KR20210119614A - System and Method for setting up automatic optimized of Wearable Robot using Load cell and IMU sensor - Google Patents

Abstract

The present invention relates to a system and a method for automating the initial driving setup of a wearable robot using a force sensor and an inertial sensor, and more specifically, to a system for automating the initial driving setup of a wearable robot, comprising: a unidirectional driving unit having a motor for generating the auxiliary force of a wearable robot and a wire for transmitting the auxiliary force, which has been generated from the motor, to a wearer; an electric current sensor for measuring the auxiliary force generated from the motor; a force sensor for receiving the auxiliary force of the motor and measuring an auxiliary force applied to the wearer; an inertial sensor for detecting the gait cycle of the wearer to control the operation of the motor; and a control part for controlling the motor based on values measured by the electric current sensor, the inertial sensor and the force sensor. The present invention relates to a system for automating the initial driving setup of a wearable robot using a force sensor and an inertial sensor, wherein after the wearable robot is put on, in the initial setup mode of the motor, the motor is driven in the unwinding direction of the wire until the auxiliary force measured by the force sensor disappears, and the operation of the motor is stopped when electric current is detected by the electric current sensor, to set the position of the stopped motor to zero, and after the zero setting, the motor is driven and controlled so that a value measure by the force sensor can be in a preset range, and the position of the motor is set to a default position.

Description

{System and Method for setting up automatic optimized of Wearable Robot using Load cell and IMU sensor}

The present invention relates to a drive initial setting automation system and automation method of a wearable robot using a force sensor and an inertial sensor. More specifically, it is applied to the operation preparation process and user optimization process of the software wearable robot, and by automating the process, the items that the user needs to set each time the software wearable robot is operated are minimized, which can occur as humans measure and control. It relates to an automated system and method for eliminating uncertainties and providing stable initial settings.

Existing wearable robots use the unidirectional actuator to the maximum so that it does not interfere with movement when no assistive force is applied to the wearer. In this case, it does not interfere with the movement of the wearer, so the movement is free, but a lot of wires of the actuator exposed to the outside come out unnecessarily, which may indicate inconvenience in driving because the wires are caught depending on the surrounding environment.

In recent years, assistive devices that assist people in walking have been developed and commercialized. To this end, it is a task that should be preceded by understanding the wearer's gait cycle. Methods for determining the gait cycle include a method of analyzing whole-body motion, a method using a ground reaction force, and a method using an IMU sensor.

Among them, the method using the IMU sensor is simpler and more accessible than the above methods, so many studies are being conducted on the analysis of the gait cycle through this method. The method using the IMU sensor is characterized in that the gait cycle is determined using a threshold value of a specific parameter. For example, the DMM (Dual minima method) that detects the gait cycle using the change in shin angular velocity through the IMU sensor attached to the shin was published in 2011 (Paper: Lee, JK, & Park, EJ, 2011, "Quasi real- It is presented in time gait event detection using shank-attached gyroscopes," Medical & biological engineering & computing, Vol 49, No 6, pp. 707-712), and prior patent registration No. 2010898 discloses a gait analysis system using an inertial sensor and The method is described, and the prior Patent Registration No. 1751760 describes a method for estimating walking factors using the joint angle of the lower extremities.

The prior art and the present invention are the same in detecting the gait cycle (factor) of a person and using the angle value of the IMU sensor for detection.

However, in the prior art, only normal walking can be detected limitedly, and a specific parameter (eg, a maximum value or a minimum value; a peak value) of angle data can be detected without noise when the sensor is firmly fixed to the body.

The prior art may detect an incorrect cycle in the initial stage of walking and driving of a person, and it is difficult to accurately detect the walking and driving cycle in a state in which the IMU sensor attached to the body is not always in tight contact. Finally, detection of incorrect walking and driving cycles may cause malfunctions in controlling the wearable robot.

Because the existing gait and driving cycle detection algorithm detects using a specific parameter (eg, maximum or minimum value; peak value) of IMU sensor data attached to a specific lower extremity segment, sensor shake such as leg shaking, frequent walking, or abnormal walking A number of specific parameters (eg, a maximum value or a minimum value; a peak value) may occur due to this, and may be detected as a walking and running cycle using these incorrect parameters.

In addition, in the prior art, the filtered data of the IMU sensor (data after processing the IMU sensor data) or an exact specific parameter (maximum or minimum value; no noise state at the peak value) shown in data measured in an ideally special environment do with In actual IMU data measured in various environments, noise appears in the original signal as well, and as a result, an incorrect parameter may occur near a specific parameter to be detected, which may cause an error in gait cycle detection.

Republic of Korea Patent Registration 10-2010898 Registered Patent 10-1766033 Registered Patent 10-1751760 Registered Patent 10-1755763

Accordingly, the present invention has been devised to solve the conventional problems as described above. According to an embodiment of the present invention, by automating the settings made manually by the user before and during the initial stage of driving the robot in a software wearable robot, the user's Inconvenience can be reduced, uncertainty due to human measurement and control is reduced through automation of initial setting, stable operation of software wearable robot is possible, and operation start time of software wearable robot is reduced through automation of initial setting An object of the present invention is to provide a drive initial setting automation system and an automation method of a wearable robot using a force sensor and an inertial sensor that can be shortened.

According to an embodiment of the present invention, the purpose is to optimally set the unidirectional actuator of the wearable robot and to prevent malfunction by the unidirectional actuator as a method for controlling the actuator, and not to restrict the movement of the wearable robot wearer. .

And, according to the embodiment of the present invention, the one-way actuator can be optimally set according to the size and movement of the wearer's body, the length of the one-way actuator can always be controlled according to the body size, and discomfort in movement to the wearer can be minimized. while minimizing excessive exposure of wires, it is possible to effectively remove inconvenience factors such as string jamming caused by the external environment, and it is possible to optimally set a unidirectional actuator suitable for the size and movement of the wearer's body in a software wearable robot, and the unidirectional actuator The purpose of providing an optimal setting and control method for a unidirectional actuator of a wearable robot, which can minimize inconvenience and external exposure caused by the surrounding environment by preventing excessive wire loosening without interfering with body movement through control There is this.

In addition, according to an embodiment of the present invention, the purpose is to automatically optimize the existing manually set values for each wearer as an accurate gait and driving cycle detection optimization method of an inertial sensor that measures the movement of people wearing the wearable robot. have.

The position of the inertial sensor of the wearable robot shows a difference in the measured data such as the average position and the range of motion of the measured inertial sensor data because the body shape and size are different for each person. The purpose of this is to provide a threshold-based real-time gait and driving cycle detection algorithm optimization method using an inertial sensor that can reduce the number of malfunctions in driving a wearable robot by automatically setting a threshold value and detecting an accurate gait timing.

On the other hand, the technical problems to be achieved in the present invention are not limited to the technical problems mentioned above, and other technical problems not mentioned are clearly to those of ordinary skill in the art to which the present invention belongs from the description below. can be understood

A first object of the present invention, a one-way actuator having a motor for generating the assisting force of the wearable robot, and a wire for transmitting the assisting force generated from the motor to the wearer; a current sensor for measuring the auxiliary force generated from the motor; a force sensor receiving the assisting force of the motor and measuring the assisting force applied to the wearer; an inertial sensor for sensing a gait cycle of the wearer to control the operation of the motor; and a controller for controlling the motor based on values measured by the current sensor, the inertial sensor, and the force sensor. In the setting mode, the motor is driven in the direction in which the wire is unwound until the auxiliary force measured by the force sensor disappears, and when a current value is detected by the current sensor, the motor operation is stopped, and the position of the stopped motor is set to zero. It can be achieved as an automated system for initial setting of driving of a wearable robot using a force sensor and an inertial sensor, characterized in that set to .

And after the zero point is set, the motor is driven to control the value measured by the force sensor to be within a preset range, and then the motor position is set as a basic position.

In addition, in the initial setting mode of the inertial sensor, when there is no movement of the wearer, an average value of the values measured by the inertial sensor is calculated for a set period of time, and the average value is set as a reference line for detecting a gait cycle for the wearer, and the It may be characterized in that it is set as a detection line for detecting the gait cycle by placing a difference by a predetermined level from the reference line.

And in the wire length optimization mode, when the value measured by the inertial sensor is maintained below the set angle value for a certain time, the motor operation is controlled so that the value measured by the force sensor becomes the set value, and the measured value is When the set value is reached, it may be characterized in that the wire position is stored and switched to a standby state.

In addition, it may be characterized in that the motor operation is controlled so that the value measured by the force sensor in the standby state is equal to or less than the set value, and the current value specified by the current sensor becomes the set current value.

A second object of the present invention is a unidirectional actuator having a motor for generating the assisting force of the wearable robot, and a wire for transmitting the assisting force generated from the motor to the wearer; a current sensor for measuring the auxiliary force generated from the motor; a force sensor receiving the assisting force of the motor and measuring the assisting force applied to the wearer; an inertial sensor for sensing a gait cycle of the wearer to control the operation of the motor; and a control unit for controlling the motor based on values measured by the current sensor, the inertial sensor, and the force sensor. In the setting mode, driving the motor in the direction in which the wire is unwound until the auxiliary force measured by the force sensor disappears; when the current sensor detects a current value, stopping the motor operation and setting a position of the stopped motor to a zero point; and after setting the zero point, driving the motor to control the value measured by the force sensor to be within a preset range, and then setting the motor position as a basic position. It can be achieved as a method for automating the driving initial setting of a wearable robot using a sensor.

And the initial setting mode of the inertial sensor, the step of measuring the angle value in the inertial sensor for a set period of time when there is no movement of the wearer; calculating an average value of the values measured for the predetermined time and setting the average value as a reference line for detecting a gait cycle for the wearer; and setting a detection line for detecting the gait cycle by setting a difference from the reference line by a predetermined level.

In addition, in the wire length optimization mode, when the value measured by the inertial sensor is maintained below the set angle value for a predetermined time, controlling the motor operation so that the value measured by the force sensor becomes a set value; storing the wire position and switching to a standby state when the measured value becomes the set value; and controlling the motor operation so that, in the standby state, the value measured by the force sensor is equal to or less than the set value, and the current value specified by the current sensor maintains the set current value. can be done with

A third object of the present invention is a unidirectional actuator having a motor for generating an assistive force of the wearable robot, and a wire for transmitting the assisting force generated from the motor to a wearer; a current sensor for measuring the auxiliary force generated from the motor; a force sensor receiving the assisting force of the motor and measuring the assisting force applied to the wearer; an inertial sensor for sensing a gait cycle of the wearer to control the operation of the motor; and a controller for controlling the motor based on the values measured by the current sensor, the inertial sensor, and the force sensor. If the sensor measures the wearer's movement and determines that the wearer is walking, calculates an average value of specific parameter values measured by the inertial sensor for a gait cycle for a set number of times, sets a threshold based on the average value, and sets the threshold value It can be achieved as a real-time gait cycle detection optimization system based on a threshold value using an inertial sensor, characterized in that the gait cycle of the wearer is detected based on .

And, by storing the average value of the maximum values and the minimum values for the gait cycle for the set number of times, setting an upper threshold value based on the average maximum value, and setting a lower threshold value based on the average minimum value, in the inertial sensor It may be characterized in that the gait cycle of the wearer is detected by comparing the measured specific parameter with the upper threshold value and the lower threshold value.

In addition, the upper threshold value is a value obtained by multiplying the average maximum value by 0.5 to 0.95, the lower threshold value is a value obtained by multiplying the average minimum value by 0.5 to 0.95, and the specific parameter is the maximum value and minimum value measured by the inertial sensor can be characterized as

A fourth object of the present invention is a unidirectional actuator having a motor for generating the assisting force of the wearable robot, and a wire for transmitting the assisting force generated from the motor to the wearer; a current sensor for measuring the auxiliary force generated from the motor; a force sensor receiving the assisting force of the motor and measuring the assisting force applied to the wearer; an inertial sensor for sensing a gait cycle of the wearer to control the operation of the motor; and a controller for controlling the motor based on values measured by the current sensor, the inertial sensor, and the force sensor. A first step of determining that the sensor is walking by measuring the movement of the wearer; a second step of reading the maximum and minimum values for the gait cycle for a set number of times; a third step of calculating an average value of the maximum values and an average value of the minimum values; a fourth step of setting an upper threshold value based on the average maximum value and setting a lower threshold value based on the average minimum value; A fifth step of detecting the wearer's gait and gait cycle by comparing the maximum value measured by the inertial sensor with the upper threshold value, and comparing the measured minimum value with the lower threshold value; It can be achieved as a threshold-based real-time gait cycle detection optimization method using a sensor.

And the upper threshold value is a value obtained by multiplying the average maximum value by 0.5 to 0.95, the lower threshold value is a value obtained by multiplying the average minimum value by 0.5 to 0.95, and the specific parameter is the maximum value and the minimum value measured by the inertial sensor can be characterized as

In addition, in step 5, when the measured maximum value exceeds the upper threshold value and the measured minimum value is less than the measured minimum value is less than the lower threshold value, the gait and gait cycle may be detected.

According to the automated system and automation method for initial driving of a wearable robot using a force sensor and an inertial sensor according to an embodiment of the present invention, by automating the settings made manually by the user before the driving of the robot in the software wearable robot and during the initial stage of driving, User discomfort can be reduced, and uncertainty due to human measurement and control is reduced through automation of initial settings, stable operation of software wearable robots is possible, and operation of software wearable robots is started through automation of initial settings It has the effect of shortening the time.

And according to an embodiment of the present invention, it is possible to optimally set the unidirectional actuator of the wearable robot and prevent malfunction by the unidirectional actuator as a method for controlling the actuator, and not restrict the movement of the wearable robot wearer.

And, according to the optimal setting and control method of the unidirectional actuator of the wearable robot according to the embodiment of the present invention, the unidirectional actuator can be optimally set according to the body size and movement of the wearer, and the length of the unidirectional actuator can always be controlled according to the body size. In addition, while minimizing discomfort to the wearer in movement and minimizing excessive exposure of wires, it is possible to effectively remove inconvenience factors such as wire jamming caused by the external environment, A suitable unidirectional actuator can be optimally set, and through unidirectional actuator control, it does not interfere with body movement and prevents excessive wire loosening, thereby minimizing inconvenience and external exposure due to the surrounding environment.

In addition, according to an embodiment of the present invention, the existing manually set values can be automatically optimized for each wearer by an accurate gait and driving cycle detection optimization method of an inertial sensor that measures the movement of people wearing the wearable robot. have

The position of the inertial sensor of the wearable robot shows a difference in the measured data such as the average position of the measured inertial sensor data and the range of motion because the body shape and size are different for each person, and the threshold value using the inertial sensor according to the embodiment of the present invention According to the real-time gait and driving cycle detection algorithm optimization method based on the real-time gait and driving cycle, it is possible to reduce the number of malfunctions in driving the wearable robot by automatically setting a threshold value based on the normal gait standard for each person and detecting an accurate gait time.

On the other hand, the effects obtainable in the present invention are not limited to the above-mentioned effects, and other effects not mentioned will be clearly understood by those of ordinary skill in the art to which the present invention belongs from the following description. will be able

The following drawings attached to this specification illustrate preferred embodiments of the present invention, and serve to further understand the technical spirit of the present invention together with the detailed description of the present invention, so that the present invention is limited only to the matters described in those drawings and should not be interpreted.
1 is a block diagram of a driving initial setting automation system of a wearable robot using a force sensor and an inertial sensor according to an embodiment of the present invention;
2 is a schematic diagram of a wearable robot according to an embodiment of the present invention;
3 is a block diagram showing an outline of the operation process of a wearable robot according to an embodiment of the present invention;
4 is a flowchart of an initialization and initial position setting algorithm of a wire according to an embodiment of the present invention during the operation preparation process of FIG. 3;
5 is a flowchart of a user optimization algorithm for a reference line and a detection line used in the step of detecting a gait cycle according to an embodiment of the present invention during the operation preparation process of FIG.
6A and 6B are flowcharts of an optimal setting method of a unidirectional actuator according to an embodiment of the present invention;
7 is a schematic diagram of a wearable robot to which an inertial sensor is attached according to an embodiment of the present invention;
8 is an angle graph over time measured by an inertial sensor according to an embodiment of the present invention;
9 is a flowchart illustrating a threshold-based real-time gait and driving cycle detection algorithm using an inertial sensor according to an embodiment of the present invention.

The above objects, other objects, features and advantages of the present invention will be easily understood through the following preferred embodiments in conjunction with the accompanying drawings. However, the present invention is not limited to the embodiments described herein and may be embodied in other forms. Rather, the embodiments introduced herein are provided so that the disclosed content may be thorough and complete, and the spirit of the present invention may be sufficiently conveyed to those skilled in the art.

In this specification, when a component is referred to as being on another component, it means that it may be directly formed on the other component or a third component may be interposed therebetween. In addition, in the drawings, the thickness of the components is exaggerated for the effective description of the technical content.

Embodiments described herein will be described with reference to cross-sectional and/or plan views, which are ideal illustrative views of the present invention. In the drawings, thicknesses of films and regions are exaggerated for effective description of technical content. Accordingly, the shape of the illustrative drawing may be modified due to manufacturing technology and/or tolerance. Accordingly, embodiments of the present invention are not limited to the specific form shown, but also include changes in the form generated according to the manufacturing process. For example, the region shown at right angles may be rounded or have a predetermined curvature. Accordingly, the regions illustrated in the drawings have properties, and the shapes of the regions illustrated in the drawings are intended to illustrate a particular shape of the region of the device and not to limit the scope of the invention. In various embodiments of the present specification, terms such as first, second, etc. are used to describe various components, but these components should not be limited by these terms. These terms are only used to distinguish one component from another. The embodiments described and illustrated herein also include complementary embodiments thereof.

The terminology used herein is for the purpose of describing the embodiments and is not intended to limit the present invention. As used herein, the singular also includes the plural unless specifically stated otherwise in the phrase. As used herein, the terms 'comprises' and/or 'comprising' do not exclude the presence or addition of one or more other components.

In describing the specific embodiments below, various specific contents have been prepared to more specifically describe the invention and help understanding. However, a reader having enough knowledge in this field to understand the present invention may recognize that it may be used without these various specific details. In some cases, it is mentioned in advance that parts that are commonly known and not largely related to the invention are not described in order to avoid confusion without any reason in describing the present invention in describing the invention.

Hereinafter, the configuration and function of an automated system for initial driving of a wearable robot using a force sensor and an inertial sensor according to an embodiment of the present invention will be described.

According to an embodiment of the present invention, a wearable motor initial setting algorithm, an inertial sensor initial setting algorithm, a unidirectional actuator wire optimization algorithm, and a wearer-customized gait and gait cycle detection optimization algorithm can be executed in a software wearable robot using a wire unidirectional actuator.

First, FIG. 1 is a block diagram of a driving initial setting automation system of a wearable robot using a force sensor and an inertial sensor according to an embodiment of the present invention. And Figure 2 shows a schematic diagram of a wearable robot according to an embodiment of the present invention. And Figure 3 is a block diagram showing an outline of the operation process of the wearable robot according to an embodiment of the present invention.

A wearable robot using a force sensor and an inertial sensor according to an embodiment of the present invention has a waist belt and a thigh belt in the form of clothing, a wire unidirectional actuator, a current sensor 20, an inertial sensor 40, a force sensor 30 , and a control unit 50 and the like.

The unidirectional actuator includes a motor 13 that generates auxiliary force of the wearable robot, a wire 12 that transmits auxiliary force generated from the motor 13 to the wearer, and the wire 12 is wound by the motor 13 It consists of a pulley to be wound or unwound.

The current sensor 20 is configured to measure the auxiliary force generated from the motor 13 . The torque value of the motor 13 may be calculated from the value measured by the current sensor 20 .

The force sensor 30 may be configured as a load cell, and is configured to receive the auxiliary force of the motor 13 and measure the auxiliary force applied to the wearer.

In addition, the inertial sensor 40 is composed of a posture sensor, an acceleration sensor, an angular acceleration sensor, an IMU sensor, and the like, and is configured to detect the gait cycle of the wearer in order to control the operation of the motor 13 .

And the controller 50 is configured to control the motor 13 based on the values measured by the current sensor 20 , the inertial sensor 40 , and the force sensor 30 .

First, an initial setting mode of the motor 13 according to an embodiment of the present invention will be described. 4 is a flowchart illustrating an algorithm for initializing and setting the initial position of the wire 12 according to an embodiment of the present invention during the operation preparation process of FIG. 3 .

As shown in FIG. 4 , after the wearer wears the wearable robot, the current When a current value is sensed by the sensor 20, the motor 13 stops operating, and the position of the stopped motor 13 is set to a zero point.

That is, after the initialization start step, the motor 13 rotates in the direction in which the wire 12 is unwound until the auxiliary force transmitted through the wire 12 disappears to stop when a current is sensed by the current sensor 20 . . Then, the position of the motor 13 stopped in the above step is set to the zero point.

And after the zero point is set, the motor 13 is driven to control the value measured by the force sensor 30 to be within a preset range, and then the position of the motor 13 is set as a basic position.

That is, according to a specific embodiment, as shown in FIG. 4 , after the step, the motor 13 rotates in the direction in which the wire 12 is wound so that the force measured by the force sensor 30 (load cell) is preset. It is characterized by stopping when it is within the level range (eg, more than 2N and less than 5N).

In addition, when the force measured by the force sensor 30 (load cell) exceeds a predetermined level (eg, exceeds 5N), the motor 13 rotates in the reverse direction. And the position of the motor 13 after the step is completed is set to the base position (Base position).

Hereinafter, an inertial sensor initial setting mode according to an embodiment of the present invention will be described. First, FIG. 5 is a flowchart of a user optimization algorithm for a reference line and a detection line used in the step of detecting a gait cycle according to an embodiment of the present invention during the operation preparation process of FIG. 3 .

The initial setting mode of the inertial sensor according to an embodiment of the present invention is to calculate the average value of the values measured by the inertial sensor 40 for a set period of time when there is no movement of the wearer, and use the average value to detect the gait cycle for the wearer. It is characterized in that it is set as a reference line for gait cycle, and is set as a detection line for detecting the gait cycle by placing a difference by a predetermined level from the reference line.

That is, according to a specific embodiment, as shown in FIG. 5 , an average value of IMU data collected for a predetermined time (eg, 3 seconds) is used for initial setting of the inertial sensor 40 (IMU sensor). do it with At this time, the collected IMU data uses data when there is no user movement.

Then, the average value of the collected IMU data is used as a baseline for detecting the gait cycle in the gait and driving assistance phase, and the gait cycle is detected by setting a difference from the baseline value by a certain level (eg, 15 degrees). It is characterized in that it is used as a detection line for

Therefore, according to an embodiment of the present invention, user's inconvenience can be reduced by automating the settings that the user manually sets before the robot is driven and during the initial stage of driving in the software wearable robot. In addition, according to an embodiment of the present invention, there is an effect that the uncertainty due to human measurement and control is reduced through the automation of the initial setting, and the stable driving of the software wearable robot is possible. In addition, according to an embodiment of the present invention, it is possible to shorten the driving start time of the software wearable robot through automation of the initial setting.

Hereinafter, a method for optimally setting a unidirectional actuator according to an embodiment of the present invention will be described. 6A and 6B are flowcharts of an optimal setting method of a unidirectional actuator according to an embodiment of the present invention.

First, as shown in FIG. 2 , the unidirectional actuator cover 11 uses a stretchable fiber, and makes a passage through which the wire 12 can pass by making the stretchable fiber in the form of a tube. The overall length of the wire 12 is initially set in the following way.

The method below is an example of unidirectional actuator length setting.

Maximum number of rotations of pulley × pulley circumference × 0.5 + height × 0.087609 (= thigh length/2) + height × 0.197404 (= vertical body length)

Here, (Maximum number of rotations of the pulley × the circumference of the pulley × 0.5) part = corresponds to the length considering the size of the one-way actuator.

(Height × 0.087609 (= thigh length/2) + height × 0.197404 (= torso vertical length))) The length considering the size of the wearer's body (it may correspond to the dimensions of the wearable robot, and is proportional to the height of the wearer; For example: S, M, L, XL, etc.).

When the optimal wire length is set, the value measured by the force sensor 30 is maintained when the value measured by the inertial sensor 40 is maintained below the set angle value for a certain period of time in a state where body movement is restricted after wearing the software wearable robot. The operation of the motor 13 is controlled to reach this set value, and when the measured value becomes the set value, the wire position is stored and converted to a standby state. In the standby state, the set value of the value measured by the force sensor 30 is equal to or less than the set value, and the operation of the motor 13 is controlled so that the current value specified by the current sensor 20 becomes the set current value.

In a specific embodiment, as shown in FIG. 6A , the wire length is optimized according to the wearer according to the following procedure.

go. The wearer assumes an upright posture.

me. The IMU sensor (inertial sensor 40) measures the angle for 2 to 5 seconds.

all. If the angle change is less than 5 degrees based on the average of the measured inertial sensor data, the wire length adjustment starts. At this time, the motor 13 moves at a low speed.

La. While the load cell (force sensor 30) measures the value in real time, the unidirectional actuator pulls slowly in the winding direction (+; pulling direction) or unwinding direction (-).

mind. When the value of the load cell (force sensor 30) is low based on the set value (for example, 5N), the unidirectional actuator is pulled, and when it is high, the unidirectional actuator is released.

bar. When maintaining the set value (for example, 5N), the current position value is stored, and it enters the standby state (ready).

And, as shown in Figure 6b, in the standby state, the value of the current sensor 20 is a set value (for example, it was set to 0A), and the load cell (force sensor 30) value is a set value (for example, it was set to 5N) Before the auxiliary force control mode step (ready state), the repulsive force (force impeding the movement) by the unidirectional actuator should not appear with respect to various movements.

Therefore, according to the embodiment of the present invention, it is possible to optimally set a unidirectional actuator suitable for the size and movement of the wearer's body in the software wearable robot. By preventing it from appearing, it is possible to minimize inconvenience and external exposure caused by the surrounding environment.

Hereinafter, a threshold-based real-time gait cycle detection optimization method using an inertial sensor according to an embodiment of the present invention will be described. First, FIG. 7 shows a schematic diagram of a wearable robot to which an inertial sensor is attached according to an embodiment of the present invention. And FIG. 8 shows an angle graph according to time measured by the inertial sensor according to an embodiment of the present invention. 9 is a flowchart of a threshold-based real-time gait and driving cycle detection algorithm using the inertial sensor 40 according to an embodiment of the present invention.

Because the existing gait and driving cycle detection algorithm detects using a specific parameter (for example, maximum or minimum value; peak value) of inertial sensor data attached to a specific lower extremity segment, sensor shake such as leg shaking, frequent walking, or abnormal walking A number of specific parameters (eg, maximum or minimum values; peak values) may occur due to this, and may be detected as gait and running cycles using these incorrect parameters.

Therefore, according to an embodiment of the present invention, the wearer's normal walking and running is measured with the inertial sensor 40 attached to the first lower extremity, and a threshold is set based on the measured data. When a specific parameter among the IMU data that exceeds the set threshold is measured, the gait and driving cycle are calculated and detected.

Based on this, the specific parameters of the measured IMU data below the threshold are not determined as normal gait and running cycles, but are defined as abnormal gait and noise to prevent malfunction of the wearable robot.

In addition, in the prior art, the filtered data of the IMU sensor (data after processing the IMU sensor data) or an exact specific parameter (maximum or minimum value; no noise state at the peak value) shown in data measured in an ideally special environment do with In the actual IMU data measured in various environments, noise appears in the original signal as well, and as a result, incorrect parameters occur near the specific parameter to be detected, which may cause an error in gait cycle detection.

In an embodiment of the present invention, a specific parameter appearing above the threshold value is used for gait cycle detection by utilizing the threshold value. Even if noise occurs in the data measured by the inertial sensor 40, the error in gait cycle detection can be reduced because a specific parameter generated above the threshold is used, and since the gait cycle can be detected without using a filter, the Real Time Controller can detect the gait cycle without any delay.

In addition, the threshold value used to detect a specific parameter may be different because each person walks and runs differently (due to differences in movement, leg length, posture, shape, etc.). In the present invention, the threshold value can be set automatically for each person.

In the wearer customized gait cycle setting mode according to an embodiment of the present invention, if the inertial sensor 40 measures the wearer's movement and determines that it is gait, a specific parameter measured by the inertial sensor 40 for the gait cycle for a set number of times It is configured to calculate an average value of the values, set a threshold value based on the average value, and detect the gait cycle of the wearer based on the set threshold value.

More specifically, in the walking mode, the average value of the maximum values and the average value of the minimum values for the gait cycle for a set number of times is stored.

And, as shown in FIG. 8 , an upper threshold value is set based on the average maximum value, and a lower threshold value is set based on the average minimum value.

Then, the gait cycle of the wearer is detected by comparing the specific parameter measured by the inertial sensor 40 with the upper threshold value and the lower threshold value.

That is, if the maximum measured value exceeds the upper threshold value and the measured minimum value is less than the lower threshold value, it is detected as a gait and gait cycle, and a value that does not satisfy this is not determined as a normal gait and gait cycle, and is abnormal It is defined as walking, noise, etc. to prevent malfunction of the wearable robot.

In this case, according to an embodiment of the present invention, the upper threshold value may be a value obtained by multiplying the average maximum value by 0.5 to 0.95, and the lower threshold value may be a value obtained by multiplying the average minimum value by 0.5 to 0.95.

The position of the inertial sensor 40 of the wearable robot shows a difference in the measured data such as the average position and the movable range of the measured inertial sensor data because the body shape and size are different for each person, and therefore, in the above-mentioned embodiment of the present invention According to the threshold-based real-time gait and driving cycle detection algorithm optimization method using the inertial sensor according to have an effect

In addition, in the apparatus and method described above, the configuration and method of the above-described embodiments are not limitedly applicable, but all or part of each embodiment is selectively combined so that various modifications can be made to the embodiments. may be configured.

11: One-way actuator cover
12: wire
13: motor
20: current sensor
30: force sensor
40: inertial sensor
50: control unit

Claims (14)

A unidirectional actuator having a motor generating an assisting force of the wearable robot and a wire transmitting the assisting force generated from the motor to a wearer; a current sensor for measuring the auxiliary force generated from the motor; a force sensor receiving the assisting force of the motor and measuring the assisting force applied to the wearer; an inertial sensor for sensing a gait cycle of the wearer to control the operation of the motor; and a control unit for controlling the motor based on values measured by the current sensor, the inertial sensor, and the force sensor;
After the wearable robot is worn, in the motor initial setting mode, the motor is driven in the direction in which the wire is unwound until the auxiliary force measured by the force sensor disappears. An automated system for initial setting of driving of a wearable robot using a force sensor and an inertial sensor, characterized in that it stops and sets the position of the stopped motor to a zero point.
The method of claim 1,
After the zero point is set, the motor is driven to control the value measured by the force sensor to be within a preset range, and then the motor position is set as a basic position. of the driving initial setting automation system.
3. The method of claim 2,
In the initial setting mode of the inertial sensor,
When there is no movement of the wearer, the average value of the values measured by the inertial sensor is calculated for a set period of time, and the average value is set as a reference line for detecting the gait cycle for the wearer, and the difference is set by a predetermined level from the reference line. An automated system for initial driving of a wearable robot using a force sensor and an inertial sensor, characterized in that it is set as a detection line for detecting the gait cycle.
4. The method of claim 3,
In the wire length optimization mode,
When the value measured by the inertial sensor is maintained below the set angle value for a certain time, the motor operation is controlled so that the value measured by the force sensor becomes the set value, and when the measured value becomes the set value, the wire position is determined A drive initial setting automation system of a wearable robot using a force sensor and an inertial sensor, characterized in that it is stored and converted to a standby state.
5. The method of claim 4,
in the standby state
A wearable robot using a force sensor and an inertial sensor, characterized in that the motor operation is controlled so that the value measured by the force sensor becomes the set value or less, and the current value specified by the current sensor becomes the set current value Operation initial setting automation system.
A unidirectional actuator having a motor generating an assisting force of the wearable robot and a wire transmitting the assisting force generated from the motor to a wearer; a current sensor for measuring the auxiliary force generated from the motor; a force sensor receiving the assisting force of the motor and measuring the assisting force applied to the wearer; an inertial sensor for sensing a gait cycle of the wearer to control the operation of the motor; and a control unit for controlling the motor based on values measured by the current sensor, the inertial sensor, and the force sensor;
After wearing the wearable robot, in the motor initial setting mode,
driving the motor in a direction in which the wire is unwound until the auxiliary force measured by the force sensor disappears;
when the current sensor detects a current value, stopping the motor operation and setting a position of the stopped motor to a zero point; and
After the zero point is set, the motor is driven to control the value measured by the force sensor to be within a preset range, and then the motor position is set to a basic position. A method of automating the initial setting of a wearable robot using
7. The method of claim 6,
The initial setting mode of the inertial sensor is,
measuring an angle value by the inertial sensor for a set period of time when there is no movement of the wearer;
calculating an average value of the values measured for the predetermined time and setting the average value as a reference line for detecting a gait cycle for the wearer; and
Setting a detection line for detecting the gait cycle by setting a difference by a predetermined level from the reference line; The method of initial setting automation of driving of a wearable robot using a force sensor and an inertial sensor, comprising: a.
7. The method of claim 6,
In the wire length optimization mode,
controlling the motor operation so that the value measured by the force sensor becomes a set value when the value measured by the inertial sensor is maintained below the set angle value for a predetermined time;
storing the wire position and switching to a standby state when the measured value becomes the set value; and
In the standby state, the value measured by the force sensor is equal to or less than the set value, and controlling the motor operation so that the current value specified by the current sensor maintains the set current value; A method of automating the initial setting of a wearable robot using a force sensor and an inertial sensor.
A unidirectional actuator having a motor generating an assisting force of the wearable robot and a wire transmitting the assisting force generated from the motor to a wearer; a current sensor for measuring the auxiliary force generated from the motor; a force sensor receiving the assisting force of the motor and measuring the assisting force applied to the wearer; an inertial sensor for sensing a gait cycle of the wearer to control the operation of the motor; and a control unit for controlling the motor based on values measured by the current sensor, the inertial sensor, and the force sensor;
In the wearer-customized gait cycle setting mode, if the inertial sensor measures the wearer's movement and determines that it is gait, the average value of the specific parameter values measured by the inertial sensor for the gait cycle for a set number of times is calculated, and based on the average value A threshold value-based real-time gait cycle detection and optimization system using an inertial sensor, characterized in that by setting a threshold to detect the gait cycle of the wearer based on the threshold value.
10. The method of claim 9,
Stores the average value of the maximum values and the minimum values for the gait cycle for the set number of times, sets an upper threshold value based on the average maximum value, sets a lower threshold value based on the average minimum value, and measures in the inertial sensor Threshold-based real-time gait cycle detection and optimization system using an inertial sensor, characterized in that the gait cycle of the wearer is detected by comparing the specified parameter with the upper threshold value and the lower threshold value.
11. The method of claim 10,
The upper threshold value is a value obtained by multiplying the average maximum value by 0.5 to 0.95, the lower threshold value is a value obtained by multiplying the average minimum value by 0.5 to 0.95, and the specific parameter is the maximum value and the minimum value measured by the inertial sensor Threshold-based real-time gait cycle detection optimization system using an inertial sensor.
A unidirectional actuator having a motor generating an assisting force of the wearable robot and a wire transmitting the assisting force generated from the motor to a wearer; a current sensor for measuring the auxiliary force generated from the motor; a force sensor receiving the assisting force of the motor and measuring the assisting force applied to the wearer; an inertial sensor for sensing a gait cycle of the wearer to control the operation of the motor; and a control unit for controlling the motor based on values measured by the current sensor, the inertial sensor, and the force sensor;
In the wearer-customized gait cycle setting mode,
a first step of determining that the inertial sensor is walking by measuring the movement of the wearer;
a second step of reading the maximum and minimum values for the gait cycle for a set number of times;
a third step of calculating an average value of the maximum values and an average value of the minimum values;
a fourth step of setting an upper threshold value based on the average maximum value and setting a lower threshold value based on the average minimum value;
A fifth step of detecting the wearer's gait and gait cycle by comparing the maximum value measured by the inertial sensor with the upper threshold value, and comparing the measured minimum value with the lower threshold value; A threshold-based real-time gait cycle detection optimization method using sensors.
13. The method of claim 12,
The upper threshold value is a value obtained by multiplying the average maximum value by 0.5 to 0.95, the lower threshold value is a value obtained by multiplying the average minimum value by 0.5 to 0.95, and the specific parameter is the maximum value and the minimum value measured by the inertial sensor A threshold-based real-time gait cycle detection optimization method using an inertial sensor.
13. The method of claim 12,
In the fifth step,
Threshold-based real-time using an inertial sensor, characterized in that when the measured maximum value exceeds the upper threshold value and the measured minimum value is less than the measured minimum value is less than the lower threshold value, gait and gait cycle are detected A method for optimizing gait cycle detection.

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