driving torque value corresponding to the difference angle may be stored in the memory of the drive control module 210B3.

Meanwhile, the walking mode of the exoskeleton device can include an upright state and a mechanical walking state. Figure 6 shows the angle formed by the upper body and legs of the human body in an upright state and a walking state. In the drawing, the upper support may be worn on the upper body of the human body, the middle support may be worn on the thigh of the human body, and the lower support may be worn on the lower leg of the human body.

Figure 6(a) shows the support in an upright state, and Figure 6(b) shows the support in a mechanical walking state. In the upright state, the upper body, thighs, and lower legs of the human body are all vertical from the ground, and in the walking state, the upper body, thighs, and lower legs of the human body form a predetermined angle. Here, in the upright state, the angle formed by the middle support and the upper support, that is, the upper erection angle, is 180 degrees, and the angle formed by the middle support and the lower support, that is, the lower erection angle, is 180 degrees.

The return drive unit detects the angle formed by the upper, middle, and lower supports in the mechanical walking state, and drives the upper, middle, and lower supports of the exoskeleton device to change from the walking state to the upright state.

The main power detection module 210B1 detects the main power applied to the driving motor. As a result of detection, if power is not supplied to the drive motor, an event signal is generated. The event signal is output to the angle detection module 210B2 and the drive control module 210B3.

The angle detection module 210B2 detects the upper and lower bending angles formed by the upper and lower supports with respect to the middle support. Specifically, the angle detection module detects the upper bending angle formed by the middle support and the upper support. Additionally, the angle detection module detects the lower bending angle formed by the middle support and lower support. The detected upper and lower bending angles are output to the drive control module.

According to the event signal, the drive control module 210B3 outputs a return drive signal to the upper and lower drivers 210U and 210D based on the detected upper and lower bending angles. Specifically, when an event signal is transmitted, the drive control module reads auxiliary drive data stored in the memory based on the detected angle and converts the read auxiliary drive data into a return drive signal. The converted return drive signal is transmitted to the upper and lower driving units 210U and 210D.

In Figure 6, θ1 and θ2 represent the upper and lower difference angles, respectively, and reference numerals L and R refer to Left and Right, respectively. Referring to the drawing, the upper support 230L has a differential angle of θ1 with respect to the middle support 210L of the rotating body, and the lower support 240L has a differential angle of θ2 with respect to the middle support 210L of the rotating body. do. The difference angle is divided into upper and lower rotation angles, and the upper and lower rotation angles refer to the angles required to rotate from a walking state to an upright state. Subsequently, the drive motor may rotate according to the upper and lower return drive signals so that the upper and lower bending angles become the upper and lower upright angles in the upright state.

The auxiliary battery 210B4 provides the necessary power to the main power detection module 210B1, the angle detection module 210B2, and the drive control module 210B3. The auxiliary battery can be charged from the main battery.

Figure 7 shows a return driving method according to the present invention.

The return drive method according to the present invention includes a step of acquiring auxiliary drive data (S100), a step of detecting the main power applied to the drive motor (S200), and when the main power is not detected, the previously stored upper and lower upright It includes calculating the difference angle between the upper and lower side bending angles relative to the angle (S300) and rotating the drive motor based on the obtained difference angle to change the upper, middle, and lower supports to an upright state (S400). do.

1. Obtaining auxiliary drive data (S100);

This step is performed in the auxiliary drive data acquisition module. First, the auxiliary drive data obtains the patient's muscle drive angle and calculates the difference angle (Rd) of the muscle drive angle with respect to the walking angle of the mechanical walking drive. Next, the driving torque value corresponding to the difference angle is calculated. The auxiliary drive data obtained in this way, that is, the differential angle and driving torque values, are transmitted to the memory of the drive control module.

2. Detecting the main power applied to the driving motor (S200);

This step is performed in the main power detection module. The main power detection module detects the main power applied to the drive motor. The controller of the exoskeleton device drives the drive motor according to the selected walking mode. The walking mode may be a normal speed mode, a fast speed mode, a stair ascending mode, a stair descending mode, a left turn mode, a right turn mode, etc., and in each mode, the upper support, the middle support, and the middle and lower supports all have an angle of 180 degrees. It can have an upright state, a walking state in which the upper support, middle support, and middle support and lower support all have angles of less than 180 degrees.

The main power supplied to the drive motor provides the drive energy required to operate the walking mode. The main power detection module detects the on and off states of the power supplied to the drive motor. When in the on state, it may be in a normal driving state, and when in the off state, the main battery may be completely discharged. It can also occur when the wearer of the exoskeleton device presses the emergency stop button.

3. When the main power is not detected, calculating the difference angle of the upper and lower side bending angle with respect to the previously stored upper and lower upright angle (S300);

This step is performed in the angle detection module and drive control module. When the main power is not applied to the drive motor, the drive control module receives the upper and lower bending angles from the angle detection module and calculates the difference angle between the previously stored upper and lower upright angles and the upper and lower bending angles. The upper and lower difference angles calculated in this way are output to the motor drive module.

4. A step of changing the upper, middle, and lower supports to an upright state by rotating the drive motor based on the obtained difference angle (S400);

This step is performed on the upper and lower drives 210U and 210D of the exoskeleton device. The motor drive module rotates the drive motor based on the upper and lower difference angles. The upper differential angle is transmitted to the upper driving unit 210U, and the lower differential angle is transmitted to the lower driving unit 210D. Accordingly, the upper and lower driving units drive the driving motor to control the angle formed by the upper support, middle support, and lower support to be 180 degrees, that is, in an upright state.

When power is not applied to the drive motor for various reasons such as failure of the control device, battery consumption, etc., the rotation axis of the drive motor rotates freely, and due to the free rotation, the exoskeleton device loses its center of gravity due to its own weight. According to the present invention, when the main power is not supplied, the rotation of the rotation shaft is restrained using the auxiliary power, and then the drive motor is driven at low speed from the walking state to the upright state. Accordingly, the wearer of the exoskeleton device can safely return to the upright posture without losing the center of gravity due to magnetic force.

Above, the present invention has been described in detail through specific embodiments, but the present invention is not limited to the above embodiments, and various modifications can be made by those skilled in the art within the scope of the technical idea of the present invention.

100: main body
200: Rotating body
210: middle support
210U: upper driving part
220D: lower driving part
210B: return driving unit
210B0: Auxiliary drive data acquisition module
210B1: Main power detection module
210B2: Angle detection module
210B3: Drive control module
210B4 : Auxiliary battery
211: driving motor
212: reducer
220: upper support
230: lower support
240: Foot seating stand

Claims (5)

It includes a main body 100 and left and right rotating bodies 200 that are placed on the back of the human body when worn,
The main body 100 includes a main battery and a controller,
The left and right rotating bodies 200 include a middle support 210, an upper support 220 rotating on the upper side of the middle support, and a lower support 230 rotating on the lower side of the middle support, and the middle support ( 210) is installed with an upper driving part 210U, a lower driving part 210D, and a return driving part 210B, the upper driving part 210U rotates the upper support 220, and the lower driving part 210D rotates the lower support ( 230) is rotated,
The main body and the left and right rotating bodies are connected by left and right connecting bars (CC), respectively,
The regression drive unit 210B includes an auxiliary drive data acquisition module 210B0 that acquires the patient's muscle drive angle and the difference angle (Rd) of the muscle drive angle with respect to the walking angle of the mechanical walking drive, and an auxiliary drive data acquisition module 210B0 that is applied to the drive motor. A main power detection module (210B1) that detects the main power and outputs an event signal when the main power is not supplied to the drive motor, the upper bending angle formed by the upper support and the middle support, and the lower bending angle formed by the middle support and the lower support. An angle detection module 210B2 that detects, calculates the angle difference between the upper and lower bending angles with respect to the previously stored upper and lower upright angles according to the event signal, and sends auxiliary drive data to the drive motor based on the difference angle. It consists of a drive control module (210B3) that converts the upper and lower return drive signals to drive,
The upper and lower return driving signals are transmitted to the upper and lower driving units (210U, 210D),
An exoskeleton device, characterized in that the driving power of the driving control module is provided from an auxiliary battery.
delete In claim 1,
The auxiliary drive data includes the rotation angle (Rd+Rp) driven in a mechanical drive state, the difference angle (Rd) with respect to the rotation angle (Rp) using the patient's muscle strength in the free drive state, and the difference angle (Rd) of the motor corresponding to the difference angle. It is a torque value, and the difference angle (Rd) of the auxiliary drive data is negative (-), and the difference angle is given a value of 0.
In claim 1,
The exoskeleton device is characterized in that the return driving unit (210B) drives the upper and lower driving units to change the arrangement of the upper, middle, and lower supports from a running state to an upright state.
In claim 4,
In the driving state, the angle formed by the middle support and the upper support is less than 180 degrees, and the angle formed by the middle support and the lower support is less than 180 degrees,
In the upright state, the angle formed by the middle support and the upper support is 180 degrees, and the angle formed by the middle support and the lower support is 180 degrees.

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