KR20220014421A - Method of Using Wearable Assisting Device - Google Patents

Abstract

The present invention relates to a method of using a wearable assisting device, which allows a user to wear the wearable assisting device fitted according to user information to perform various walking trainings by each drive mode. In addition, third parties such as hospital staffs and rehabilitation therapists can conveniently and systematically store, manage, and record walking training records with respect to a plurality of users performing walking training while wearing the wearable assisting device so that a training, medical and rehabilitation institution may efficiently manage the user's training status, treatment or rehabilitation status. The method includes: registering a new user or selecting an existing user to designate a user of the wearable assisting device, inputting and managing a size by area of the wearable assisting device based on user information of the designate user, and selecting and executing a plurality of drive modes in the wearable assisting device, using a control panel detachably mounted at a body to communicate with the body in a wire or wireless scheme.

Description

Method of Using Wearable Assisting Device

The present invention relates to a method of using a wearable auxiliary device. More specifically, the present invention uses a control panel that is detachably mounted on the main body and can communicate with the main body by wire or wirelessly, by selecting a new user registration or an existing user to designate a user of the wearable auxiliary device, By inputting and managing the size of each area of the wearable auxiliary device based on the user's information, and selecting and executing a plurality of driving modes of the wearable auxiliary device, the user selects a wearable auxiliary device fitted to the user's information. It is possible to perform various gait training according to each driving mode by wearing it, and in addition, a third party such as a hospital official, a rehabilitation therapist, etc. wears the wearable auxiliary device to perform gait training for each of a plurality of users who perform gait training It relates to a method of using a wearable assistive device that can conveniently and systematically store, manage and record records, so that the management of a user's training state, treatment or rehabilitation state can all be effectively performed in a training, medical or rehabilitation institution. .

Recently, the number of patients with sequelae of brain diseases such as congenital or acquired disabilities, stroke, Parkinson's disease, etc. is increasing, and the disabled or patients who have difficulty walking independently are at risk of reduced muscle strength or weakened cardiopulmonary function.

Therefore, in the case of such a disabled person or patient, a rehabilitation treatment system can be established by introducing a wearable auxiliary device in the form of an exoskeleton robot in a training, medical or rehabilitation institution to perform walking or rehabilitation training.

Here, the wearable assistive device is mounted on both lower extremities of the user, and a driving mode for various gait functions such as a standing mode, a standing mode, and a sitting mode may be provided. It may be configured to adjust the speed.

Meanwhile, in the wearable auxiliary device, settings such as the size, auxiliary power, or gait cycle of the auxiliary device must be performed according to the user's body size, walking ability, or diagnosis name.

If the size of the assistive device is different for each user's body size or a separate walking driving program for setting the assisting force or gait cycle for each user needs to be produced, the cost of the wearable assistive device is further increased.

In addition, in the case of such a wearable assistive device, it should be possible to systematically manage a specific user's gait or training record, and when multiple users use one wearable assistive device, the management and management convenience of the gait or training record is improved. more may be requested.

The present invention uses a control panel that is detachably mounted on the main body and can communicate with the main body by wire or wirelessly, selects registration of a new user or an existing user, designates a user of the wearable auxiliary device, and designates the user of the designated user By inputting and managing the size of each region of the wearable auxiliary device based on the It is possible to perform various gait training according to the driving mode, and in addition, a third party such as a hospital official or a rehabilitation therapist can conveniently record gait training records for each of a plurality of users who perform gait training by wearing the wearable auxiliary device. In order to solve the problem of providing a method of using a wearable assistive device that can be systematically stored, managed, and recorded, the management of the user's training status, treatment or rehabilitation status can all be effectively performed in a training, medical or rehabilitation institution. make it a task

In order to solve the above problems, a main body provided with a battery and a controller, a control panel having a display capable of touch input and detachably mounted on the main body, left and right hip actuators and left and right knee joint actuators controlled by the controller, A method of using a wearable auxiliary device, the method comprising: a user designation step of designating a user of the auxiliary device by registering a new user or selecting an existing user through a touch input of the control panel; an auxiliary device size determination step of determining a size of an auxiliary device according to the user according to the information input in the user designation step; a driving mode selection step of selecting a driving mode of the wearable auxiliary device after the step of determining the size of the auxiliary device through a touch input of the control panel; a driving mode execution step in which the controller controls the left and right hip joint actuators and the left and right knee joint actuators according to the driving mode selected in the driving mode selection step to execute the selected driving mode; In response to the step progress of the auxiliary device size determination step, the drive mode selection step, and the drive mode execution step, the output contents of the display are switched, and the control signal or setting information input through the control panel is wired or It is possible to provide a method of using a wearable auxiliary device, characterized in that the wireless transmission to the control unit.

In addition, when the designated user in the user designation step is a new user, user-specific information for identification of the new user, user body information of the new user, and medical information of the new user may be registered.

Here, the unique information of the new user may include at least one of the new user's name, gender, and age.

In addition, the new user's body information may include at least one of the new user's height, weight, and detailed dimension information.

In this case, the detailed dimension information may include the dimensions of the left and right feet, the length and circumference of the left and right thighs, the length and circumference of the left and right lower thighs, or the width and length of the pelvis.

In addition, the new user's medical information may include at least one of a paralysis site of the new user, a functional ambulation category (FAC), and a diagnosis name.

The size of the auxiliary device in the step of determining the size of the auxiliary device is directly entered, or automatically calculated based on the user's body information specified in the user designation step in the case of a new user, or the auxiliary device stored in the control panel in the case of an existing registered user It can be determined by calling the size.

Here, the size of the auxiliary device is the width and thickness of the body unit surrounding the rear of the user's pelvis, the length of the left and right thigh support units supporting the left and right thighs of the user, the length of the left and right lower leg support units supporting the left and right lower legs of the user, the user It may include at least one of the size and mounting position of the left and right thigh wearing unit and the left and right lower leg wearing unit surrounding the left and right thighs and lower thighs, and the size of the left and right foot units.

In the auxiliary device size determining step, a size is directly input by touching a size display page of the display, a size is selected from pop-up sizes by touching a size display page, or an increase/decrease icon provided around the size display page of the display. You can determine the size by increasing or decreasing the size by inputting a touch.

The driving mode selection step may display a plurality of mode icons, and each of the mode icons may provide a starting icon and a mode setting icon.

In addition, the driving mode may include a plurality of modes among a standing mode, a sitting mode, a standing mode, a walking mode, a stair climbing mode, and a squat mode.

In addition, in the driving mode execution step, the display may display a mode execution end icon and a driving mode change icon in the running mode.

In addition, in the driving mode selection step and the driving mode execution step, the display is at least one of battery remaining information of the auxiliary device, communication state information of each joint actuator or sensor of the wearable auxiliary device, and information on whether the control panel is mounted on the body information can be displayed.

And, in the setting menu of at least one of the standing mode, the sitting mode, the standing mode, the flat walking mode, the stair climbing mode, and the squat mode, the size of the assisting force of each joint actuator and the increase/decrease for adjusting the assisting force can display icons,

Here, in the setting menu of the standing mode, an assisting force maintenance icon for selecting whether to maintain joint assistive force after standing up may be displayed on the display.

And, in the setting menu of at least one of the standing mode, the sitting mode, the standing mode, the flat walking mode, the stair climbing mode, and the squat mode, to increase or decrease the size of the assisting force of each joint actuator at once A batch increase/decrease icon may be displayed for

In addition, in the setting menu of at least one of the standing mode, the sitting mode, the standing mode, the flat walking mode, the stair climbing mode, and the squat mode, the size of the assisting force of each joint actuator is set to a preset size. A batch increase/decrease icon for uniformly increasing/decreasing in may be displayed.

In addition, in the setting menu of at least one of the standing mode, the sitting mode, the standing mode, the flat walking mode, the stair climbing mode, and the squat mode, the size of the assisting force of each joint actuator is set to a preset size. A batch edit icon for batch editing to a specific size may be displayed.

In addition, in the setting menu of at least one of the standing mode, the sitting mode, the standing mode, the flat walking mode, the stair climbing mode, and the squat mode, the size of the assisting force of each joint actuator is set to a third party. A setting mode setting icon may be provided to replace the setting value.

In addition, the present invention provides a main body including a housing and a battery mounted inside the housing, a control panel having a display capable of touch input and detachably provided on the main body of a wearable auxiliary device, left and right controlled by the control panel It is possible to provide a wearable auxiliary device that includes a hip joint actuator and a left and right knee joint actuator controlled by the control panel, and can be used as a method of using the wearable auxiliary device.

According to the method of using the wearable auxiliary device according to the present invention, the size of each area of the wearable auxiliary device can be determined intuitively and conveniently based on the user's body information through a GUI-type control program on a tablet-type control panel capable of touch input. input and management, even when multiple users use the same wearable auxiliary device, it is possible to easily manage the size management of the wearable auxiliary device for each user, thereby reducing the fitting time when wearing the wearable auxiliary device for each user can be minimized

In addition, according to the method of using the wearable auxiliary device according to the present invention, the size of each auxiliary force provided through each joint actuator of the wearable auxiliary device according to the user's exercise ability, diagnosis name, or the state of each joint, etc. It is possible to intuitively and simply input, adjust, change, save, or call on the same GUI-type control program, and intuitively control the joint actuator, thereby facilitating the management and handling of wearable auxiliary device driving information for each user. , it is possible to efficiently proceed with the user training process conducted by a therapist without professional knowledge on hardware or firmware.

In addition, the method of using the wearable assistive device according to the present invention provides various driving modes for each gait function of the wearable assistive device, such as a standing mode, a sitting mode, a standing mode, a flat walking mode, a stair climbing mode, and a squat mode. , since it is easy to switch the driving mode on the same GUI-type control program and monitor the operating state of the wearable auxiliary device, the efficiency of the treatment or training process performed by a therapist without specialized knowledge about hardware or firmware can improve

1 shows a front perspective view and a rear perspective view of a wearable auxiliary device according to the present invention.
2 shows a configuration diagram of a wearable auxiliary device according to the present invention.
Figure 3 shows a configuration diagram of the operating system of the wearable auxiliary device according to the present invention.
4 is a view showing a customer list display screen on a dedicated control program of the GUI method installed on a tablet-type control panel capable of touch input of a wearable auxiliary device according to an embodiment of the present invention.
FIG. 5 shows a control panel display screen in a state where a specific user is selected on the customer list display screen on the dedicated control program shown in FIG. 4 .
6 shows a new user registration screen for new user registration on the dedicated control program.
7 to 10 show a screen for inputting body information of a new user on a dedicated control program of the control panel.
11 and 12 show the size input screen of the wearable auxiliary device on the dedicated control program of the control panel.
13 shows a mode selection screen for selecting a driving mode on the dedicated control program of the control panel.
Fig. 14 shows a standing-up mode setting page among the driving modes on the dedicated control program of the control panel.
15 shows a sitting mode setting page among driving modes on the dedicated control program of the control panel.
16 shows a page for setting a flat walking mode among driving modes on the dedicated control program of the control panel.
17 shows an execution screen of the sitting mode among the driving modes on the dedicated control program of the control panel.
18 shows an execution screen of the flat walking mode among the driving modes on the dedicated control program of the control panel.
19 shows an execution screen of the standing mode among the driving modes on the dedicated control program of the control panel.
Fig. 20 shows the main screen of the dedicated control program of the control panel.
21 is a view showing the use record screen of a plurality of wearable auxiliary device users on the dedicated control program of the control panel.
22 shows a training record screen of a specific user among a plurality of wearable auxiliary device users of FIG. 21 .

Hereinafter, preferred embodiments of the present invention will be described in detail with reference to 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 subject matter may be thorough and complete, and the spirit of the invention may be sufficiently conveyed to those skilled in the art. Like reference numbers refer to like elements throughout.

1 shows a front perspective view and a rear perspective view of a wearable auxiliary device according to the present invention.

1 (a) and 1 (b), in the present specification, the wearable assistive device 1000 is worn on the lower body of the disabled, the elderly, or a patient (hereinafter referred to as a 'user') to perform a walking motion. It may be an assisting robot. Here, the meaning of assisting the gait motion can be interpreted as providing a driving force for preserving muscle strength lacking in the hip and knee joints to enable independent walking of a user who has some movement function of the lower body.

The wearable auxiliary device 1000 of the present invention includes a main body 500 including a control unit (not shown) and a battery (not shown) for providing power, a display capable of touch input, and detachably mounted on the main body. The control panel 2000, the body 500 is mounted at the rear, is mounted to surround the user's waist area, the body unit 400 extending to the user's waist side area, the body extending to the user's hip joint side area A pair of hip actuators 100a and 100b mounted on both ends of the unit, the femoral support units 200a and 200b that are driven by the hip actuators 100a and 100b and provide rotational assistance to the user's thighs, the above A pair of knee joint actuators (100c, 100d) mounted on the end of the femoral support unit, the lower thigh support unit (200c, 200d), which is driven by the knee actuators (100c, 100d) and provides rotational assistance to the user's thigh; And it is mounted on the end of the lower leg support unit, it may be configured to include a pair of foot units (300a, 300b) for supporting the user's feet.

The wearable auxiliary device 1000 may include a main body 500 disposed behind the user's back plate, and a pair of leg units extending downward from the main body 500 to support each leg of the user. .

The body 500 is mounted on the body unit 400 , and a pair of leg units may also be mounted on both ends of the body unit 400 .

Here, the leg unit is provided with a joint actuator 100 in the hip joint and the knee joint, respectively, to provide auxiliary torque to the thigh and lower leg to assist the user in walking independently.

Accordingly, a driving device for providing a driving torque may be provided in a region corresponding to the hip joint and the knee joint of each leg unit. Each driving device may be configured as a joint actuator each having a driving motor.

The joint actuators 100a, 100b, 100c, and 100d may be installed in the user's hip and knee joint regions, respectively, and the hip joint actuators 100a and 100b are installed at the site where the pelvis and the thigh meet, and the knee of the thigh and lower thigh boundary The knee joint actuators (100c, 100d) may be installed in the region. In the wearable auxiliary device 1000 shown in FIGS. 1 ( a ) and 1 ( b ), an example in which the joint actuator 100 is provided only for the user's hip and knee joints is shown, but if necessary, a separate driving device is also provided for the ankle joint. can be provided.

And, each of the thigh support unit (200a, 200b) and the lower leg support unit (200c, 200d) has the user's thigh and lower leg at least for fixing to the thigh support unit (200a, 200b) and the lower leg support unit (200c, 200d). One wearing unit 600 may be provided, and the driving force provided by each joint actuator 100 is eventually transmitted to the user's thigh or lower leg through the wearing unit 600 to assist independent walking.

Such a pair of leg units is arranged along the side of the user, and since the above-mentioned main body 500 is arranged behind the user's upper body back plate, the main body is mounted to the rear through the body unit 400, and the The body unit 400 is mounted to surround the user's waist area, and both ends of the body unit 400 may be configured to extend to the user's waist side area.

In addition, the main body 500 may be detachably mounted on a tablet-type control panel having a display capable of a touch input. The control panel may transmit a control signal or setting information to the control unit of the wearable auxiliary device 1000 by wire or wirelessly.

Here, a control signal or setting information input through the control panel is transmitted to the control unit, and the control unit includes a pair of hip actuators 100a and 100b and a pair of knee joints constituting the wearable auxiliary device 1000 . It is possible to determine the strength of the assisting force output from the drivers 100c and 100d, the application time of the assisting force, or whether the assisting force is provided.

In addition, the control panel may preferably be configured as a tablet-type mobile device having a display capable of a touch input and having a graphical user interface (GUI)-based OS and control program mounted thereon.

In addition, as for the method of inputting information into the control panel, a manipulation input of a switch or button mounted on the main body on which the control panel is mounted is also possible in addition to a touch input through a display of the control panel.

When such a control panel is configured to be detachable from the main body 500 of the wearable auxiliary device 1000 so that wireless transmission and reception of control signals is possible, the therapist, etc. allows the user to perform training while wearing the wearable auxiliary device. Even in this case, it is possible to observe the user's state and the control panel at the same time and input control signals, enabling efficient training.

The control panel according to the present invention is detachably mounted on the main body 500, and communicates with the control unit of the main body through a wireless communication unit including a wireless communication module for short-range wireless communication, and transmits and receives control signals or setting information. do.

Specifically, the control panel 2000 is a wireless network using a control unit of the main body 500 and a wireless communication unit having a wireless communication module as a medium, such as Bluetooth, beacon, Wi-Fi, etc. method, or may be communicatively connected to a wired network including serial communication, Ethernet, etc. via a wired communication unit, and may be configured to be capable of charging through a power supply unit of the main body while being mounted on the main body.

Figure 2 shows a configuration diagram of a wearable auxiliary device according to the present invention, Figure 3 shows a configuration diagram of an operating system of the wearable auxiliary device according to the present invention.

A wearable auxiliary device according to the present invention is a light output unit for controlling lighting of various indicators on the main body 500, a sound output unit for controlling sound message output, a memory unit for storing various setting data, etc., a power supply unit having a rechargeable battery may be provided, and an input unit for inputting a button-type control signal and wired data input and output other than the control panel 2000 may be provided.

The lighting output unit, the sound output unit, the memory unit, and the input unit may be controlled by the controller of the main body. The power supply unit may be controlled to be charged by the control unit through external power, and the battery may be removable and replaceable. In addition, the power supply unit supplies the required power to each component constituting the lighting output unit, the sound output unit, the memory unit, the input unit, the joint actuator, the control panel 2000 mounted on the main body and the wearable auxiliary device, respectively. can

And, each joint actuator is provided with a separate driving control unit to receive power from the power supply unit, control each driving motor according to a control signal transmitted through the control unit and the wired communication unit as a medium, and various types of sensors (ex encoder, The signal from the plantar pressure sensor, etc.) may be collected and transmitted to the control unit.

Each driving control unit provided in the joint actuator may include a driving driver of each driving motor, and the driving driver may be provided in the main body for weight reduction of the joint actuator.

And, as shown in FIG. 3, the control panel 2000, which constitutes the wearable auxiliary device according to the present invention and is detachably mounted on the main body, is connected to a dedicated control program server of the GUI method to be described later through a wireless network and is connected to various Data transmission/reception is possible.

A plurality of wearable auxiliary devices and control panels 2000 may be operated simultaneously, and a plurality of control panels may be configured to communicate with one server, and each user's information or control data is stored separately. A data base may be provided to enable management, storage, or sharing of data.

That is, in FIG. 3, users 1 to 3 change the wearable auxiliary device or the control panel when calling the unique information stored in the database or the GUI-type dedicated control program server even if the auxiliary device used and the control panel are changed accordingly. Even if it is, the device can be changed and used by applying data and data calls through user information.

In addition, through such a wearable auxiliary device, even if the manager managing the rehabilitation or treatment is not the same, it is possible to perform continuous training by calling user information.

4 is a view showing a customer list display screen on a dedicated control program of the GUI method installed on a tablet-type control panel capable of touch input of a wearable auxiliary device according to an embodiment of the present invention, and FIG. 5 is shown in FIG. It shows a control panel display screen in a state where a specific user is selected on the customer list display screen on the dedicated control program.

In order to perform gait training by wearing such a wearable assistive device on a person with a disability or a patient, processes such as user designation, determining the size of the wearable assistive device, selecting a driving mode, and executing the driving mode may be sequentially performed.

The wearable auxiliary device of the present invention shown in FIG. 1 may be configured to respond to a variety of users by adjusting the width of the body unit, the length of the thigh support unit and the lower body support unit, etc. in response to the user's body size.

Accordingly, the method of using the wearable auxiliary device according to the present invention includes a user designation step of designating a user (S100), an auxiliary device size determining step of determining a wearable auxiliary device size (S200), and the wearable auxiliary device (1000). a driving mode selection step (S300) of selecting a driving mode of Each step will be described in detail.

4 and 5 , the control panel 2000 registers a new user or selects an existing user who has already been registered therein. It may include a designation step (S100).

As shown in FIG. 4 , the control panel 2000 displays profiles 11 of existing users registered in the control program on the user list (customer list) screen 10 while the user designation step S100 is performed. may be displayed sequentially according to a preset criterion, and the criterion may be, for example, a consonant order of a registered user's last name or an order of a date when a user's profile is registered. In addition, the profile 11 of the existing users may include the user's name, gender, age, etc., and outline personal information, etc., and a user provided by a training, medical or rehabilitation institution such as a hospital for the management of the existing user. A unique identification number and the like may be additionally included.

In addition, in order to facilitate the search of a specific user from among the registered users, a user search window ( 12) may be arranged on the user list (customer list) screen 10 .

As shown in FIG. 5 , when a specific user's profile is touch-inputted on the user list (customer list) screen 10, an information confirmation area 13 indicating user information corresponding to the touch-input profile, the The gait training selection area 14 that goes to the driving mode selection screen so that the user can start gait training immediately, the auxiliary device size setting page 15 that switches to the step of determining the size of the auxiliary device worn by the user, and the A screen of the gait training record confirmation area 16 showing the gait training record of the user may be output, respectively.

Here, when the information confirmation area 13 is touched and inputted, a profile screen in which information viewing and information modification of a specific user of the selected profile is possible may be output. A third party, such as a doctor or a rehabilitation therapist, touches the information confirmation area 13 displayed on the user list (customer list) screen 10 to wear the wearable auxiliary device 1000 and personal information of the user who wants to start gait training It is possible to store, manage, and record, and it is possible to conveniently modify or re-enter the updated information of the user, so that omission or input error of information included in the profile 11 of existing users can be prevented as much as possible.

6 shows a new user registration screen for new user registration on the dedicated control program, and FIGS. 7 to 10 show a new user's body information input screen on the dedicated control program of the control panel.

6 to 10 , if the user is a new user when the control panel 2000 performs the user designation step S100, user-specific information for identification of the new user, new user medical information, and the user's body A new user information input page 20 for registering information may be output on the screen of the display 2100 .

Specifically, as shown in FIG. 6 , the new user information input page 20 contains the new user's unique information, for example, the new user's name, gender, date of birth, age, training, medical or rehabilitation institution for a new user. User-specific information 21 including at least one unique identification information individually given to each user may be input.

Additionally, the duplicate check menu 22 may be configured to be displayed to prevent the new user's information from overlapping with the previously registered user's information.

In addition, on the new user information input page 20, medical information 23 such as a functional ambulation category (FAC) and a diagnosis name, which evaluates and quantifies the paralysis site and gait ability of the new user, is an input menu for entering may be provided.

7 to 10 , upon input of new user information, after the input of unique information 21 and medical information 23 is completed, the new user information input page 20 displays the height, weight and details of the new user. It may be switched to an input menu screen in which body information 24 such as dimension information is input, wherein the body information 24 is the wearable assistant while the control panel performs the auxiliary device size determination step (S200). It may be used as data for automatic calculation of the size of each region of the apparatus 1000 .

On the other hand, as shown in FIGS. 8 to 10 , the detailed dimension information input menu 25 for inputting detailed dimension information among the body information of the new user is output on the new user information input page 20, and additionally As a result, a measurement guide image (i) for detailed dimension measurement of a new user may be displayed on the screen. Here, the measurement guide image (i) may include photos, images, pictures, emoticons, etc. that describe the location of a measurement target or a starting point and an end point when measuring detailed dimensions of a new user, and the measurement guide image (i) near the measurement guide image (i) A description related to a detailed dimension measurement method may be additionally output.

For example, as shown in FIGS. 8 to 10 , when measuring the length of the thigh, the length of the lower leg, or the width of the pelvis of the new user, an image and description are output together to allow the user to measure the length in millimeters in a seated state Therefore, errors or errors from the measurement method can be minimized.

In addition, on the new user information input page 20 , a save icon 26 for storing the information input by the new user is completed or information input during information input inside the program is displayed on the new user information input page 20 can be output to

After the new user inputs all of the unique information 21, medical information 23, body information 24, and detailed dimension information on the new user information input page 20, touch input the save icon 26 4, the new user's profile is newly added to the user list (customer list) screen 10, and the input information is stored in the user profile 11 like the previously registered user. It can be reset or modified.

Next, the control panel 2000 determines the size of the wearable auxiliary device 1000 using an algorithm of an internal program based on the information input in the user designation step S100 to determine the size of the auxiliary device size determination step (S200) may proceed.

11 and 12 show the size input screen of the wearable auxiliary device on the dedicated control program of the control panel.

In the auxiliary device size determination step ( S200 ), the size of the wearable auxiliary device 1000 may be automatically calculated or manually input by an algorithm installed in a control program based on the user's body information, and in the case of an existing registered user It may be determined by calling the size of the wearable auxiliary device 1000 already stored in the control panel.

Specifically, the size of the wearable auxiliary device 1000 is the width and thickness of the body unit 400 surrounding the rear of the user's pelvis in FIG. 1, and the left and right thigh support units 200a and 200b for supporting the left and right thighs of the user Length, the length of the left and right lower leg support units (200c, 200d) supporting the left and right lower legs of the user, the size and mounting position of the left and right thigh wearing unit 600 and the left and right lower leg wearing unit covering the left and right thighs and lower legs of the user, and the left and right feet It may be determined to include at least one of the sizes of the units 300a and 300b.

As described above, the wearable type based on detailed dimensional information such as the dimensions of the left and right feet of the user, the length and circumference of the left and right thighs, the length and circumference of the left and right lower thighs, and the width and length of the pelvis, designated in the user designation step (S100) The size of each area of the auxiliary device 1000 may be set, and the size of each area may be managed in a way that can be called, modified, and stored.

As such, the control panel 2000 can calculate, store, or modify the size of each region of the wearable auxiliary device 1000 based on the user's individual body information, so that the user is a user who is best fitted to his or her body condition. A customized wearable assistive device may be provided.

The auxiliary device size display page 30 is a body unit size display page 31 in which the width and thickness size of the body unit 400 corresponding to the size of the pelvis of the wearable auxiliary device surrounding the user's pelvis is input, and the user It may be composed of a leg unit size display page 32 in which the size of each of the thighs and lower legs is input in the leg unit of the wearable auxiliary device surrounding the leg including all of the left and right thighs, lower thighs, and feet.

In addition, the auxiliary device size display page 30 stores a size input field in which the size of the wearable auxiliary device 1000 to be worn is input, an image representing a portion of the auxiliary device in which the size is input, and the input size in the program. A save icon for doing this, and an edit icon for correcting the saved size after calling it may be output together.

In the size input field provided on the auxiliary device size display page 30, the value for each area of the wearable auxiliary device size may be automatically generated by an algorithm implemented in the internal program of the control panel as described above, and the The size of the auxiliary device may be directly input by touching the auxiliary device size display page 30 , and a desired size among a plurality of sizes (not shown) popped up by touching the auxiliary device size display page 30 . can be selected, and by pressing an increase/decrease icon (not shown) that may be provided around the auxiliary device size display page 30 to increase or decrease the size, the size of each area of the auxiliary device can be determined.

In the control panel 2000 , when the size of the wearable auxiliary device to be worn is determined in the size determination step S200 , the driving mode selection step S300 may be performed.

13 shows a mode selection screen for selecting a driving mode on the dedicated control program of the control panel.

Referring to FIG. 13 , a mode selection page 40 is displayed on the display of the control panel while the driving mode selection step S300 is performed, and a plurality of mode icons 41 are displayed on the mode selection page 40 . output, each of the mode icons 41 may provide a starting icon 42 and a mode setting icon 43 for immediate start control of each driving mode.

In addition, an auxiliary device size setting icon 44 may be provided on the mode selection page 40, and when the auxiliary device size setting icon 44 is touched and inputted, It may be configured to return to the auxiliary device size display page 30 to reconfirm the set size of the auxiliary device or to correct the input size of the auxiliary device.

The driving mode provided in the driving mode selection step S300 may include a plurality of modes among a standing mode, a sitting mode, a standing mode, a walking mode, a stair climbing mode, and a squat mode of the wearable auxiliary device. Here, among the driving modes of the wearable auxiliary device, the squat mode may be a mode in which standing and sitting motions are alternately repeated.

In addition, the plurality of mode icons 41 provided on the mode selection page 40 may display the name or image of each driving mode to enable intuitive mode selection.

When a start icon 42 provided to each of the mode icons 41 corresponding to the driving mode to be executed among the plurality of mode icons 41 is touched and inputted, driving of the wearable auxiliary device is executed according to the selected driving mode A driving mode execution step (S400) may be performed.

Meanwhile, when the user touches an icon to start the flat walking mode in a sitting state among the driving modes, it may be set so that the flat walking mode is not immediately executed.

That is, since only the standing mode can be performed while the user is sitting, the drivable mode may be limited according to the user's state, and in this case, one of the plurality of mode icons 41 cannot be executed according to the user's state The mode icon related to the driving mode may be deactivated, for example, converted to a state in which a touch input is impossible.

14 shows a standing mode setting page among driving modes on the dedicated control program of the control panel, FIG. 15 shows a sitting mode setting page among driving modes on the dedicated control program of the control panel, and FIG. 16 shows the control panel It shows the setting page for the flat walking mode among the driving modes on the dedicated control program of the panel.

As described above, the plurality of mode icons 41 displayed on the mode selection page 40 displayed on the screen while the control panel 2000 is performing the driving mode selection step S300 is a mode setting icon ( 43) (refer to FIG. 13), and when the mode setting icon 43 is touched and inputted, a mode setting page 50 corresponding to the driving mode of the selected mode icon 41 may be output.

For example, the mode setting icon 43 provided in each of the mode icons 41 corresponding to the standing mode, the sitting mode, and the walking mode on the display 2100 shown in FIGS. 14 to 16 is touched. Then, an example of the screen of each mode setting page 50 for setting various control variables of the driving torque output from the wearable auxiliary device is shown.

In the setting menu displayed on the mode setting page 50 of at least one of the standing mode, the sitting mode, the standing mode, the walking mode, the stair climbing mode, and the squat mode constituting the driving mode, the display is displayed on the display. An assisting force icon 51 for determining whether to provide assisting force may be provided to the left and right lower extremities.

That is, it is configured to selectively block the assisting force provided to the left and right lower extremities according to the user's physical ability, the degree of disease or paralysis, training necessity, etc. can

The assisting force icon 51 distinguishes whether assisting force is provided to each lower extremity on the left and right in different colors, for example, chromatic and achromatic colors, or high-brightness and low-brightness colors. can be configured to do so.

And, from the mode setting page 50 of at least one of the standing mode, the sitting mode, the standing mode, the walking mode, the stair climbing mode, and the squat mode constituting the driving mode to the screen of the display An assisting force magnitude icon 52 and an assisting force adjustment increase/decrease icon 53 of each joint actuator may be output.

Here, the assisting force magnitude icon 52 may be displayed by quantifying the size of the assisting force of the left and right hip joint actuators 100a and 100b and the left and right knee joint actuators 100c and 100d constituting the wearable assistive device. The force magnitude icon 52 may be displayed as a number between 0 and 20, and as the number increases, the magnitude of the auxiliary torque transmitted to each joint actuator may be increased. This is one example, and the range of numbers indicating the size of the auxiliary torque in the auxiliary force size icon 52 may be changed, and the size of the auxiliary force may be configured to be guided by an image or text instead of a number.

In addition, around the assisting force size icon 52, an assisting force adjustment increase/decrease icon 53 for increasing/decreasing the number displayed on the assisting force size icon 52 may be provided, for example, the assisting force increase/decrease icon ( 53) may be configured in the form of arrows 53a and 53b for increasing or decreasing the magnitude of the auxiliary force transmitted to each joint actuator of the auxiliary device.

When any one of the arrows of the increase/decrease icon 53 for assisting force adjustment is touch-inputted, the size of the assisting force of each joint actuator may be changed by a minimum unit capable of increasing or decreasing.

On the other hand, in the case of the standing mode among the driving modes, as shown in FIG. 14 , in the setting menu displayed on the mode setting page 50, after the standing up of the wearable assistive device is completed, whether to maintain the assisting force with the joint actuator is selected An assistive force maintenance icon 54 to do so may be displayed.

More specifically, after the standing mode is performed and the standing motion is completed, it may be difficult for a specific user to maintain an upright state by himself/herself. shall. Of course, in the case of a user with sufficient exercise ability and strength of the lower extremities, there is no need to provide a separate auxiliary force after the standing motion.

Therefore, by touching the assisting force maintenance icon 54 provided on the standing mode setting page 50 to maintain the assisting force even after the standing operation of the auxiliary device, the assisting force maintenance function to prevent the user from slumping or falling may optionally be provided.

In addition, in the setting menu displayed on the mode setting page 50 of at least one of the standing mode, the sitting mode, the standing mode, the walking mode, the stair climbing mode, and the squat mode constituting the driving mode, the A batch increase/decrease icon 55 for collectively increasing/decreasing the size of the assisting force of each joint actuator may be provided on the screen of the display 2100 . Here, the batch increase/decrease icon 55 may be provided to uniformly increase/decrease the preset amount of assisting force in a state where the size of the assisting force of each of the joint actuators is preset. That is, as shown in FIG. 14 , the collective increase/decrease icon 55 may provide a function of changing the auxiliary forces of the left hip joint actuator and the knee joint actuator to +1 magnitude or -1 magnitude together.

In general, users of wearable assistive devices often have problems with both the hip and knee joints when one of the left and right lower extremities lacks exercise capacity. This can provide training convenience.

As described above, when the auxiliary force size icon 52 is composed of a number between 0 and 20 to digitize the relative size of the assisting force, the batch increase/decrease icon 55 is the auxiliary force size icon 52 . To enable increase or decrease in the number input in Although shown to be provided to increase and decrease the auxiliary force by distinguishing between the left and right lower extremities, it may be provided so that the auxiliary force of the four actuators can be increased or decreased collectively.

In addition, in the setting menu displayed on the mode setting page 50 of at least one of the standing mode, the sitting mode, the standing mode, the walking mode, the stair climbing mode, and the squat mode constituting the driving mode, the A batch correction icon 56 for collectively modifying the size of the assisting force of each joint actuator from a preset size to a specific size may be provided on the screen of the display.

The batch correction icon 56 can be set in the assist force size icon 52 so that the assist force size of each joint actuator set through the assist force size icon 20 is collectively modified to a different size. It may consist of any combination of numbers within the range of the magnitude of the assisting force.

For example, if the assisting force magnitude icon 20 consists of a number between 0 and 20 representing the relative magnitude of the assisting force, then the batch edit icon 56 includes 0, 5, 10, 15 and 20 is composed of specific numbers, and when any one of the specific numbers provided by the batch modification icon 56 is touched and inputted, a number indicating the amount of assisting force of each joint actuator is displayed in the batch modification icon 56 It can be changed to a specific size touched.

14 to 16 , in a state in which the magnitude of the auxiliary force of all drivers is set to '20' in the mode setting page displayed on the screen of the display 2100, the '15' icon among the batch correction icons 56 If you touch input, the auxiliary power of all actuators can be changed and set to '15'.

In addition, the assisting force of each joint actuator in the setting menu displayed on the mode setting page 50 of at least one of the standing mode, the sitting mode, the standing mode, the walking mode, the stair climbing mode, and the squat mode In order to replace the size with a default setting value or a third party setting value, the setting mode setting call icon 57 will be displayed.

Here, when the setting mode setting call icon 57 is touched and inputted, the size of the assisting force displayed on the screen of the mode setting page 50 may be set as a default setting value or a third party setting value.

Here, the default setting value may be an assisting force setting value of each actuator preset according to the user's body size, disease, or exercise ability.

And, even after the setting value determined by a third party is displayed on the screen of the mode setting page 50 by touching the setting mode setting call icon 57, the batch increase/decrease icon 55 or the batch edit icon 56 ), etc., the set value can be modified, so that the size of the assisting force to each joint actuator can be adjusted.

In addition, with reference to FIG. 16 , on the leveling gait mode setting page, it is possible to set whether or not to provide auxiliary power to each joint actuator at the end of the swing phase of the user's gait cycle while the auxiliary device executes the leveling gait mode A terminal icon 58 may be displayed.

Specifically, the late swing phase icon 58 lacks strength to straighten the knee joint during gait training, and accordingly, it is not possible to form a sufficient stride at the late swing phase. The support unit (200c, 200d) performs a function of providing a driving force to the knee joint actuator (100c. 100d) to be sufficiently stretched so that the size of the user's stride is normally formed.

In addition, on the screen of the mode setting page 50 for executing the flat walking mode of FIG. 16 , the size of the assisting force of each joint actuator in the setting menu of the screen while the user of the wearable assistive device 1000 is walking on the flat ground A self-manipulation icon 59 for selecting whether to set, increase, decrease, or modify the plurality of icons to allow self-manipulation may be displayed.

The main body of the wearable auxiliary device 1000 may be provided with a separate input unit capable of inputting a control signal of the wearable auxiliary device separately from the control panel, and the input unit may be provided with the main body 500 of the wearable auxiliary device 1000 . ) or may be configured in the form of a control switch or control button provided in the vicinity of the body unit 400 is as described above.

Therefore, by touching the self-manipulation icon 59, it is possible to set so that the user can send a control signal to the control unit through the input unit provided in the wearable auxiliary device 1000, while the user himself/herself The manual control provided in the wearable auxiliary device 1000 may be enabled.

And, in the flat walking mode shown in FIG. 16, an assisting force holding time icon that can set the holding time of the assisting force transmitted to each joint actuator may be additionally displayed, for example, the assisting force holding time icon is divided into a total of five stages according to the amount of time the assist force of the size set through the assist force size icon is maintained, and selections such as 'very slow', 'slow', 'normal', 'fast' and 'very fast' By providing a menu, it is possible to control the time during which the assisting force is provided according to the exercise ability of the user.

In this way, on the screen of the mode setting page 50 shown in FIGS. 14 to 16 , the set values of the control variables of the driving torque output from the auxiliary device for each driving mode in which the wearable auxiliary device 1000 is executed are all set values. When it is determined, the control variable setting value may be stored by touching the setting value storage icon output at the bottom of the screen.

Next, as shown in FIG. 13, after returning to the screen of the mode setting page 40 of the driving mode selection step S300, the start provided in the mode icon 41 of the driving mode to be executed The driving mode execution step ( S400 ) may be performed according to the driving mode selected by pressing the following icon 42 .

17 shows an execution screen of the sitting mode among driving modes on the dedicated control program of the control panel, FIG. 18 shows an execution screen of the flat walking mode among driving modes on the dedicated control program of the control panel, and FIG. It shows the execution screen of the standing mode among the driving modes on the dedicated control program of the control panel.

In each driving mode execution step (S400), user information, training time (elapsed time or number of training), battery remaining information of the wearable auxiliary device 1000, remaining battery level information of the control panel, on the screen of the display 2100, Communication state or connection state information of each joint actuator or sensor of the wearable auxiliary device 1000, and whether the main body 500 of the control panel 2000 is mounted ('tablet detached' or 'tablet connected', etc. ), at least one piece of information may be displayed. In addition, in each driving mode execution step ( S400 ), a mode execution end icon 61 may be displayed on the screen of the display 2100 .

When the mode execution end icon 61 is touched and inputted, the execution step S400 of each driving mode is terminated, and the screen of the mode selection page 40 of the driving mode selection step S300 may be switched.

Then, the mode information output area 60 of each of the driving mode execution step (S400) is output to the display, and the driving mode information 62 indicating the driving mode in which the wearable auxiliary device is running or the driving mode selection Information on the amount of assisting force 63 of each joint actuator set in the mode setting page of step S300 may be displayed together. Here, the driving mode information 62 or the assisting force magnitude information 63 may be added to or replaced with a visual image such as a picture or a picture rather than text so that information is transmitted intuitively.

In addition, as shown in FIG. 18 , on the screen of the mode information output area 60 , information on the training (elapsed) time in which the user executed each driving mode, information on the number of steps during the training day (today), and the current driving Various information related to the user's gait motion may be output to the screen in the driving mode execution step ( S400 ) by displaying information such as information on the number of walking times, walking speed, and left and right walking ability among the modes.

In addition, in the driving mode execution step ( S400 ), a driving mode switching icon 64 of a driving mode switchable from the running mode may be displayed on the screen of the display 2100 provided on the control panel 2000 .

For example, as shown in FIG. 19 , if the standing mode is executed in the driving mode execution step ( S400 ) and touch input the icon to start the flat walking mode displayed on the screen, it is possible to switch from the standing mode to the flat walking mode. Likewise, when the standing mode is executed and a stair climbing mode start icon displayed on the screen is touched and inputted, it is possible to switch from the standing mode to the stair climbing mode.

In general, when the standing mode is executed in the driving mode execution step (S400), a predetermined driving force of a predetermined size is applied to the left and right hip joint actuators 100a and 100b and the left and right knee joint actuators 100c and 100d of the auxiliary device 1000, respectively. A pair of femoral support units (200a, 200b) and a pair of lower leg support units (200c, 200d) are deployed through a constant driving force of a predetermined size that is transmitted and transmitted to each joint actuator, allowing the user to stably on the ground Allows for standing motion.

On the other hand, in order to make it more convenient for the wearable auxiliary device 1000 to switch to another type of switchable driving mode during the selected driving mode execution, the control panel 2000 performs the driving mode execution step (S400). A driving mode switching icon 64 provided on the screen of the mode information output area 60 is provided.

The driving mode change icon 64 may provide a mode change function for executing another driving mode that can be continuously performed in the corresponding driving mode.

For example, in standing mode, sitting mode, flat walking mode, stair climbing mode, or squat mode are driving modes that can be continuously performed. can And, in the sitting mode, only the standing mode can be continuously performed. That is, there is a difference in the type and number of driving modes that can be continuously driven or switched in each driving mode.

For example, if a touch-input icon for starting the flat walking mode among the driving mode switching icons 64 displayed in the mode information output area 60 is performed while the standing mode is being performed, the flat walking mode is not performed again after stopping the standing mode. The level walking mode may be continuously performed in the standing mode.

If the driving mode change icon 64 is not provided, press the mode execution end icon 61 provided at the bottom of the screen of the mode information output area 60 of the driving mode execution step (S400) to press the driving mode Return to the mode selection page 40 of the selection step S300 and touch and input the mode icon 41 of another driving mode to execute a new driving mode, but continuous execution when the driving mode switching icon 64 is provided It is possible to maximize training efficiency by providing a switching function between possible driving modes.

In addition, the driving mode switching icon 64 may be provided with a start icon 66 of a switchable driving mode and a switching mode setting icon 65 capable of designating a set value of a switchable driving mode, the switching mode If you touch the setting icon 65, you can return to the mode setting page of the driving mode to be switched and reset the auxiliary force of each joint actuator. In order to designate the value again, press the mode execution end icon 61 in the driving mode execution step (S400), and return to the screen of the mode selection page 40 of the driving mode selection step (S300) to set the setting icon The hassle of resetting the set value by touching (43) can also be omitted.

Fig. 20 shows the main screen of the dedicated control program of the control panel.

20, on the main screen 70 of the display 2100, a new registration area 71 for registering a new user in order to perform the user designation step S100, the user designation step ( Customer list area 72 for retrieving information of an existing user in S100), each of the driving modes executed after the driving mode selected in the driving mode selection step S300 is executed in the driving mode executing step S400 A usage recording area 73 for retrieving gait information of users, and a setting area 74 for setting a walking force to the wearable auxiliary device 1000 in each driving mode selected in the driving mode selection step (S300) ) may be included.

On the other hand, if the screen of the new registration area 71 is touched and inputted on the main screen 70 shown in FIG. 20, the new registrant setting screen shown in FIG. 6 can be entered, and the customer list area 72 is When the screen is touched and inputted, the existing registered user list screen shown in FIG. 1 can be entered, and when the screen of the usage record area 73 is touched and inputted, the screen according to the driving mode selected in the driving mode selection step (S300) is shown in FIG. It can be switched to the screen of the mode setting page according to each driving mode as shown in FIGS. 16 to 16, and by touching the screen of the setting area 74, it is possible to enter the setting change menu in which various settings can be changed. .

In this way, the main screen 70 can be divided into four areas and used, thereby supporting the user's use of an intuitive interface and maximizing user convenience, and the display area of the main screen is increased or decreased. Additional areas may be provided.

21 shows a screen of use record of a plurality of wearable auxiliary device users on a dedicated control program of the control panel, and FIG. 22 shows a training record screen of a specific user among a plurality of wearable auxiliary device users of FIG. .

Since the wearable auxiliary device according to the present invention may be a training device that can be used by multiple users, the control panel 2000 allows multiple users to When gait training is performed by wearing the wearable auxiliary device 1000, gait information on gait motion, for example, the user's gait training start time, number of gait training, and gait for each driving mode selected in the driving mode selection step (S300) The total training time, walking speed, etc. are stored in the internal program, and the information is grouped for each user and outputted to the walking training record screen 80 to view or manage the training records of multiple users.

In addition, when a touch input of a specific user's gait information area among the plurality of users' gait training information area 81, as shown in FIG. 22, detailed gait training information area 82 including detailed training record information of the specific user ) may be displayed. The detailed gait training information area 82 may include detailed gait information of the selected specific user, for example, the number of gait training, gait date, gait training start time, gait training number, total gait training time, gait speed, and the like.

Therefore, a third party, such as a doctor or a rehabilitation therapist, can collectively store, manage and record the gait information for each of the plurality of users displayed on the gait training record screen 80, and at the same time provide information to each of the plurality of users. Because detailed gait training record information can be closely reviewed, it is possible to systematically manage gait training for multiple users in training, medical or rehabilitation institutions such as hospitals.

Although the present specification has been described with reference to preferred embodiments of the present invention, those skilled in the art can variously modify and change the present invention without departing from the spirit and scope of the present invention as set forth in the claims described below. will be able to carry out Therefore, if the modified implementation basically includes the elements of the claims of the present invention, all should be considered to be included in the technical scope of the present invention.

500: body
1000: wearable auxiliary device
2000: control panel

Claims (20)

A method of using a wearable auxiliary device having a main body provided with a battery and a control unit, a control panel having a display capable of touch input and detachably mounted on the main body, left and right hip actuators and left and right knee joint actuators controlled by the control unit In
a user designation step of designating a user of the auxiliary device by registering a new user or selecting an existing user through a touch input of the control panel;
an auxiliary device size determination step of determining a size of an auxiliary device according to the user according to the information input in the user designation step;
a driving mode selection step of selecting a driving mode of the wearable auxiliary device after the step of determining the size of the auxiliary device through a touch input of the control panel;
a driving mode execution step in which the controller controls the left and right hip joint actuators and the left and right knee joint actuators to execute the selected driving mode according to the driving mode selected in the driving mode selection step;
The control panel switches output contents of the display in response to the steps of the user designation step, the auxiliary device size determination step, the drive mode selection step, and the drive mode execution step, and inputs through the control panel A method of using a wearable auxiliary device, characterized in that the control signal or setting information is transmitted to the control unit by wire or wirelessly. According to claim 1,
When the designated user in the user designation step is a new user, the user-specific information for identification of the new user, the user's body information of the new user, and the new user's medical information are registered. 3. The method of claim 2,
The new user's unique information is a method of using a wearable auxiliary device, characterized in that it includes at least one of the new user's name, gender, and age. 3. The method of claim 2,
The new user's body information includes at least one of the new user's height, weight, and detailed dimension information. 5. The method of claim 4,
The detailed size information includes the dimensions of the left and right feet, the length and circumference of the left and right thighs, the length and circumference of the left and right lower thighs, or the width and length of the pelvis. 3. The method of claim 2,
The new user's medical information includes at least one of the new user's paralysis site, a functional ambulation category (FAC), and a diagnosis name. According to claim 1,
The size of the auxiliary device in the step of determining the size of the auxiliary device is directly entered, or automatically calculated based on the user's body information specified in the user designation step in the case of a new user, or the auxiliary device stored in the control panel in the case of an existing registered user How to use a wearable auxiliary device, characterized in that determined by calling the size. 8. The method of claim 7,
The size of the auxiliary device is the width and thickness of the body unit surrounding the rear of the user's pelvis, the length of the left and right thigh support units supporting the left and right thighs of the user, the length of the left and right lower leg support units supporting the left and right lower legs of the user, the user's left and right A method of using a wearable auxiliary device comprising at least one of the size and mounting position of the left and right thigh wearing unit and the left and right lower leg wearing unit that wraps the thigh and lower leg, and the size of the left and right foot unit. 8. The method of claim 7,
In the method of directly inputting the size of the auxiliary device in the step of determining the size of the auxiliary device, the size is directly input by touching the size display page of the display, or the size is selected from pop-up sizes by touching the size display page, or the size of the display A method of using a wearable auxiliary device, characterized in that the size is determined by increasing/decreasing the size by touch inputting the increase/decrease icon provided around the display page. According to claim 1,
The driving mode selection step displays a plurality of mode icons, and each of the mode icons provides a start icon and a mode setting icon. 11. The method of claim 10,
The driving mode is a method of using a wearable assistive device, characterized in that it includes a plurality of modes among a standing mode, a sitting mode, a standing mode, a walking mode, a stair climbing mode, and a squat mode. According to claim 1,
In the driving mode execution step, the display displays a mode execution end icon and a driving mode switching icon in the running mode. According to claim 1,
In the driving mode selection step and the driving mode executing step, the display displays at least one of battery remaining information of the auxiliary device, communication state information of each joint actuator or sensor of the wearable auxiliary device, and information on whether the control panel is mounted on the main body. How to use a wearable auxiliary device, characterized in that for displaying. 12. The method of claim 11,
An assisting force icon for determining whether to provide assisting force to the left and right lower extremities in the setting menu of at least one of the standing mode, the sitting mode, the standing mode, the flat walking mode, the stair climbing mode, and the squat mode is provided A method of using a wearable auxiliary device, characterized in that it becomes. 12. The method of claim 11,
In the setting menu of at least one of the standing mode, the sitting mode, the standing mode, the flat walking mode, the stair climbing mode, and the squat mode, select an increase/decrease icon for adjusting the size of the assisting force and the assisting force of each joint actuator. How to use a wearable auxiliary device, characterized in that the display. 16. The method of claim 15,
A method of using a wearable assistive device, characterized in that an assistive force maintenance icon for selecting whether to maintain joint assistive force after standing up is displayed on the display in the setting menu of the standing mode. 12. The method of claim 11,
In the setting menu of at least one of the standing mode, the sitting mode, the standing mode, the flat walking mode, the stair climbing mode, and the squat mode, the size of the assisting force of each joint actuator is collectively increased or decreased on the display A method of using a wearable auxiliary device, characterized in that a batch increase/decrease icon is displayed. 12. The method of claim 11,
In the setting menu of at least one of the standing mode, the sitting mode, the standing mode, the flat walking mode, the stair climbing mode, and the squat mode, the size of the assisting force of each joint actuator is preset on the display A method of using a wearable auxiliary device, characterized in that a batch correction icon for uniformly correcting the size is displayed. 12. The method of claim 11,
In the setting menu of at least one of the standing mode, the sitting mode, the standing mode, the flat walking mode, the stair climbing mode, and the squat mode, the size of the assisting force of each joint actuator is set by a third party. A method of using a wearable auxiliary device, characterized in that a setting call icon is provided to replace it. a main body including a housing and a control unit mounted in the housing and a battery;
a control panel having a display capable of touch input and being detachably provided on the main body of the wearable auxiliary device;
left and right hip joint actuators controlled by the control panel;
and a left and right knee joint actuator controlled by the control panel;
A wearable auxiliary device that can be used by the method of using the wearable auxiliary device of any one of claims 1 to 19.

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