KR20070092312A - 장착식 동작 보조장치 및 제어용 프로그램 - Google Patents
장착식 동작 보조장치 및 제어용 프로그램 Download PDFInfo
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- KR20070092312A KR20070092312A KR1020077017251A KR20077017251A KR20070092312A KR 20070092312 A KR20070092312 A KR 20070092312A KR 1020077017251 A KR1020077017251 A KR 1020077017251A KR 20077017251 A KR20077017251 A KR 20077017251A KR 20070092312 A KR20070092312 A KR 20070092312A
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Abstract
Description
Claims (10)
- 장착자로부터의 생체 신호를 검출하는 생체신호 검출수단과,장착자의 각 관절을 회전축으로 하여 사용하는 토크를 당해 장착자에 대하여 부여하는 구동원을 가진 동작 보조 장착기구와,상기 생체신호 검출수단에 의해 검출된 생체신호에 따른 토크를 발생하도록 상기 구동원을 제어하는 제어수단을 가지는 장착식 동작 보조장치로서,상기 구동원이 발생한 구동 토크를 추정하는 구동 토크 추정수단과,상기 관절의 각 변위를 검출하는 관절 각도 검출수단과,상기 구동 토크 추정수단에 의해 추정된 구동 토크 및 상기 관절 각도 검출수단에 의해 검출된 각 변위를, 장착자 고유의 동력학 파라미터를 포함하여 이루어지는 시스템 전체의 운동 방정식에 대입함으로써, 당해 동력학 파라미터를 동정하는 파라미터 동정(同定)수단을 구비하고,상기 제어수단은, 상기 파라미터 동정 수단에 의해 동정된 동력학 파라미터를 대입한 상기 운동방정식에 기초하여, 소정의 제어방법에 따라 상기 구동원을 제어하는 것을 특징으로 하는 장착식 동작 보조장치.
- 장착자로부터의 생체신호를 검출하는 생체신호 검출수단과,장착자의 관절을 회전축으로 하여 작용하는 토크를 당해 장착자에 대하여 부여하는 구동원을 가진 동작 보조 장착기구와,상기 생체신호 검출수단에 의해 검출된 생체신호에 따른 토크를 발생하도록 상기 구동원을 제어하는 제어수단을 가지는 장착식 동작 보조장치로서,상기 구동원이 발생한 구동 토크를 추정하는 구동 토크 추정수단과,상기 관절의 각 변위를 검출하는 관절 각도 검출수단과,상기 구동원이 발생한 구동 토크와 장착자의 근력에 의한 근 토크가 합성된 관절 토크를 추정하는 관절 토크 추정수단과,상기 구동 토크 추정수단에 의해 추정된 구동 토크와 상기 관절 토크 추정수단에 의해 추정된 관절 토크와의 관계에 기초하여, 장착자가 발생한 근 토크 또는 근력을 추정하는 근 토크 추정수단과,상기 구동 토크 추정수단에 의해 추정된 구동 토크, 상기 관절 각도 검출수단에 의해 검출된 각 변위 및 상기 근 토크 추정수단에 의해 추정된 근 토크를, 장착자 고유의 동력학 파라미터를 포함하여 이루어지는 시스템 전체의 운동 방정식에 대입함으로써, 당해 동력학 파라미터를 동정하는 파라미터 동정수단을 구비하고,상기 제어 수단은, 상기 파라미터 동정수단에 의해 동정된 동력학 파라미터를 대입한 상기 운동 방정식에 기초하여, 소정의 제어 방법에 따라서 상기 구동원을 제어하는 것을 특징으로 하는 장착식 동작 보조장치.
- 제2항에 있어서,상기 생체신호 검출수단에 의해 검출된 생체신호와, 상기 근 토크 추정수단에 의해 추정된 근 토크 또는 근력과의 대응 관계가 미리 설정된 것으로 되도록, 양자 간의 게인(gain)을 조정하는 캘리브레이션 수단을 더 구비하는 것을 특징으로 하는 장착식 동작 보조장치.
- 제1항 또는 제2항에 있어서,상기 생체신호 검출수단은, 장착자의 피부(皮膚) 상에 접착된 상태로 사용되며, 당해 장착자의 근전위를 상기 생체신호로서 검출하는 것을 특징으로 하는 장착식 동작 보조장치.
- 제1항 또는 제2항에 있어서,상기 동작 보조 장착기구는,허리벨트와,상기 허리벨트의 우측부로부터 하방에 설치된 오른쪽다리 보조부와,상기 허리벨트의 좌측부로부터 하방에 설치된 왼쪽다리 보조부를 가지고 있으며,상기 오른쪽다리 보조부 및 왼쪽다리 보조부는,상기 허리벨트를 지지하도록 하방으로 연장하여 있는 제1 프레임과,상기 제1 프레임에서 하방으로 연장하여 있는 제2 프레임과,상기 제2 프레임에서 하방으로 연장하여 있는 제3 프레임과,상기 제3 프레임의 하단에 설치되며, 장착자의 다리의 안쪽(裏)이 놓이는 제4 프레임과,상기 제1 프레임의 하단과 상기 제2 프레임의 상단과의 사이에 개재하는 제1 관절과,상기 제2 프레임의 하단과 상기 제3 프레임의 상단과의 사이에 개재하는 제2 관절을 가지는 것을 특징으로 하는 장착식 동작 보조장치.
- 제5항에 있어서,상기 제1 관절은, 장착자의 고관절과 일치하는 높이 위치에 설치되는 동시에, 상기 제2 프레임을 회전시키도록 구동력을 전달하는 제1의 구동원과, 장착자의 고관절의 각 변위를 검출하는 제1 관절 각도 검출수단을 가지며,상기 제2 관절은, 장착자의 무릎 관절과 일치하는 높이 위치에 설치되는 동시에, 상기 제3 프레임을 회동시키도록 구동력을 전달하는 제2 구동원과, 장착자의 무릎 관절의 각 변위를 검출하는 제2의 관절 각도 검출수단을 가지는 것을 특징으로 하는 장착식 동작 보조장치.
- 제1항 또는 제2항에 있어서,상기 제어수단은, 파라미터 동정수단에 의해 동정된 동력학 파라미터를 이용한 중력 보상 및 관성 보상 중 적어도 어느 한쪽의 보상을 행하는 제어방법에 따르는 것을 특징으로 하는 장착식 동작 보조장치.
- 제1항 또는 제2항에 있어서,상기 제어수단은, 파라미터 동정수단에 의해 동정된 동력학 파라미터를 이용한 임피던스 제어방법에 따르는 것을 특징으로 하는 장착식 동작 보조장치.
- 제7항에 기재된 제어방법을, 상기 제어수단으로서의 컴퓨터로 실행시키는 것을 특징으로 하는 제어용 프로그램.
- 제8항에 기재된 제어방법을, 상기 제어수단으로서의 컴퓨터로 실행시키는 것을 특징으로 하는 제어용 프로그램.
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US9427373B2 (en) | 2016-08-30 |
US7857774B2 (en) | 2010-12-28 |
RU2364385C2 (ru) | 2009-08-20 |
US20080161937A1 (en) | 2008-07-03 |
CN101111211B (zh) | 2011-01-19 |
CA2596346C (en) | 2010-06-29 |
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