KR20130073743A - Active walking and stand-up frame and method for active walking and standing up thereof - Google Patents

Abstract

PURPOSE: An active walking and standing-up frame and a method of supporting walking and standing-up are provided to correspond according to the movement state of a user, thereby preventing the user from being damaged. CONSTITUTION: An active walking and standing-up frame (10) consists of a main body unit, a sensor unit (100), a control unit (110), and a driving unit (120). The main body unit consists of a walk supporting frame, a support, and a plurality of wheels. The support is arranged on the upper side of the walk supporting frame, and a user applies the weight to the support with arms. The wheels are arranged under the frame. The sensor unit includes at least one sensor unit in order to measure the movement state of the user. The control unit analyzes data about the state of the user transmitted from the sensor unit and generates control signals according to the analysis. The driving unit drives the active walking and standing-up frame based on the control signals. A method of supporting walking and standing-up using the active walking and standing-up frame includes the steps of: measuring the state of the user; determining the state of the user; and corresponding to the result of the determination by driving an active walk supporting function or an active stand supporting function. [Reference numerals] (100) Sensor unit; (110) Control unit; (120) Driving unit; (130) Warning unit

Description

ACTIVE WALKING AND STAND-UP FRAME AND METHOD FOR ACTIVE WALKING AND STANDING UP THEREOF}

The present invention relates to an active walking aid and an active walking aid method, and more particularly, to an active walking aid and an active walking aid method for preventing a user's damage by detecting a user's exercise state and performing a corresponding action. .

The walking aid is a safety device that assists the daily operation of the lower limbs.

The walking aid can be classified into a passive walking aid and an active walking aid.

1 is a view showing an example of a conventional manual walking aid.

As shown in FIG. 1, the basic walk brace has a configuration in which a support for a user to lean is disposed on an upper portion of the walker assist frame, and a wheel for ease of movement is disposed below the frame.

However, in the case of the passive walking aid shown in FIG. 1, when the user who is uncomfortable to use it on an inclined surface or the like walks away from the walking aid and the user, an accident such as a user falls and injuries often occurs.

In order to solve this problem, some techniques related to a walking aid for actively controlling the operation of the walking aid have been proposed.

For example, there is a technology related to a walking aid that maintains a constant distance from a user (walking disabled) by adjusting the traveling speed and direction of the walking rehabilitation trainer through a connecting means for mechanically connecting the user. However, this form has the inconvenience that the user should always be physically connected to the walking aid (rehabilitation trainer), there was a problem that the degree of injury is more severe when an accident occurs as the body is bound to the walking aid.

Another technique involves a walk aid that allows the user to adjust the speed of the walk aid through the strength of pressure applied to the support. However, in the prior art, since the speed is adjusted only by the strength of the pressure applied to the support, the user cannot cope with a dangerous situation such as the distance between the walking aid and the user or the body of the walking aid and the user moving separately. Risk of injury.

The present invention has been made to solve the above problems, and an object of the present invention is to provide an active walking aid and an active walking assistance method that can prevent the user's damage by performing a corresponding action by detecting the user's exercise state. .

In order to achieve the above object, the active walking aid and standing aid in accordance with the present invention, the walking aid frame, the support brace is disposed on the upper portion of the walking aid frame and the user supports the weight with the arm and a plurality of lower parts of the frame A main body unit including a wheel arranged, a sensor unit including at least one sensor unit for measuring a movement state of the user, and analyzing the state data of the user measured and transmitted from the sensor unit, and controlling according to the analysis A control unit for generating a signal, and a driving unit for performing a driving action based on the control signal from the control unit.

In this case, the driving unit may further include an electric motor and a gear unit for driving the wheel forward and backward.

The driving unit may further include a plurality of frame extension pillars for varying the height of the frame and an electric motor and a gear unit for stretching and driving the frame extension pillars.

The apparatus may further include an alarm unit configured to generate an alarm recognizable through the sensory organ according to the control signal from the sensor unit.

In addition, the sensor unit may include at least one of an optical sensor unit, a pressure sensor unit, an acceleration sensor unit, an ultrasonic sensor unit, a laser sensor unit, an infrared sensor unit.

According to another aspect of the present invention, an active walking aid and standing assist device includes a walking aid side terminal and a user side terminal, wherein the walking aid side terminal is disposed on a walking aid frame and the walking aid frame and is provided by a user. A first sensor unit including a support for supporting a weight with an arm and a body portion including a plurality of wheels disposed below the frame, and at least one sensor unit for measuring the exercise state of the user, the first sensor unit The controller analyzes the state data of the user measured and transmitted from the controller and generates a control signal according to the analysis, a driver performing a driving action based on the control signal from the controller, and wirelessly communicating with a transmitter of the user terminal. And a receiving unit configured to measure an exercise state of the user. To include at least one of the second sensor unit and the second wireless transmitting unit for transmitting the status data of the user measured by the sensor unit to the receiving unit of the walking assistant side terminal including a sensor unit.

Active walk assistance and standing assistance method according to another aspect of the present invention is made through an active walk aid including a sensor unit, a control unit and a drive unit, the state data about the movement of the user in each sensor unit constituting the sensor unit Is measured and transmitted to the controller, a status determination step of generating a control signal relating to the active walking assistance function to be analyzed and performed by the state data in the controller, and an active corresponding to the control signal in the driver. And a step of responding to the determination result in which the walking assistance function is driven.

At this time, in the state measuring step, the step of determining whether the distance between the active walking aid and the user and the amount of pressure applied from the user is out of the allowable threshold range, and the drive unit if it is out of the allowable threshold range The control signal for controlling the may further comprise the step of generating.

Further, in the state measuring step, determining whether the pattern information based on the distance between the active walking aid and the user and the data measured by a plurality of sensor units attached to the user's body is out of the allowable threshold range And generating the control signal for controlling the driving unit when it is out of the allowable threshold range.

According to the present invention, it is possible to implement an active walking aid and standing aid to prevent the damage of the user by performing a corresponding action by sensing the exercise state of the user.

1 is a view showing an example of a conventional manual walking aid;
2 is a block diagram showing an example of an active walking aid according to the present invention;
3 is a block diagram illustrating the sensor unit 100 of FIG. 2 in more detail.
4 is a block diagram showing an example of an active walking aid according to another embodiment of the present invention;
5 is a flow chart showing the flow of an active walking aid function performed in an active walking aid according to the present invention;
FIG. 6 is a diagram illustrating an active walking assistance function performed in an active walking aid according to the embodiment of FIG. 2;
FIG. 7 is a diagram illustrating an active walking assistance function performed in an active walking aid according to the embodiment of FIG. 4; FIG.
8 is a view showing a state where a user sits in the active walk aid;
9 is a view showing a state in which the user is standing in the active walk assistance device,
FIG. 10 is a diagram illustrating a state where a user stands up in an active walking aid. FIG.

2 is a block diagram showing an example of an active walking aid according to the present invention.

As shown in FIG. 2, the active walking aid 10 according to the present invention includes a main body part (not shown), a sensor part 100, a control part 110, a driving part 120, and an alarm part 130. .

The main body is a part constituting the frame of the active walking aid 10, the support for supporting the weight with the user's arm is disposed on the upper portion of the walking aid frame, the wheel is disposed at the bottom of the frame for ease of movement.

The sensor unit 100 is a part in which at least one sensor unit for measuring a user's state is mounted.

The controller 110 analyzes the state data of the user measured by the sensor unit 100 and performs corresponding measures according to the state of the user. The control unit may further include a microprocessor, a user interface device, and a storage device. In addition, data relating to a state pattern for analyzing the state data of the user may be stored in the storage device. For example, the controller 110 may determine the distance between the active walking aid 10 and the user, the height information of the user, the current exercise state, and the like in real time through the state data of the user measured by the sensor unit 100.

The driving unit 120 performs a function of driving the wheel forward and backward or extending or contracting the front and rear frames of the walking aid in accordance with the driving command signal from the sensor unit 100. By the driving made in the drive unit, the active walking aid 10 is able to perform an active risk prevention function that can prevent the risk of falling, such as the user. The drive unit is implemented to include a motor and a gear device to directly drive the pillar of the wheel or frame.

The alarm unit 130 may cope with the dangerous situation by notifying the user or the guardian around the user of the dangerous condition according to the alarm command signal from the sensor unit 100. The alarm unit 130 may broadly include an audible alarm means such as a buzzer or a visual alarm means such as a lamp.

In addition, although not shown, in order to drive the active walking aid 10, a power supply capable of supplying power is required. To this end, the walk assistant 10 may be further equipped with a battery to supply power to the walk assistant 10.

3 is a block diagram illustrating the sensor unit 100 of FIG. 2 in more detail.

The sensor unit 100 of FIG. 2 may include an optical sensor unit 102, a pressure sensor unit 104, and an acceleration sensor unit 106.

The optical sensor unit 102 is a sensor unit for photographing a user's state through an image pickup device such as a CMOS or a CCD. By using the optical sensor unit, even if a separate sensor is not attached to the user's body, the current movement state of the user can be grasped by recognizing the pattern of the photographing target area.

The pressure sensor unit 104 is a sensor unit for measuring the amount of pressure applied to the active walking aid 10 from the user. The pressure sensor unit 104 may be arranged on a portion of the surface of the support or the area connecting the upper end of the active walk aid 10 frame and the support. The result of measuring the pressure applied to the active walking aid 10 from the user through the pressure sensor unit 104 is combined with the information measured by the other sensor unit to allow the controller 110 to derive a significant analysis result. Is utilized.

The acceleration sensor unit 106 is a sensor unit for measuring the magnitude of the acceleration applied to the active walking aid (10). The acceleration sensor is an important means for measuring the stability of the user by measuring the front, rear, left and right tilt information of the user. The measurement of the user's inclination may be used when receiving walking and sitting / standing motion assistance. The acceleration sensor unit may be attached to the main body of the active walking aid 10, may be attached to a part of the user's body, and may be attached to both sides.

In addition, although not shown in FIG. 3, the ultrasonic sensor unit, a laser sensor unit for detecting light waves outside the range of visible light, an infrared sensor unit, and the like may be included in the sensor unit, and each sensor unit included in the sensor unit may include the following. Any one can perform the same six actions.

○ Sensor that can measure distance between user and walker and user's height at the same time:

The distance between the user and the walking aid and the height information of the user provide important information about the safety of the user to the walking aid safety device. While receiving motion assistance, the distance between the user and the walking aid and the height of the user change. The distance between the user and the walking aid and the height information of the user may be measured using sensors capable of measuring a distance including an ultrasonic sensor, an optical sensor, a laser sensor, a magnetic sensor, and an infrared sensor.

○ Sensors that can measure your tilt information:

Tilt information to the front, rear, left and right of the user is an important tool for measuring the stability of the user (Stability). When receiving walking and sitting / standing motion assistance, it is possible to measure whether the user can stably perform the motion by measuring the inclination of the user. These users' tilts can be measured using position and tilt sensors, including accelerometers, gyroscopes, and magnetic sensors.

○ A sensor that can measure the upper and lower major joint angles of the user:

When the lower limb movement assistance is received using the walking aid, the angle of the body joint of the user is changed according to the trajectory corresponding to the movement. These joint angle values can be used as important data to determine whether the initial angle of each lower limb joint is ready to assist the standing up movement, and whether the angle of the elbow joint supporting the upper plate is changed due to the fall.

○ A sensor that allows the user to measure the pressure exerted on the walker's top plate when assisted in walking and sitting / standing:

During the operation assistance, the user applies a certain pressure to the upper plate of the walking aid. However, if a sudden dangerous situation occurs, the pressure value will change. This change can detect the user's dangerous situation. The pressure on the walker aid plate includes a force sensor that can measure force, such as a load cell and a six-axis force / torque sensor.

○ A sensor that can measure the user's biosignal when the user walks and sits / stands up:

When performing a sitting / standing motion, the user's leg muscle signals are greatly activated. In this way, it is possible to determine whether the operation is being performed by measuring the bio-signal of the user.

○ Sensors that can measure the relative ankle speed based on the angle (tilt), angular velocity, and walking aid of the ankle joint:

During the gait movement, the ankle joint is walking at an angle with the ground. In particular, when the walking aid is assisted by using the walking aid, the user's lower limb tilts backward so that the center of gravity (COG) of the user is moved away from the supporting part of the walking aid. There are cases when it happens. In order to detect this dangerous situation, it is possible to use the tilt angle and angular velocity signal of the user's ankle joint. In addition, the ankle speed value measured at the ankle can be compared with the speed of the walking aid can confirm whether the user is using the walking aid safely. Signals from these ankle joints can be measured using accelerometers and gyroscopes.

Figure 4 is a block diagram showing an example of an active walking aid according to another embodiment of the present invention.

2 to 3 illustrate a case in which all the components are included in the active walking aid 10.

On the other hand, in the embodiment of FIG. 4, the walker assisting terminal 20 and the user terminal 30 are connected through wireless communication to form an active walker.

In this case, the walking aid side terminal 20 further includes a sensor unit 200, a control unit 210, a driving unit 220, an alarm unit 230, a brake unit 240, and a receiving unit 250. In addition, the user terminal 30 further includes a sensor unit 300 and a transmitter 350.

In some embodiments of FIGS. 2 to 3, some of the sensor units may be attached to the user's body. In this case, since the sensor unit attached to the user's body also needs to be connected by wire from the walking aid 10, there is a possibility that the convenience of use due to the wiring is deteriorated.

Accordingly, the sensor units 200 and 300, the controller 210, the driver 220, and the alarm unit 230 of FIG. 4 are respectively the sensor unit 100, the controller 110, the driver 120, and FIGS. 2 to 3. Corresponds to alarm 130, and performs the same function of these corresponding components.

Meanwhile, the transmitter 350 performs a function of wirelessly transmitting the user's state data measured by the sensor unit 300 of the user terminal to the walker assisting terminal 20. In response, the receiver 250 receives a user's state data transmitted from the user terminal and transmits the user's state data to the controller 210. The communication between the transmitter 350 and the receiver 250 may be any known wireless data communication. For example, RF communication, Bluetooth communication, and Zigbee communication may be appropriately applied. In addition, by appropriately applying a known authentication mechanism in order to prevent disturbance by the walking aid of another user, the user side terminal 30 and the walking aid side terminal 20 may correspond to 1: 1.

Furthermore, as mentioned above, it is needless to say that each of the walking aid side terminal 20 and the user side terminal 30 further includes means for supplying power such as a battery.

5 is a flow chart showing the flow of the active walking aid function performed in the active walking aid according to the present invention.

As shown in FIG. 5, the active walking assistance function includes three steps, such as a state measurement step S100, a state determination step S110, and a determination result response step S120.

State measurement step (S100) is made in each sensor unit forming a sensor unit of the active walk aid. In order to perform the active walking assistance function corresponding to the user's state, first of all, the current state of the user must be accurately measured. As mentioned above, the user's state data measured through each sensor unit in the state measuring step is transmitted to the control unit of the active walker.

Status determination step (S110) is made in the control unit of the active pedestrian aid, analyzes the user's state data transmitted from the sensor unit to define the active pedestrian assist function to be performed in the current active pedestrian aid, and defined active pedestrian assist function Generate a control signal corresponding to the active walking assistance function. For example, if the corresponding control signal is a braking control signal for braking the wheel, the braking control signal may be transmitted to the braking unit of the active walker assist to brake the walker assistant (emergency stop, etc.). When the corresponding control signal is an alarm signal, it is possible to cause the alarm unit to execute a predetermined alarm action.

FIG. 6 is a diagram illustrating an active walking assistance function performed in an active walking aid according to the embodiment of FIG. 2.

As shown in FIG. 6, the pressure sensor 602 is mounted on a portion of the upper surface of the support plate of the active walker aid 60, and the optical sensor unit may project the user A on the lower end of the support plate together with the controller 610. (Not shown) is mounted. In addition, the wheel is equipped with a drive unit 620 that can drive the wheel by electric.

6 illustrates how the walking safety at the time of walking in the active walking aid according to the present invention is determined, and what active walking assistance function is performed according to the determination result.

The optical sensor unit of the active walking aid 60 performs a function of measuring the distance (d _uw ) to the user (A).

In general, in a safe state, the pressure according to the weight of the user is greatly applied to the support of the active walker, and thus, a high degree of pressure is also sensed by the pressure sensor 602 mounted on the support part. In addition, the distance between the user and the walking aid (d _uw ) is kept shorter than the upper threshold value of the safety distance and longer than the lower threshold value.

If the distance d _uw is too short or too long, the user A may be in danger of falling, in which case the pressure applied to the pressure sensor 602 is also reduced. .

Based on this sensor data, the controller 610 generates a control signal as shown in Table 1.

Sensor data Pressure sensor low pressure Pressure sensor pressure high
The distance (d _uw )
Shorter than the lower threshold Generation of forward drive control signal - The distance (d _uw )
Is between the lower and upper threshold - - The distance (d _uw )
Stops above the upper threshold Reverse drive control signal generation -

According to the control signal of Table 1, for example, when the distance (d _uw ) is shorter than the lower threshold value and the pressure sensor pressure is low, by generating a forward drive control signal by a certain distance / duration time to drive the drive unit 620, It is possible to perform the active walk assistance function so that there is a sufficient gap between A) and the active walk aid 60. Similarly, if the distance (d _uw ) is greater than the upper limit threshold and the user A is about to miss the support (the pressure measured by the pressure sensor is also lowered), the reverse driving control by a certain distance / duration By generating a signal to drive the driving unit 620, the user (A) and the active walking aid 60 is a sufficient distance so that the user (A) does not miss the support.

Meanwhile, the sensor data may determine that each threshold value is a dangerous state only when the time is longer than a predetermined time.

FIG. 7 is a diagram illustrating an active walking assistance function performed in an active walking aid according to the embodiment of FIG. 4.

As shown in FIG. 6, the pressure sensor 702 is mounted in a portion of the upper plate of the support walker 70, and the control unit 710 transmits the state data measured through the sensor units 704, 705, 706, and 707 to the user's terminal. (Not shown) is wirelessly transmitted via a receiver (not shown) of the walker assisting terminal. The wheel is equipped with a driving unit 720 that can drive the wheel by electric.

As in FIG. 6, FIG. 7 illustrates how the walking safety level when walking is determined in the active walking aid according to the present invention, and which active walking assistance function is performed according to the determination result.

When the user falls, the user's movement pattern (distance, tilt, joint angle, etc. with the walking aid) that is detected through the sensor attached to the user's body is out of the walking pattern.

In the embodiment of FIG. 6, the control unit 710 may measure a distance (d _uw ) to the user A, a tilt value of the user, a joint angle pattern, and the like through the state data measured through the sensor units 704 to 707. Can be.

Based on the sensor data, the controller 710 generates a control signal as shown in Table 2.

Sensor data Slope value and joint angle
Pattern is within normal range Slope value and joint angle
The pattern is out of normal range The distance (d _uw )
Shorter than the lower threshold - Generation of forward drive control signal The distance (d _uw )
Is between the lower and upper threshold - - The distance (d _uw )
Stops above the upper threshold - Reverse drive control signal generation

According to the control signal of Table 2, for example, when the distance (d _uw ) is shorter than the lower threshold value and the slope value and the joint angle pattern is determined to be out of the normal range, the driving unit generates a forward drive control signal for a predetermined distance / duration time. By driving the 720, the active walking assistance function may be performed such that there is a sufficient distance between the user A and the active walking aid 70. Similarly, if the distance (d _uw ) is greater than the upper limit threshold and the user A is about to miss the support (the pressure measured by the pressure sensor is also lowered), the reverse driving control by a certain distance / duration By generating a signal to drive the driving unit 720, there is a sufficient distance between the user (A) and the active walking aid 70 so that the user (A) does not miss the support.

8 is a state in which the user sits in the active walking aid, 9 is a state in which the user stands in the active walker, and FIG. 10 is a diagram illustrating a state in which the user stands in the active walker.

The active walking aid 80 according to the present invention may perform an active assist function for the user B to safely sit and stand.

While the user B performs the operation of standing up from FIG. 8 to FIG. 10 to FIG. 10, a constant trajectory is formed at each joint angle of the upper body and the lower body. In addition, the magnitude of the pressure that the upper body exerts on the support plate also changes with a certain pattern. Furthermore, when the user B stands up, there is also a need for the height of the walking aid 80 to rise.

As illustrated in FIG. 8, sensors 802, 803, and 804 are attached to the body of the user B, and in the controller (not shown), pattern information 805 about spatial arrangement of the sensors measured through the sensors 802, 803, and 804. ) Is analyzed. In addition, the driving units 822 and 824 are connected to the front frame extension pillar 823 and the rear frame extension pillar 825, respectively, to adjust the height of the frame. In addition, the magnitude of the pressure applied from the user B is measured through a pressure sensor (not shown) installed in a portion of the upper plate of the support.

In FIG. 9, the pattern information 805 about the spatial arrangement of the sensors is changed by the sensors 802 ', 803', and 804 'whose spatial arrangement has changed as shown in FIG. ') Is analyzed by the controller. If the controller determines that the pattern information 805 'contrasted with the pattern information 805 is based on the standing movement of the user B (information about the pressure recognized from the pressure sensor may be used for more accurate determination), The driving units 822 and 824 may be driven by generating a driving control signal for extending the front frame extension pillar 823 and the rear frame extension pillar 825 of the walking aid 80 to assist the user in standing operation. As shown in FIG. 9, the front frame extension pillar 823 may be extended more slowly than the rear frame extension pillar 825 to assist a stable standing operation of the user B. FIG. By analyzing the joint angle and pressure signals in the control unit can determine the normal standing state. If the correct standing condition is not in place, it is possible to disable the warning and the active standing assist device or change to a safe posture. Through this action, it is possible to prevent a problem such as the user's arm caught on the support.

In FIG. 10, the state in which the user B completes the standing operation is represented.

As shown in FIG. 10, by the extended front frame extension pillar 823 ′ and the rear frame extension pillar 825 ′, the user B stably supports the walking aid 80 without standing awkward even in a standing position. The upper body can be supported on the top plate.

In the example of FIGS. 8 to 10, only some of the sensors 802, 803, and 804 are exemplarily mentioned. However, since the state pattern information of the lower limbs also changes characteristically when the user performs a sitting / standing operation, a sensor may be attached to each region of the lower limbs. Of course, you can collect state data.

As such, a dangerous situation that the user may face while using the walking aid by accurately detecting the user's state and performing an active auxiliary function corresponding to the current state of the user without being mechanically connected to the walking aid. Actively cope with

Claims (9)

A body part including a walking aid frame, a support disposed on an upper part of the walking aid frame to support a user's weight with an arm, and a plurality of wheels disposed below the frame;
Sensor unit including at least one sensor unit for measuring the exercise state of the user,
A control unit for analyzing the state data of the user measured and transmitted by the sensor unit and generating a control signal according to the analysis;
An active walking aid and standing aid comprising a drive unit for performing a driving action based on the control signal from the control unit. The method of claim 1,
The driving unit is an active walking aid and standing aid further comprising an electric motor and a gear unit for driving the wheel forward and backward. The method of claim 1,
The driving unit further includes a plurality of frame extension pillars for varying the height of the frame, and an electric motor and a gear unit for stretching and driving the frame extension pillars. The method of claim 1,
And an alarm unit for generating an alarm recognizable through the sensory organ according to the control signal from the sensor unit. The method of claim 1,
The sensor unit is an active walking aid and standing aid comprising at least one of an optical sensor unit, a pressure sensor unit, an acceleration sensor unit, an ultrasonic sensor unit, a laser sensor unit, an infrared sensor unit. An active walking aid and standing aid comprising a walking aid side terminal and a user side terminal,
The walking aid side terminal,
A body part including a walking aid frame, a support disposed on an upper part of the walking aid frame to support a user's weight with an arm, and a plurality of wheels disposed below the frame;
A first sensor unit including at least one sensor unit for measuring the exercise state of the user,
A control unit for analyzing the state data of the user measured and transmitted by the first sensor unit and generating a control signal according to the analysis;
A driving unit performing a driving action based on the control signal from the control unit;
A receiver which performs wireless communication with a transmitter of the user terminal,
The user side terminal,
A second sensor unit including at least one sensor unit for measuring an exercise state of the user;
And a transmitter configured to wirelessly transmit the state data of the user measured by the second sensor unit to the receiver of the walker assisting terminal. An active walking aid and standing assistance method of an active walking aid including a sensor unit, a controller, and a driver,
A state measurement step of measuring state data on a user's movement in each sensor unit constituting the sensor unit and transmitting the state data to the controller;
A state judging step in which the state data is analyzed by the control unit and a control signal relating to an active walking assistance function or a standing assistance function to be performed is generated;
And a determination result corresponding step of driving the active walking assistance function or the active standing assistance function corresponding to the control signal in the driving unit. The method of claim 7, wherein
In the state measuring step,
Determining whether the distance between the active walking aid and the user and the magnitude of pressure exerted by the user are out of an allowable threshold range; and
And a step of generating the control signal to control the driving unit when the allowable threshold range is out of range. The method of claim 7, wherein
In the state measuring step,
Determining whether the pattern information based on the distance between the active walking aid and the user and the data measured by a plurality of sensor units attached to the user's body is outside of an allowable threshold range; and
And a step of generating the control signal to control the driving unit when the allowable threshold range is out of range.

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