KR20160032489A - Elastic type sole assembly in wearable robot absorbing impact and detecting ground reaction force - Google Patents

Abstract

The present invention relates to an elastic type sole assembly of a wearable robot absorbing an impact transmitted from a ground surface to a wearer or a wearable robot, and measuring a ground reaction force and a position of a point of application of the ground reaction force. According to the present invention, one or more elastic type sole assemblies of a wearable robot absorbing an impact and measuring a ground reaction force are installed between a sole of the wearer and a foot portion of the wearable robot (R); absorbs the impact generated between the sole of the wearer on the foot portion of the wearable robot (R) and between the foot portion of the wearable robot (R) and the ground surface when the foot portion of the wearable robot (R) comes in contact with the ground surface; and comprises sole units (10, 20) deformed to measure a reaction force of the ground surface.

Description

BACKGROUND OF THE INVENTION 1. Field of the Invention [0001] The present invention relates to an elastomeric sole assembly for a wearable robot,

BACKGROUND OF THE INVENTION 1. Field of the Invention [0001] The present invention relates to a sole assembly of a wearing robot constituting a wearing robot, and more particularly to a sole assembly capable of absorbing an impact transmitted from a ground to a wearer or a wearing robot, To a resilient sole assembly of a wearing robot capable of absorbing and measuring ground reaction force.

A wearable exoskeleton robot (hereinafter referred to as a wear robot) is a robot system to be worn by a person to assist the wearer with a force or an operation.

These wearable robots are used for supporting or strengthening leg strength, mainly for the rehabilitation of the elderly or handicapped who have weak leg strength in the field of civilian medicine, for supporting the strength of daily life, and for improving work efficiency by supporting the worker ' Has been developed for.

Although the above-described wearing robot of the civilian field is mainly used in a flat indoor environment, a wearing robot to be worn by soldiers on the battlefield is used for assisting the rapid movement of soldiers in an uneven outdoor environment such as a field or a rug There is a difference.

The impact transmitted to the soles of the wearer robot at the start of the hammock can cause damage to not only the wearer but also the main components of the robot.

For this reason, the design of the sole assembly for shock absorption in a military wearing robot is a very important factor for smooth operation of the robot.

In addition, it is necessary to measure the magnitude of the repulsive force acting on the soles of the sole when the sole comes into contact with the ground and the position of the action point, in order to control the wearing robot to move well according to the intention of the wearer to move.

However, in the conventional wearing robot, it is not appropriate to absorb the impact acting on the wearer and the wearing robot in the sole assembly, and the magnitude of the floor reaction force and the position of the action point are not measured, so that the wearer's operation intention can not be smoothly reflected.

The following prior art documents relate to an 'intelligent muscle force and foot pressure sensor of a walking aid robot', which is attached to the inside of a shoe of an ankle and sole operating mechanism of a wearing robot to detect whether the user's foot is touched A foot pressure sensor of a robot for walking assistance is disclosed.

KR 10-0651639 B1

SUMMARY OF THE INVENTION The present invention has been made in order to solve the above problems, and it is an object of the present invention to provide a wearable robot which can absorb impact transmitted from a ground to a wearer and the wearable robot, The aim is to provide an assembly.

The object of the present invention is to provide a resilient sole assembly of a wearing robot capable of measuring shock absorbing and surface reaction force capable of measuring the size of a floor reaction force and the position of a point of action so that the wearing robot can reflect the will of the wearer have.

According to another aspect of the present invention, there is provided an elasticized sole assembly for a wearable robot, which is capable of measuring shock absorption and ground reaction force, comprising at least one foot between a sole of a wearer and a foot of a wear robot, A foot unit for absorbing an impact generated between the foot of the wearer and the foot of the wearer robot and between the foot of the wearer and the ground when the part is in contact with the ground and measuring the reaction force with the ground while being deformed, .

The foot unit includes an upper member which is in contact with one side of the wearer's sole, a lower member which is in contact with the ground, and both ends of the upper and lower members are connected to the upper member and the lower member, respectively And a compliant member which is installed and deformed according to the movement of the wearer or the movement of the wear robot.

The compliant member may include a lower connection portion connected to the lower member, an upper connection portion spaced apart from the lower connection portion, and a plurality of hinge portions disposed between the lower connection portion and the upper connection portion and bending- .

The compliant member may include a first hinge portion, a second hinge portion, and a third hinge portion that are exclusively deformed between any one of the gravity direction movement, the forward and backward movement, and the left and right direction movement between the lower connection portion and the upper connection portion, And a hinge portion is disposed.

And the first hinge portion, the second hinge portion, and the third hinge portion are arranged in series.

And the compliant member is integrally formed.

And the first hinge portion, the second hinge portion, and the third hinge portion are located on the same plane.

And the upper member is formed so that a connection portion connected to another portion of the wear robot extends.

The first hinge portion, the second hinge portion, and the third hinge portion are provided with deformation amount measuring means capable of measuring deformation amounts of the respective hinge portions.

And the signal outputted from the deformation amount measuring means is inputted to the controller through the amplifier and the filter.

And the deformation amount measuring means is a strain gauge for measuring an amount of bending deformation of each hinge portion.

The sole unit is characterized by comprising a first sole unit provided on the football portion of the wearer and a second sole unit provided on the heel of the wearer.

A bottom case for supporting the bottoms of the first and second soles, and a cover for covering the tops of the first and second soles.

According to the present invention, the elastic soles of the wearable robot are capable of absorbing shock and absorbing the repulsive force of the ground according to the movement of the wearer or the movement of the wear robot. .

In addition, the adaptation member of the sole unit can be provided with a sensor capable of measuring the amount of bending deformation of each hinge portion, so that bending moment information acting on each hinge can be obtained, and finally, the size of the floor reaction force and the position of the action point can be grasped .

1 is a perspective view of a resilient sole assembly of a wearing robot capable of measuring shock absorption and ground reaction force according to the present invention.
FIG. 2 is a perspective view showing a state in which a wearing robot to which an elastic soles assembly of a wearing robot is applied, capable of measuring shock absorption and floor reaction force according to the present invention, is worn by a wearer; FIG.
3 is an exploded perspective view showing a first sole unit in an elastic sole assembly of a wearing robot capable of measuring shock absorption and ground reaction force according to the present invention.
4 is an exploded perspective view showing a second sole unit in an elastic sole assembly of a wearing robot capable of measuring shock absorption and ground reaction force according to the present invention.
5 is a perspective view of a compliant member of a first sole unit in an elastic sole assembly of a wearing robot capable of measuring shock absorption and ground reaction force according to the present invention.
6A and 6B are a front view and a side view of a wear robot showing load and deformation conditions for designing a compliant member of a sole unit of a resilient sole assembly of a wearing robot capable of measuring shock absorption and ground reaction force according to the invention.
FIG. 7 is a view showing an equivalent torsion spring structure synthesized primarily for a compliant member design of a sole unit of an elastic sole assembly of a wearing robot capable of measuring shock absorption and floor reaction force according to the present invention. FIG.
8 is a block diagram showing a system for acquiring a signal output from a compliant member of a sole unit of a resilient sole assembly of a wearing robot capable of shock absorption and ground reaction force measurement according to the invention.
9 is a graph showing a result of stress analysis when a floor reaction force of 1226.3N is applied to the center of a sole unit in an elastic sole assembly of a wearing robot capable of measuring shock absorption and ground reaction force according to the invention.
10 is a graph showing a result of a strain analysis when the ground reaction force of 1226.3N is applied to the center of the sole unit in the elastic sole assembly of a wearing robot capable of measuring shock absorption and ground reaction force according to the invention.
FIG. 11 is a graph showing the result of stress analysis when the ground repulsion force of 1226.3N is applied to a position offset by (-12, -10) mm from the center of the sole unit in the elastic sole assembly of a wearing robot capable of measuring shock absorption and ground reaction force according to the invention FIG.
FIG. 12 is a graph showing the results of analysis of strain when a ground reaction force of 1226.3N is applied to a position offset by (-12, -10) mm from the center of a sole unit in an elastic sole assembly of a wearing robot capable of measuring shock absorption and ground reaction force according to the invention FIG.

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS Hereinafter, the elastic soles of a wearing robot according to the present invention will be described in detail with reference to the accompanying drawings.

The elasticized sole assembly of the wearing robot capable of measuring the shock absorption and ground reaction force according to the present invention includes a sole unit (10) (20) provided at least one between the sole of the wearer and the foot portion of the wearing robot. The sole unit 10 or 20 absorbs the impact generated when the wearer moves or the wearing robot operates, and measures the reaction force with the ground while being deformed. That is, when the impact is transmitted, the sole unit 10 or 20 deforms to absorb an impact generated between the soles of the wearer's foot and the foot of the wearer robot or between the foot of the wearer robot and the ground, To be measured.

As shown in FIGS. 1 and 2, the first and second foot units 10 and 20, which are the sole units constituting the elastic sole assembly of the wearing robot capable of measuring the shock absorption and the ground reaction force according to the present invention, And the first plant unit (10) is located at a front position with respect to the second plant unit (20). That is, the first sole unit 10 is positioned to support the wearer's toe portion, and the second sole unit 20 is positioned to support the heel of the wearer.

The first and second foot units 20 and 20 are provided at the foot portion of the wearing robot R or inside the casing portion 30 provided on the feet of the wearing robot R. [ The casing unit 30 includes a bottom case 31 for supporting the bottom surfaces of the first and second foot units 20 and 20 and a bottom case 31 for supporting the bottoms of the first and second foot units 20. [ And a cover 32 covering an upper portion of the cover 20. The bottom case 31 may be made of an elastic material such as rubber, or a synthetic resin or metal. The cover 32 may be made of an elastic material such as rubber.

3, the first soles unit 10 includes an upper member 11 which is in contact with the soles of the wearer through the cover 32 and a lower member 11 which passes through the floor case 31, And a compliant member (12) provided between the upper member (11) and the lower member (13).

The upper member 11 passes through the cover 32 through the through hole formed in the cover 32 and is exposed to the upper surface of the elastic plantar assembly of the wearing robot according to the present invention to come into contact with the ball of the wearer.

The lower member 13 passes through the through-hole formed in the bottom case 31, passes through the bottom case 31, and is exposed to the lower surface of the elastic sole assembly of the wearing robot according to the present invention, and comes into contact with the ground.

The compliant member 12 has a plurality of hinge portions 122, 124 and 126 which are fastened at both ends to the upper member 11 and the lower member 13 and are bent and deformed with respect to adjacent portions, Respectively. Since the hinge portions 122, 124, 126 are formed in different directions from each other, it is possible to absorb impact against deformation in the gravity direction, back-and-forth direction and lateral direction, and measure the ground surface reaction force acting in each direction have. The compliant member 12 is fastened to the lower member 13 through the lower connection part 127 and fastened to the upper member 11 through the upper connection part 121 at the other end.

3 or 5, the compliant member 12 includes an upper connection portion 121 fastened to the upper member 11, a lower connection portion 127 fastened to the lower member 13, And the plurality of hinge portions 122, 124 and 126 are formed between the lower connection portion 127 and the upper connection portion 121.

For example, the first hinge portion 122 is located between the upper connection portion 121 and the lower connection portion 127, and the second hinge portion 122 is located between the upper connection portion 121 and the first hinge portion 122 And a third hinge part 126 is positioned between the lower connection part 127 and the second hinge part 124. [ A first connection part 123 connecting the first hinge part 122 and the second hinge part 124 is formed between the first hinge part 122 and the second hinge part 124, A second connection part 125 connecting the first hinge part 122 and the third hinge part 126 is formed between the hinge part 122 and the third hinge part 126.

Accordingly, the compliant member 12 is separated from the upper connection part 121 by the second hinge part 124, the first connection part 123, the first hinge part 122, the second connection part 125, And the lower connection part 127 is arranged in series via the support part 126. [

The first hinge portion 122, the second hinge portion 124, and the third hinge portion 126 are located on the same plane.

The first hinge portion 122, the second hinge portion 124, and the third hinge portion 126 are formed by machining a single member such that the relative positions of the first hinge portion 122, the second hinge portion 124, And is formed so as to be easily deformed with respect to an external force.

The compliant member 12 bends and deforms at two adjacent portions about the first hinge portion 122, the second hinge portion 124, and the third hinge portion 126 to generate a repulsive force against the ground surface, / Absorbs the moment about the left / right direction. That is, the compliant member 12 can be modeled as a space spring that performs three-degree-of-freedom micro-motion with respect to the lower connection portion 127, and the reaction force in the direction of gravity generated when the lower member 13 contacts the ground surface And absorbs impact moments in the forward and backward directions and the left and right direction. 5, the first hinge portion 122, the second hinge portion 124, and the third hinge portion 126 are disposed to have a central axis of bending deformation in different directions, The first hinge portion 122 absorbs a moment in the left and right direction while being deformed when a moment acts in the left and right direction. The second hinge portion 124 absorbs a moment in the front and rear direction. The third hinge portion 126, Is formed so as to absorb the ground surface reaction force acting in the gravity direction.

The second sole unit 20 also has a configuration similar to that of the first sole unit 10.

That is, the second foot unit 20 also includes the upper member 21, the lower member 23 and the compliant member 22, and the compliant member 22 also includes the upper connection portion 221 and the lower connection portion 227, The first hinge portion 222, the second hinge portion 224, and the third hinge portion 226 are disposed between the first hinge portion 222, the second hinge portion 224, and the third hinge portion 226, respectively. The first hinge portion 222 is located at an intermediate portion between the upper connection portion 221 and the lower connection portion 227 and the second hinge portion 224 is located at an intermediate portion between the upper connection portion 221 and the first hinge portion 222). The third hinge portion 226 is disposed between the lower connection portion 227 and the first hinge portion 222. The first hinge part 222 and the second hinge part 224 are connected to each other by a first connection part 223 and the first hinge part 222 and the third hinge part 226 are connected to a second connection part 225). The first hinge unit 222, the second hinge unit 224 and the third hinge unit 226 are located on the same plane in the second soles unit 20 so that the ground reaction force , It is possible to absorb an impact on the moment acting in the forward / backward / leftward / rightward directions.

The second plantar unit 20 basically has a configuration similar to that of the first plantar unit 10.

The second foot unit 20 is formed to extend from the upper member 21 so as to be connected to other parts of the wear robot R. [ For example, as shown in FIG. 4, the upper member 21 is formed with a connecting portion 24 connected to the calf portion of the wearing robot R.

The first sole unit 10 is disposed in front of the second sole unit 20 so that the first sole unit 10 is located at a football position of the wearer's soles, The upper member 21 of the second plant unit 20 is brought into contact with the heel of the wearer.

The compliant member 12 of the first plant unit 10 and the compliant member 22 of the second plant unit 20 need not have the same elastic properties as each other, .

Hereinafter, the structure of the compliant members 12 and 22 of the plantar units 10 and 20 will be described in detail so that the principle that the impact is absorbed and the reaction force is measured by the compliant members 12 and 22 The following description will be made using the compliant member 12 of the one-sided unit 10.

,

,

로 표현할 수 있다.3 shows the rotation center axes of the first hinge portion 122, the second hinge portion 124 and the third hinge portion 126 of the compliant member 12,

,

,

.

6A and 6B, the compliant member 12 will be described in detail with reference to FIGS. 6A and 6B and using a wearable robot to which the resilient plantar assembly according to the present invention is applied.

Considering the load conditions of the wearing robot as shown in FIGS. 6A and 6B and the three-axis direction deformation amount of the compliant member 12, the elastic characteristics to be realized by the compliant member 12 are as follows: .

<Expression-1>

,

,

는 순응 부재의 각 좌표축 방향 미소 이동량이고,

,

,

는 각 좌표축에 대한 미소 회전량이며,

,

,

는 착용자 무게 포함 착용로봇에 의해 순응부재에 작용하는 각 좌표축 방향 힘이고,

,

,

는 각 좌표축에 대한 원점에서의 모멘트이다. 상기 식-1에서 순응행렬의 각 요소인, c₃₃, c₄₄, c₅₅는 각각 c₃₃ = 8.1559ㅧ10^-4 mm/N, c₄₄ = 6.4695ㅧ10^-7 rad/Nmm, c₅₅ = 8.8965ㅧㅧ10^-7 rad/Nmm 가 될 수 있다.here,

,

,

Is the micro-movement amount in the coordinate axis direction of the compliant member,

,

,

Is a minute rotation amount with respect to each coordinate axis,

,

,

Is a force in each coordinate axis acting on the adaptation member by the wearer robot including the weight of the wearer,

,

,

Is the moment at the origin for each coordinate axis. Of each element of the compliance matrix in the formula _{-1, c 33, c 44,} c 55 are each c ₃₃ = 8.1559 ㅧ _{^{10 -4 mm / N, c 44}} = 6.4695 ㅧ _{^{10 -7 rad / Nmm, c 55}} = 8.8965 ㅧ ㅧ can be 10 ^-7 rad / Nmm.

If the adaptation matrix required for the compliant member 12 is obtained as shown in Equation (1), it can be synthesized by series connection of three torsion springs. That is, the compliant member 12 can be modeled as shown in FIG. 7, and the stiffness coefficient of the compliant member 12 modeled by the torsion spring as shown in FIG. 7 can be expressed by the following Equation 2 .

<Formula-2>

Here, k _i is the stiffness coefficient of the compliant member modeled by the torsion spring, r _i , b _i , and t _i are the cutting radius, width, and minimum hinge thickness of the hinge, and E is the modulus of elasticity of the compliant member material.

6A to 6B, when the first and second soles 10 and 20 are constructed using the adaptable member 12 designed as described above, the soles of the feet The ground repulsive force in the direction of gravity generated upon contact with the ground, and the impact on the rotational moment generated in the forward / backward / leftward directions can be absorbed.

On the other hand, strain measuring means is attached to the first hinge portion 122, the second hinge portion 124, and the third hinge portion 126 to measure the deformation amount due to the deformation. For example, When the strain gage 41 as one of the deformation amount measuring means is attached to the first hinge portion 122, the second hinge portion 124 and the third hinge portion 126, the hinge portions 122, (124) and (126) can be measured.

The bending deformation occurs in the first hinge portion 122, the second hinge portion 124 and the third hinge portion 126 and the strain gage 122 installed on each of the hinge portions 122, 124, A signal corresponding to the deformation is output through the signal line 41. Which is rectified through a half-type Wheatstone bridge 42 and is input to a controller 45 via an amplifier 43 and a filter 44. The controller 45 calculates the minute rotation amount of the corresponding hinge portion by using the following equation (3) as the input deformation value.

here,

,

,

.

는 해당 힌지부에서 측정된 굽힘 변형률, Φ_i는 회전량을 의미한다.In Equation (3)

Denotes the bending strain measured at the corresponding hinge portion, and? _I denotes the rotation amount.

The ground reaction force inputted from the ground to the lower member 13 in the first plant unit 10 causes bending deformation of the respective hinge parts 122, 124 and 126 of the compliant member 12, The bending moment acts on each of the hinge portions 122, 124, 126 by the deformation. Since the stiffness coefficient k _i and the rotational deformation amount? _I of the hinge portions 122, 124 and 126 are known, the bending moments? _I acting on the hinge portions 122, 124 and 126 are expressed as? _I = k _i ㅧ Φ _i '.

,

,

와 이들에 의해 결정되는 힘 작용선인

,

,

에 의해 구성되는 자코비안 행렬들을 통하여 상기 순응부재(12)의 하부연결부에 발생하는 지면 발반력의 크기 및 작용점의 위치를 구할 수 있다.5, the central axis of each of the hinge portions 122, 124, 126 in the compliant member 12

,

,

And a force action line determined by these

,

,

The magnitude of the floor reaction force generated in the lower connection portion of the compliant member 12 and the position of the action point can be obtained through the Jacobian matrices formed by the Jacobian matrices.

9 to 12 show results of structural analysis for measuring the repulsive force of the soles of the wearing soles of the wearable robots with respect to the plantar units 10 and 20 according to the present invention.

9 and 10 show stresses and strains when a force of 1226.3 N is applied to the center of the plantar units 10 and 20 and FIGS. 11 and 12 show the stresses and strains of the plantar units 10 and 20 And stress and strain when a force of 1226.3 N is applied in a state in which the action point is offset from the center by 12 mm in the X axis and? 10 mm in the Y axis.

10, the bending strain acting on each of the hinge portions 122, 124, and 126 is measured as shown in Equation 4 below.

<Equation -4>

Using the bending strain measured in Eq. (4), the repulsion force is estimated to be 1151.97 N and the force acting point (-0.55, 0.32) mm.

12, the bending strain acting on each of the hinge parts 122, 124 and 126 is expressed by the following equation (12): &lt; EMI ID = Equation 5 is as follows.

<Formula-5>

Using the bending strain measured in Eq. (5), the repulsive force is estimated to be 1152.17 N and the force acting point (-12.41, -9.47) mm.

As described above, it can be seen that the magnitude of the ground reaction force acting on the sole and the position of the point of action acting on the soles can be measured with high accuracy by using the elastic sole assembly of the wearing robot capable of measuring shock absorption and ground reaction force according to the present invention.

1: Elastic sole assembly 10: First sole unit
11: upper member 12: compliant member
121: upper connection part 122: first hinge part
123: first connection part 124: second hinge part
125: second connection part 126: third hinge part
127: lower connection part 13: lower member
20: second sole unit 21: upper member
22: conformable member 221: upper connection
222: first hinge part 223: first connection part
224: second hinge part 225: second connection part
226: Third hinge part 227: Lower connection part
23: lower member 24: calf connecting portion
30: casing part 31: bottom case
32: Cover 41: Strain gauge
42: Wheatstone Bridge 43: Amplifier
44: filter 45: controller

Claims (13)

Wherein at least one or more of the wearer's foot and the foot of the wearer robot are provided between the foot of the wearer and the foot of the wearer robot when the foot portion of the wearer robot contacts the ground, A resilient sole assembly of a wearing robot capable of absorbing shocks and measuring ground reaction forces including a sole unit that absorbs impacts generated between the ground and measures the reaction force with the ground as it is deformed. The method according to claim 1,
The sole unit comprises:
An upper member contacting one side of the wearer's sole;
A lower member contacting the ground,
And a compliant member which is installed between the upper member and the lower member so as to be connected to the upper member and the lower member at both ends thereof and is deformed in accordance with the movement of the wearer or the movement of the wearer robot, Elastic sole assembly of wearing robot capable of absorbing and measuring ground reaction force. 3. The method of claim 2,
The compliant member
A lower connection portion connected to the lower member,
An upper connection part arranged to be spaced apart from the lower connection part,
And a plurality of hinge portions disposed between the lower connection portion and the upper connection portion and bending-deforming with respect to two adjacent portions, wherein the hinge portions are capable of measuring shock absorption and ground reaction force. The method of claim 3,
The compliant member
A first hinge portion, a second hinge portion, and a third hinge portion are disposed between the lower connection portion and the upper connection portion and each of the first hinge portion, the second hinge portion, and the third hinge portion are exclusively deformed in any one of gravity direction movement, forward / backward movement, It is characterized by a shock absorbing and ground reaction force measurement. 5. The method of claim 4,
Wherein the first hinge portion, the second hinge portion, and the third hinge portion are arranged in series, wherein the first hinge portion, the second hinge portion, and the third hinge portion are arranged in series. 5. The method of claim 4,
Wherein the compliant member is integrally formed with the elastic member.
5. The method of claim 4,
Wherein the first hinge portion, the second hinge portion, and the third hinge portion are located on the same plane. The method of claim 4,
Wherein the upper member is formed so that a connecting portion connected to another portion of the wear robot is extended. 5. The method of claim 4,
Wherein the first hinge portion, the second hinge portion, and the third hinge portion are provided with deformation amount measuring means capable of measuring deformation amounts of the respective hinge portions. assembly. 10. The method of claim 9,
Wherein a signal outputted from the deformation amount measuring means is inputted to a controller through an amplifier and a filter. The elastic foot of the wearing robot is capable of measuring shock absorption and ground reaction force. 10. The method of claim 9,
Wherein the deformation amount measuring means is a strain gauge for measuring a bending deformation amount of each hinge portion. The method according to claim 1,
The sole unit comprises:
A first sole unit provided on the football portion of the wearer,
And a second sole unit provided on the heel of the wearer. The elastic foot of the wearing robot is capable of measuring shock absorption and ground reaction force. 9. The method of claim 8,
A bottom case for supporting the bottom surfaces of the first and second sole units,
Further comprising a cover covering an upper portion of the first soles unit and the second soles unit, wherein the cover and the cover cover the upper portion of the first soles unit and the second soles unit.

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