KR20200087499A - Simulation system of robotic artificial leg and method of controlling the same - Google Patents

Abstract

The present invention provides a robot prosthetic simulation system and a control method thereof, wherein a simulation walking motion of the same pattern as normal walking is implemented, so that the performance of a robot prosthesis can be evaluated in advance and optical performance can be exhibited for an actual patient. To this end, the robot prosthetic simulation system of the present invention comprises: a simulator body connected to a robot prosthesis having a shin member, a prosthetic leg body, and a joint drive unit, and implementing a walking motion of the robot prosthesis; a sensing unit for sensing the walking information of the robot prosthesis implemented by the simulation body; and a control unit for controlling the simulator body so that the walking information sensed by the sensing unit matches the standard walking information of a normal person.

Description

SIMULATION SYSTEM OF ROBOTIC ARTIFICIAL LEG AND METHOD OF CONTROLLING THE SAME

The present invention relates to a simulation system of a robotic prosthesis, and in detail, a simulation system and a control system for a robotic prosthesis that can test the durability of the robotic prosthesis without a patient and implement a gait simulation of the robotic prosthesis in the same pattern as that of a normal person. It's about how.

Early commercial prosthetic limbs were mainly developed to replace the amputated body part in terms of aesthetics, but the prosthetic limb that plays an important role in functional aspects such as gradually walking more naturally and preventing excessive metabolic consumption in patients. Are being developed.

For example, like an actual ankle condition, the ankle angle of the prosthesis is automatically adjusted to allow natural walking, or a so-called functional element that generates a random torque on the ankle of the prosthesis to reduce metabolic consumption when walking, Robotic prosthetics are being developed.

Meanwhile, each patient has different walking habits, and a large difference occurs in walking conditions according to body characteristics such as weight. Because each person's own walking pattern is different, the prosthesis should basically be designed in consideration of the patient's walking pattern.

In particular, in the case of a robotic prosthesis with functional elements added, a more accurate analysis of the patient's gait pattern is first performed, and then it is necessary to optimally set the design of the robotic prosthesis based on the patient's gait pattern. When applied, the functions of the robot prosthesis can be maximized.

To this end, the recent robotic prosthesis performs a walking gait while the patient directly wears the robotic prosthesis. It was only a level that changed every day.

As a result, before the final patient directly wore the robotic prosthesis, there were limitations in custom designing the robotic prosthesis with suitable structure and performance for various patients with different gait habits and different body characteristics.

Japanese Patent Publication No. 2012-130711 (published on December 12, 2012)

The object of the present invention is to solve the conventional problems, and by implementing a simulated walking operation of the same pattern as the walking of a normal person, it is possible to evaluate the performance of the robotic prosthesis before being worn by an actual patient, and optimal performance for an actual patient It is to provide a simulation system and a control method of a robotic prosthesis capable of exerting a robot.

In order to achieve the object of the present invention described above, the simulation system of a robotic prosthesis according to the present invention has a shank member, a prosthetic body and a joint driving part connecting the prosthetic member and the prosthetic body and transmitting torque to the prosthetic body. A simulator body connected to a robotic prosthesis and implementing a walking operation of the robotic prosthesis; A sensing unit for sensing walking information of the robot prosthesis implemented by the simulator body; And it characterized in that it comprises a control unit for controlling the joint driving unit and the simulator body so that the walking information sensed by the detection unit matches the reference walking information of a normal person.

At this time, in the simulation system of the robot prosthesis, the sensing unit includes: a load sensing unit for sensing load information for each hour of the robot prosthesis applied to the floor surface; And it may include a motion detection unit for detecting the position information of the time of the robot prosthesis at least in the section where the load of the robot prosthesis is sensed.

In addition, in the simulation system of the robot prosthesis, the load detection unit may include a load cell that is disposed on the bottom surface to contact the prosthetic body, and senses a load transmitted from the prosthetic body.

In addition, in the simulation system of the robot prosthesis, the motion detection unit may include an image sensor that detects the position information of the robot prosthesis based on time based on the image of the robot prosthesis during the walking operation.

In addition, in the simulation system of the robot prosthesis, the simulator body, the frame; A front-rear transfer unit disposed on the frame and moving the robot prosthesis in the front-rear direction; A swing unit that is connected to the front-rear transfer unit and rotates the robotic limb about a horizontal axis disposed in a left-right direction orthogonal to the front-rear direction; And it is connected to the swing unit, and may include a shanghai transport unit for moving the robot limb in the vertical direction.

In addition, in the simulation system of the robot prosthesis, the simulator main body is installed to be movable in the front-rear direction with respect to the frame, the swing unit and the moving table is seated; And a power transmission unit for connecting the front-rear transfer unit and the moving table, and for moving the moving table in the front-rear direction from the driving force of the front-rear transfer unit.

In addition, in the simulation system of the robot prosthesis, the simulator body, a guide rail disposed in the front-rear direction on the frame; And a guide block disposed on the movable table and coupled to the guide rail and movable in the front-rear direction along the guide rail.

In this case, in the simulation system of the robot prosthesis, the power transmission unit is disposed in the front-rear direction of the frame, connected to the output terminal of the front-rear transfer unit to rotate in cooperation, and a power transmission shaft having a first screw formed on the outer circumferential surface. ; And it is coupled to the movable table, the inner circumferential surface may include a power transmission movement block is provided with a through-hole formed with a second screw screwed to the first screw.

In addition, in the simulation system of the robot prosthesis, the shanghai transport unit, one end is connected to the swing unit and the other end is coupled to the shank member, and includes an upper and lower driving unit for bringing the robot prosthesis closer to or separated from the floor surface. Can.

In this case, in the simulation system of the robot prosthesis, the swing unit includes: a horizontal axis rotatably supported on the moving table in a state of being coupled with an upper end of the upper and lower driving parts; And it may include a swing drive for rotating the horizontal axis.

In addition, in the simulation system of the robot prosthesis, the control unit controls the shanghai transport unit so that the load corresponding to the weight of a normal person can be transferred to the floor surface when the robot prosthetic contacts the floor surface. It is possible to implement the additional pressure of the robot prosthesis.

On the other hand, the simulation control method of the robot prosthesis using the robot prosthesis simulation system according to the present invention includes: a generating step of generating reference walking information for a normal human walking operation; A simulation step of implementing a walking operation of the robot prosthesis using the robot prosthesis simulation system; A sensing step of sensing walking information of the robot prosthesis in the walking operation; And a control step of controlling the robot prosthesis and the simulation body such that the walking information and the reference walking information are matched.

In addition, in the simulation control method of the robot prosthesis, the sensing step includes: a load sensing step of sensing load information for each hour of the robot prosthesis applied to the floor surface; And it may include a motion detection step of detecting the position information of the time of the robot prosthesis at least in the section where the load of the robot prosthesis is detected.

In addition, in the simulation control method of the robot prosthesis, in the control step, when the walking information and the reference walking information are identical, the walking operation of the robot prosthesis is repeated, and then an inspection step of determining whether the robot prosthesis is normal or not. It may further include.

Since the simulation system and control method of the robot prosthesis according to the present invention can implement a simulation walking operation of the same pattern as the walking of a normal person using the simulator body, performance evaluation such as durability can be performed before actual use of the robot prosthesis. Thereby, there is an effect that can increase the reliability of the product.

In addition, the present invention can implement a simulated walking motion of the same pattern as the actual walking of the patient using the simulator body, without the need for performing a walking gait in a state where the patient with an uncomfortable movement directly wears the robot prosthesis, the robotic prosthetic patient There is an effect that can provide the convenience of.

In addition, since the present invention can reset the design setting values of the robot prosthesis for each patient having a different gait pattern in the simulation process, the operating condition of the robot prosthesis can be optimized for each patient, thereby enabling the pedestrian to naturally walk. It has the effect of maximizing the functions of the robotic prosthesis such as adjusting the rotation angle (ankle angle) or generating random torque in the prosthetic body to reduce metabolic consumption when walking.

In addition, the present invention also has the effect of enabling a compatible simulation for various types of prostheses through a simulator body having a front-rear transfer unit, a swing unit and a shanghai transfer unit.

1 is a perspective view for explaining a simulation system according to an embodiment of the present invention.
Figure 2 is a side view of a robot prosthesis that is a simulation object according to an embodiment of the present invention.
3 is a side view (a) and a front view (b) for explaining the simulation body according to an embodiment of the present invention.
4 is an exemplary view showing a bottom surface of a moving table for explaining a power transmission unit according to an embodiment of the present invention.
Figure 5 is a side view for explaining the operation of the simulation body according to an embodiment of the present invention.
6 is a conceptual diagram illustrating reference walking information according to a walking operation of a normal person according to an embodiment of the present invention.
7 is a conceptual diagram for explaining the operation of the motion detection unit for sensing the position information by time of the robot prosthesis according to an embodiment of the invention.
8 is a flowchart for explaining a control method of a simulation system according to an embodiment of the present invention.

Hereinafter, preferred embodiments of the present invention in which the above-described problem to be solved can be realized in detail will be described with reference to the accompanying drawings. In describing the embodiments, the same name and the same code are used for the same configuration, and additional description is omitted.

1 is a perspective view for explaining a simulation system according to an embodiment of the present invention, and FIG. 2 is an exemplary side view of a robot prosthesis that is a simulation object according to an embodiment of the present invention.

1 and 2, in the robot prosthesis simulation system according to an embodiment of the present invention, instead of implementing gait in a state where the actual patient directly wears the robot prosthesis 100, the patient actually performs the robot prosthesis 100 It simulates the walking behavior of the same pattern as walking that is implemented while wearing, and based on this, it is possible to satisfy the durability, performance test and optimal design of each patient.

The robot prosthesis simulation system for this may include a simulator body 200 to which the robot prosthesis 100 is coupled, a detection unit, and a control unit.

Referring to FIG. 2, the robotic prosthesis 100 is a prosthetic member that is applied to a patient and is a simulation target according to the present invention, and may include a shin member 110, a prosthetic body 130, and a joint driving unit 150. have.

The shin member 110 is a part corresponding to the shin of the body, and may be connected to the leg of the patient. In addition, a separate prosthetic member may be additionally coupled to the upper end of the shin member 110, for example, a prosthetic member corresponding to the shin of the body, a knee joint, or a thigh may be additionally combined.

The prosthetic body 130 is a part corresponding to the foot of the body, and in the illustrated example, is made of a double plate-like structure so as to impart elastic force, so as to promote the patient's natural gait and absorb the impact with the floor when walking. Can. Alternatively, the prosthetic body 130 may be made of various shapes and various materials, and is not particularly limited with respect to structural parts such as its shape or material.

In addition, the prosthetic body 130 may be covered with shoes in actual use, and accordingly, a simulation may be implemented while shoes are worn even during the simulation according to the present invention.

The joint driving part 150 is a part corresponding to the ankle of the body, and the shank member 110 and the prosthetic body 130 can be rotatably connected. The joint driving unit 150 adjusts the rotation angle (ankle angle) of the prosthetic body 130 to enable the patient's natural walking, or generates a random torque to the prosthetic body 130 to reduce metabolic consumption when walking. And other functional elements.

For example, the joint driving unit 150 may transmit the torque to the prosthetic body 130 to rotate the prosthetic body 130 with respect to the shin member 110 at an arbitrary rotation angle. As described above, the joint driving unit 150 may be connected to a separate external power source to transmit torque to the prosthetic body 130.

Also, the joint driving unit 150 may maintain the prosthetic body 130 with respect to the shin member 110 at a constant rotation angle when no load is applied to the prosthetic body 130 from the floor. In other words, the joint driving unit 150 may maintain the horizontal prosthesis body 130 in a horizontal state when the external force does not act, that is, the prosthesis body 130 with respect to the shin member 110 at a right angle of rotation (90 degrees). .

For example, the joint driving unit 150 may be provided with a resilient elastic member for maintaining the right angle of rotation of the prosthetic body 130 with respect to the shin member 110.

After all, the present invention performs repeated simulation walking operations on the robot prosthesis 100, and not only examines performance such as durability for each component constituting the robot prosthesis 100, but also allows a real patient to perform the robot prosthesis 100 ) In the process of wearing and walking, it is possible to optimally design the magnitude or torque value of the restoring force acting on the joint driving part 150 of the robot prosthesis 100 to reduce natural walking and metabolic consumption.

Figure 3 is a side view for explaining the simulator body according to an embodiment of the present invention, Figure 4 is a front view for explaining the simulator body according to an embodiment of the present invention, Figure 5 is an embodiment of the present invention It is an exemplary side view for explaining the operation process of the simulator body.

Referring to FIGS. 3 to 5 together with FIG. 1, the simulator body 200 is capable of repeating the walking motion of the same pattern as the normal human walking with respect to the robot prosthesis 100, and the simulator body 200 for this purpose. The may include a frame 210, a front-rear transfer unit 220, a swing unit 250, and a shanghai transfer unit 260.

First, referring to FIG. 6, the simulator body 200 according to the embodiment of the present invention can repeatedly simulate a walking operation in a one-step section in which the robot prosthesis 100 continuously contacts the floor surface.

Of course, the simulator body 200 can repeat a walking operation in a walking section of 2 steps or more, but in this case, the size of the simulator body 200 may be unnecessarily large.

The frame 210 supports the front-rear transfer unit 220, the swing unit 250, and the shanghai transfer unit 260 at a predetermined height from the bottom surface, and can provide a space for the walking operation of the robotic prosthesis 100. have.

1, 211 is a moving wheel, 212 is a height adjustment means, and 213 is a fixed clamp. That is, the frame 210 can be freely moved using the moving wheel 211, and the height or horizontal state of the simulator body 200 can be finely adjusted by adjusting the height adjusting means 212, and the fixed clamp ( 213) can be firmly fixed to the bottom surface. In particular, in the simulation process according to the present invention, the simulation can be performed in a state in which the frame 120 is firmly fixed to the bottom surface using the fixed clamp 213.

The front-rear transfer unit 220 is disposed on the frame 210 and provides a driving force for moving the robot prosthesis 100 in the front-rear direction, which is a walking direction, and may include a front-rear driving unit 221.

Referring to FIG. 6, the front-rear transfer unit 220 may have a front-rear movement range corresponding to at least one step.

The front-rear driving unit 221 may be an electric motor, and as the electric motor is rotated in one direction or rotated in the opposite direction, the robot prosthesis 100 may be moved forward or backward.

The swing unit 250 is connected to the front-rear transfer unit 220 and provides a driving force for rotating the robot prosthesis 100 around a horizontal axis 252 disposed in a left-right direction orthogonal to the front-rear direction. It may include a driving unit 251.

Referring to FIGS. 5 and 6, when the normal person walks, the swing unit 250 lifts the leg forward around the hip joint for the next step, and as the body moves forward, the leg moves backwards around the hip joint. It is possible to implement the process of reclining again. As a result, the horizontal axis 252 may be disposed at a position corresponding to the hip joint of a normal person.

The swing driving unit 251 may be an electric motor, and rotates the robot prosthesis 100 around the horizontal axis 252 forward or upward by rotating the electric motor in one direction or in the opposite direction. It can be rotated rearward upward.

The Shanghai transport unit 260 is connected to the swing unit 250 and provides a driving force for moving the robot prosthesis 100 in the vertical direction, and may include a vertical driving unit 261.

For example, the upper and lower driving unit 261 is connected to the swing unit 250 and the other end is coupled to the shank member 110 to bring the robotic prosthesis 100 closer to the floor or spaced apart, operated by pneumatics It can be a cylinder.

The upper and lower driving portion 261 lowers the robot prosthesis 100 coupled to the cylinder rod 262 corresponding to the output end of the cylinder close to the bottom surface or rises away from the bottom surface as the cylinder is extended or contracted. I can do it.

When a cylinder is applied as the vertical drive unit 261, the cylinder rod 262 and the shank member 110 of the robot prosthesis 100 may be fixedly coupled using a separate fastening member.

5 and 6, the robot prosthesis 100 may continuously contact the floor surface e in one step section through the Shanghai transport unit 260.

As described above, the robot prosthesis 100 is in the same pattern as the gait corresponding to one step of a normal person, through mutually organic driving of the front-rear transfer unit 220, the swing unit 250, and the shanghai transfer unit 260. The walking operation of the robot prosthesis 100 corresponding to one step may be repeated.

Hereinafter, a coupling structure of the front-rear transfer unit 220, the swing unit 250, and the shanghai transfer unit 260 constituting the simulator body 200 according to the embodiment will be described in more detail.

1, 3, and 4, the simulator body 200 according to the embodiment may include a moving table 240.

The moving table 240 is installed to be movable in the front-rear direction with respect to the frame 210, and the swing unit 250 and the shanghai transport unit 260 may be seated.

At this time, by connecting the front-rear transfer unit 220 and the moving table 240, and may include a power transmission unit 230 for moving the moving table 240 in the front-rear direction from the driving force of the front-rear transfer unit 220. have.

As a result, the moving table 240 connected via the front-rear transfer unit 220 and the power transmission unit 230 may slide in the front-rear direction on the frame 210 from the driving force of the front-rear transfer unit 220, and move at this time. The swing unit 250 and the Shanghai transport unit 260 seated on the table 240 may be interlocked with the movement in the front-rear direction of the moving table 240.

In more detail, a guide rail 235 disposed in the front-rear direction may be provided at an upper portion of the frame 210, and coupled to the guide rail 235 at a lower portion of the moving table 240 to guide the rail 235. A guide block 237 capable of moving in the front-rear direction may be provided.

In addition, the power transmission unit 230 may include a power transmission shaft 231 and a power transmission movement block 233.

The power transmission shaft 231 is disposed in the front-rear direction of the frame 210 and connected to the output end 222 of the front-rear transfer unit 220 to rotate in cooperation, and a first screw may be formed on the outer circumferential surface.

The power transmission moving block 233 is coupled to a lower portion of the moving table 240, and an inner circumferential surface may be provided with a through hole 2331 in which a second screw is screwed with the first screw.

Due to this, when the output terminal 222 of the front-rear transfer unit 220 rotates in one direction, the power transmission shaft 231 connected to the output terminal 222 is rotated in one direction, and is screwed with the power transmission shaft 231 In the power transmission moving block 233, the moving table 240 moves forward as the power transmission shaft 231 advances in the longitudinal direction (front-to-back direction). Conversely, when the output terminal 222 of the front-rear transfer unit 220 rotates in the opposite direction, the power transmission shaft 231 connected to the output terminal 222 is rotated in the opposite direction, and the power that is screwed with the power transmission shaft 231 The transfer moving block 233 moves backward in the longitudinal direction (front-to-back) direction of the power transmission shaft 231.

During the operation of the power transmission unit 230, the frame 210 and the moving table 240 are coupled to the guide rail 235 and the guide block 237, so that the moving table for the frame 210 without power loss The forward and backward movement of 240 may be stably implemented.

Meanwhile, the output terminal 222 of the front-rear driving unit 221 and the power transmission shaft 231 of the power transmission unit 230 may be directly connected, as shown in FIG. 4, of the output terminal 222 of the front-rear driving unit 221 It may be connected via a power transmission member 223 for accelerating and decelerating the rotational force.

For example, the power transmission member 223 includes a driving pulley 2231 provided at the output end 222 of the front-rear driving unit 221, a driven pulley 2235 provided at the power transmission shaft 231, and the driving pulley ( 2231) and a belt 2232 connecting the driven pulley 2235. Through this power transmission member 223, the rotational force of the output end 222 of the front-rear driving unit 221 may be transmitted to the power transmission shaft 231 in an accelerated/decelerated state. Unlike the illustrated one, the power transmission member 223 may also be implemented as a sprocket/chain, gear coupling, or the like.

Meanwhile, the swing unit 250 and the shanghai transport unit 260 are seated on the moving table 240 and can be moved in the front-rear direction in conjunction with the moving table 240.

In this case, the shanghai transport unit 260 includes an upper and lower driving unit 261 that is connected to the swing unit 250 at one end and coupled to the shank member 110 at the other end to bring the robot prosthesis 100 closer to or separated from the floor surface. Can.

At this time, the upper end of the vertical drive unit 261 penetrates the through hole 241 formed in the movable table 240 so that it can be connected to the swing unit 250 mounted on the movable table 240, the upper part of the movable table 240 It can be arranged to be exposed.

In addition, the swing unit 250 is a horizontal axis 252 and a horizontal axis 252 that is rotatably supported on the moving table 240 in a state combined with the upper end of the vertical driving part 261 exposed to the upper portion of the moving table 240 It may include a swing driving unit 251 for rotating.

At this time, a rotation support part 245 for rotatably supporting the horizontal axis 252 of the swing unit 250 may be provided on the upper surface of the movable table 240.

As described above, the swing unit 250 and the shanghai transport unit 260 may be moved in the fore-and-aft direction in conjunction with the forward and backward movement of the moving table 240 according to the operation of the forward and backward transport unit 220, and the shanghai transport The unit 260 may be implemented in conjunction with the swing motion of the horizontal axis 252 according to the operation of the swing unit 250 to achieve a swing motion.

As a result, the robot prosthesis 100 coupled to the cylinder rod 262 corresponding to the output end of the shanghai transport unit 260 performs the required walking operation in one step section through the front-rear, swing, and up-and-down movement means. It can be freely implemented.

Meanwhile, the sensing unit senses walking information of the robot prosthesis 100 that is woken by the simulator main body 200, and the sensing unit may include a load sensing unit 310 and a motion sensing unit.

Referring to FIGS. 5 and 6, the load detection unit 310 may sense load information for each hour of the robot prosthesis 100 applied to the floor surface e during the walking operation in one step section.

For example, the load sensing unit 310 is disposed on the bottom surface so as to contact the prosthetic body 130 to detect the load transmitted from the prosthetic body 130 to the floor, for example, a load cell (Road cell) It can contain.

The load cell is a load sensing sensor that measures a force (load) by converting a physical quantity such as a force or load into an electrical signal, and has excellent responsiveness to a fine force (load), and directs the force (load) to act. Can be detected.

When the load cell is applied to the bottom surface in this way, it is preferable to configure a plurality of load cells with respect to the bottom surface area where the robot prosthesis 100 contacts. Referring to FIGS. 5 and 6, the contact process of the prosthetic body 130 and the bottom surface e during a walking operation in a one-step section includes a rear end portion of the prosthetic body 130 corresponding to a heel ( e) and maintains the angle of inclination and is first contacted. Next, the entire bottom surface of the prosthetic body 130 corresponding to the sole of the foot is in contact with the bottom surface (e). Next, the rear end of the prosthetic body 130 is spaced from the bottom surface e, and the front end of the prosthetic body 130 corresponding to the toe maintains an inclination angle with the bottom surface e.

As described above, the load cells arranged in plural with respect to the bottom surface in contact with the prosthetic body 130 more accurately detect the load size by hour, the load distribution by time, and the direction of load by time applied from the prosthetic body 130 in one step section. can do.

The load information of the robot prosthesis 100 detected through the load detection unit 310 may be transmitted to the control unit.

7 is a conceptual diagram for explaining the operation of the motion detection unit for sensing the position information by time of the robot prosthesis 100 according to an embodiment of the present invention, from (a) drawing to (e) drawing of the robot prosthesis 100 This is a conceptual view showing the extracted image (IM) of a side image.

The motion detection unit may detect position information for each hour of the robotic prosthesis 100 in a walking operation in at least one step section in which a load of the robotic prosthesis 100 is detected.

As an example, the motion detection unit may use an image sensor to detect location information for each hour of the robotic prosthesis 100 including the shin member 110 based on the image IM of the robotic prosthesis 100 in the walking operation. .

Position information (top, bottom) of the shin member 110 based on the captured image (IM) in real time by taking a real-time image of the side of the robot prosthesis 100 in the walking step through an image sensor. Position and tilt information) and prosthetic body 130 (position and tilt information of the front and rear ends) may be obtained.

As another example, the motion detection unit measures the rotation angle A of the prosthetic body 130 with respect to the shin member 110 by using an encoder provided in the joint driving unit 150, thereby shin member 110 It is also possible to detect the hourly location information of the prosthetic body 130 for.

The encoder is a sensor that converts rotational or linearly moving object position and velocity information into an electrical pulse signal. For example, a rotary encoder connected to a rotation axis of the joint driving unit 150 may be applied, whereby the joint driving unit It is also possible to detect the rotational angle (A) of the hour 150 in real time.

As another example, the motion detection unit may detect time-based position information of the robot prosthesis 100 based on output values of the front-rear transfer unit 220, the swing unit 250, and the shanghai transfer unit 260. For example, it is also possible to detect in real time the position information of the robot prosthesis 100 from the output values sensed by an encoder that may be provided in the front-rear driving unit 221, the swing driving unit 251, and the vertical driving unit 261.

As described above, the motion detection unit may detect the location information of the robot prosthesis 100 over time by using the image information of the image sensor in real time.

Furthermore, when the motion detection unit additionally senses the positional information of the robot prosthesis 100 by time by collecting the output value of the joint driving unit 150, the accuracy of the positional information of the robot prosthesis 100 can be increased.

In addition, the motion detection unit collects the output values of the front-rear driving unit 221, the swing driving unit 251, and the up-and-down driving unit 261 to additionally sense the location information of the robot prosthesis 100 over time, by time of the robot prosthesis 100 The accuracy of location information can be further improved.

The control unit may control the simulator body 200 so that the walking information of the robot prosthesis 100 collected by the above-described sensing unit matches the reference walking information of the normal person.

First, the standard walking information of the normal person is the foot corresponding to the prosthetic body 130, the ankle corresponding to the joint driving unit 150, the reference position information by time for the shin portion corresponding to the shin member 110, and the floor in contact with the foot It may include reference load information for each hour applied to the surface.

For example, while the foot, ankle, and shin are equipped with 3D motion recognition sensors, it is possible to collect reference position information for each hour of the foot, ankle, and shin while walking, and as in the embodiment of the present invention, a load sensing unit By walking on the floor provided with 310, reference load information for each hour applied to the floor surface can be collected.

As another example, as in the embodiment of the present invention, an image sensor is used to take an image of a foot, ankle, or shin while walking, and based on the captured image, reference location information for each hour of the foot, ankle, or shin is collected. Alternatively, by walking on the floor provided with the load sensing unit 310, it is possible to collect reference load information for each hour applied to the floor.

The reference walking information thus collected is transmitted to the control unit and stored in advance.

As described above, the control unit generates an operation signal of the simulator body 200 based on the previously generated reference walking information, through which the front-rear transfer unit 220, swing unit 250, and shanghai transfer unit are individually operated. From the organic motion of 260, the walking motion of the robot prosthesis 100 is simulated in the same pattern as the walking of an actual normal person.

In detail, the control unit generates operation signals of the front-rear transfer unit 220, the swing unit 250, and the shanghai transfer unit 260 on the basis of the preset time-based reference position information and reference load information in one step section. The walking motion of the robot prosthesis 100 is repeated.

During the walking operation of the robot prosthesis 100, the motion detection unit continuously collects the hourly location information of the robot prosthesis 100 and transmits it to the control unit. Based on this, the control unit receives the location information of the robot prosthesis 100 by time. The front and rear transport units 220, the swing units 250, and the shanghai transport units 260 are continuously controlled to match the preset time-based reference position information.

At the same time, the load sensing unit 310 continuously collects the hourly load information of the robot prosthesis 100 and transmits it to the control unit, and based on this, the control unit loads the hourly load information of the robot prosthesis 100 in advance based on an hourly reference load. To match the information, the forward and backward transfer units 220, the swing units 250, and the Shanghai transfer units 260 are continuously controlled.

On the other hand, when controlling the front-rear transfer unit 220, the swing unit 250, and the shanghai transport unit 260 so that the hourly load information of the robot prosthesis 100 coincides with the preset standard hourly load information, the control unit is the robot prosthesis. When the (100) touches the floor surface, a load corresponding to the weight of a normal person can be transmitted to the floor surface, so that the additional pressure of the robot prosthesis 100 against the floor surface can be implemented by controlling the shanghai transport unit 260. have.

Referring to FIG. 6, in general, while walking in a one-step section, in the initial (a) section, the left foot and the right foot together make contact with the floor surface (e), and in the (b) section, the left foot swings in the air and the right foot Only the bottom surface (e) forms a state of contact, and in the section (c), the left and right feet together form a state in contact with the bottom surface (e).

In other words, the load in the section (b) is greater than the load in the sections (a) and (c), and acts on the bottom surface (e). In response to the load information changed in this one-step section, the control unit The output value of the shanghai transport unit 260 is adjusted, and the additional pressure value applied to the floor surface e from the robot prosthesis 100 can be appropriately adjusted hourly.

On the other hand, the control unit not only controls the simulator body 200 so that the walking information of the robot prosthesis 100 sensed by the detection unit matches the reference walking information of the normal person, but also the joint driving unit 150 of the robot prosthesis 100 You can also control the.

That is, when the rotation angle of the foot changes with respect to the shank among the reference walking information of the preset normal person, the control unit adjusts the resilience of the joint driving unit 150 of the robot prosthesis 100, or applies joints by applying additional torque, etc. The driving unit 150 may be additionally controlled, whereby the preset reference walking information and the walking information of the robot prosthesis 100 may be more accurately matched.

In addition, in the step of generating the initial reference walking information, the normal person may be selected as a person who wears the robot prosthesis 100 and a person who has very similar physical characteristics and gait patterns.

In the end, since it is based on the reference walking information that satisfies the physical characteristics and gait pattern similar to the actual patient, by finally controlling and resetting the magnitude or torque of the joint driving unit 150 through the control unit as described above, finally It is possible for an actual patient who will wear the robotic prosthesis 100 to satisfy an optimal design setting to reduce natural walking and metabolic consumption.

The control method of the robot prosthesis simulation system using the robot prosthesis simulation system described above is as follows.

8 is a flowchart for explaining a control method of a simulation system according to an embodiment of the present invention.

8, the control method of the robot prosthesis simulation system according to an embodiment of the present invention may include a generation step (S100), a simulation step (S200), a detection step (S300), and a control step (S400). .

The generating step (S100) is a step of generating reference walking information for a normal person's walking operation, wherein the reference walking information is the foot corresponding to the prosthetic body 130, the ankle corresponding to the joint driving unit 150, and the shin member ( 110) may include reference position information for each hour of the shank portion corresponding to, and reference load information for each hour applied to the bottom surface in contact with the foot.

For example, with the 3D motion recognition sensors attached to the feet, ankles, and shins, it is possible to collect time-based reference location information of the feet, ankles, and shins while walking, and on a floor equipped with a load sensing unit 310. By walking, it is possible to collect the hourly standard load information applied to the floor surface. In another example, an image sensor may be used to take an image of a foot, ankle, or shin while walking, and based on the photographed image, reference position information for each hour of the foot, ankle, or shin may be collected. By walking on the floor provided with 310, it is possible to collect reference load information for each hour applied to the floor.

The reference walking information collected and generated is transmitted to the control unit and stored in advance.

The simulation step (S200) is a step of realizing a walking operation of the robot prosthesis 100 using a robot prosthesis simulation system, and the control unit generates an operation signal corresponding to the preset reference walking information and transfers the front and rear units 220. , Operates at least one of the swing unit 250 and the shanghai transport unit 260, and performs a simulation walking operation of the robot prosthesis 100 in the same pattern as the normal walking pattern.

In addition, in the simulation step (S200), the control unit generates an operation signal corresponding to the preset reference walking information to operate the joint driving unit 150, and simulates walking of the ankle rotation angle of the normal person with respect to the robot prosthesis 100. You can perform the operation.

The sensing step (S300) is a step of sensing the walking information of the robot prosthesis 100 in the walking operation. The sensing unit collects the walking information of the robot prosthesis 100 in the walking operation using the detection unit.

In the sensing step (S300), a load sensing step of sensing load information for each hour of the robot prosthesis 100 applied to the floor surface using the load sensing unit 310 and a motion sensing unit, at least the robot prosthesis 100 ) In the section in which the load is detected, the motion detection step of detecting the positional information of the robot prosthesis over time may be performed.

In the control step S400, at least one of the front-rear transfer unit 220, the swing unit 250, and the shanghai transfer unit 260 is matched so that the walking information collected from the detection unit and the preset reference walking information match. Control, and continuously synchronizes the walking motion of the robot prosthesis 100 to match the walking pattern of the normal person.

In addition, in the control step (S400), the control unit controls the joint driving unit 150 so that the working information collected from the detection unit and the preset reference walking information are matched, and the rotation angle of the prosthetic body 130 in the working operation is normal. It can be continuously synchronized to match the ankle rotation angle.

When the walking information of the robot prosthesis 100 and the preset reference walking information are consistently matched through the control step S400, the walking operation of the robot prosthesis 100 is repeatedly performed by a predetermined time or a predetermined number of times.( S500 repeat step)

In the end, by repeating the walking operation of the robot prosthesis 100 while the preset reference walking information and the walking prosthesis of the robot prosthesis 100 coincide, it is possible to confirm whether the durability and performance of the robot prosthesis 100 are normal. , It can be confirmed that the restoring force size or torque value of the joint driving unit 150 is optimally designed for the patient. (S600 test step)

As described above, the robot prosthesis simulation system according to the embodiment of the present invention can implement a simulation walking operation in the same pattern as walking while the patient wears the robot prosthesis 100 using the simulator body 200. , Before the actual use of the robot prosthesis 100, it is possible to perform performance evaluation such as durability in advance, thereby increasing the reliability of the product.

In addition, the robot prosthesis simulation system according to an embodiment of the present invention does not need to perform an exercise gait in a state in which a patient with an uncomfortable movement directly wears the robot prosthesis 100, and uses the simulator body 200 to actually walk the patient. Since it is possible to implement a simulation walking motion of the same pattern as, it is possible to provide the convenience of the robot prosthetic patient.

In addition, since the robot prosthesis simulation system according to an embodiment of the present invention can reset the design values of the robot prosthesis 100 for each patient having different body characteristics and gait patterns, the design settings of the robot prosthesis 100 are optimized for each patient. By doing so, the rotation angle (ankle angle) of the prosthetic body 130 is adjusted to allow pedestrians to naturally walk, or an arbitrary torque is generated in the prosthetic body 130 to reduce metabolic consumption when walking. The maximum functionality of the robotic prosthesis 100 can be exhibited.

Although the preferred embodiments of the present invention have been described with reference to the drawings as described above, those skilled in the art may vary the present invention without departing from the spirit and scope of the present invention as set forth in the claims below. It can be modified or changed.

100: robot prosthesis 110: shin absence
130: prosthetic body 150: joint driving unit
200: simulator body 210: frame
220: forward and backward transfer unit 230: power transmission unit
240: moving table 250: swing unit
260: Shanghai transport unit 310: load detection unit

Claims (13)

A simulator body connecting a shin member, a prosthetic body and the shin member and the prosthetic body and connected to a robotic limb having an articulation drive that transmits torque to the prosthetic body, and a simulator body implementing a walking operation of the robotic limb;
A sensing unit for sensing walking information of the robot prosthesis implemented by the simulator body; And
And a control unit that controls the joint driving unit and the simulator body so that the walking information sensed by the sensing unit matches the reference walking information of a normal person. According to claim 1,
The detection unit,
A load sensing unit for sensing load information for each hour of the robot prosthesis applied to the floor surface; And
And at least a motion detection unit configured to detect location information of the robot prosthesis over time in a section in which the load of the robot prosthesis is sensed. According to claim 2,
The load sensing unit,
And a load cell disposed on the bottom surface to contact the prosthetic body and sensing a load transmitted from the prosthetic body. According to claim 2,
The motion detection unit,
Based on the image of the robot prosthesis in the walking operation, the robot foot simulation system comprising a sensor for detecting the location information of the time of the robot prosthesis. According to claim 1,
The simulator body,
frame;
A front-rear transfer unit disposed on the frame and moving the robot prosthesis in the front-rear direction;
A swing unit that is connected to the front-rear transfer unit and rotates the robotic limb about a horizontal axis disposed in a left-right direction orthogonal to the front-rear direction; And
It is connected to the swing unit, the robotic limb simulation system, characterized in that it comprises a; Shanghai transport unit for moving the robot prosthesis in the vertical direction. The method of claim 5,
The simulator body,
A movable table installed to be movable in the front-rear direction relative to the frame, and on which the swing unit and the shanghai transport unit are seated; And
And a power transmission unit for connecting the front-rear transfer unit and the moving table and moving the moving table in the front-rear direction from the driving force of the front-rear transfer unit. The method of claim 6,
The simulator body,
A guide rail disposed in the front-rear direction on the frame; And
It is disposed on the moving table, the guide block is coupled to the guide rail and movable in the front-rear direction along the guide rail; further includes,
The power transmission unit,
A power transmission shaft disposed in the front-rear direction of the frame, connected to an output terminal of the front-rear transfer unit to rotate in cooperation, and having a first screw formed on an outer circumferential surface; And
It is coupled to the movable table, the inner peripheral surface is a simulation system of a robotic prosthesis, characterized in that it comprises; a power transmission moving block is provided with a through-hole formed with a second screw screwed to the first screw. The method of claim 5,
The Shanghai Song Unit,
One end is connected to the swing unit and the other end is coupled to the shank member, the robot prosthesis simulation system, characterized in that it comprises; up and down driving unit to move the prosthesis to the floor or spaced apart. The method of claim 8,
The swing unit,
A horizontal axis rotatably supported on the moving table in a state of being coupled with the upper end of the upper and lower driving parts; And
A robotic prosthesis simulation system comprising a; swing drive unit for rotating the horizontal axis. The method of claim 5,
The control unit,
A robot characterized by implementing the additional pressure of the robot prosthesis against the floor by controlling the shanghai transport unit so that the load corresponding to the weight of a normal person can be transmitted to the floor when the robot prosthetic contacts the floor. A prosthetic simulation system. A generating step of generating reference walking information for a normal person's walking action;
Using the robot prosthesis simulation system according to claim 1, a simulation step of implementing the walking motion of the robot prosthesis;
A sensing step of sensing walking information of the robot prosthesis in the walking operation; And
And a control step of controlling the robot prosthesis and the simulator body so that the walking information and the reference walking information are matched. The method of claim 11,
The detecting step,
A load sensing step of sensing load information for each hour of the robot prosthesis applied to the bottom surface; And
And at least a motion detection step of sensing positional information of the robot prosthesis over time in a section in which the load of the robot prosthesis is sensed. The method of claim 11,
If the working information and the reference walking information in the control step is the same, repeating the walking operation of the robot prosthesis, and then inspecting the robot to determine whether or not the robot prosthesis is normal. The control method of the simulation system.

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