KR20220102180A - Wearable Robot Having Structure To Minimize Acceleration Impact - Google Patents

Abstract

A wearable robot including an acceleration impact minimization structure is disclosed. A wearable robot according to an embodiment of the present invention includes: a suit in the form of clothing provided with a plurality of bending joints at positions corresponding to a wearer's joints; a joint driving unit built into the bending joints and driven according to a control signal from a control unit; an inner motion detection unit which is mounted on the inner surface of the suit, has a structure in direct contact with the wearer's body, is spaced apart from the inner surface of the suit by a predetermined length by the first elastic restoring member mounted on the inner surface of the suit, and changes the separation distance from the inner surface of the suit according to the motion of the wearer's body; an outer motion detection unit which is mounted on the outer surface of the suit and has a structure in direct contact with an external object, and in which a separation distance with the outer surface of the chute is changed according to contact pressure of an external object; and a control unit mounted inside the suit and controlling an operation of the joint driving unit based on data acquired through the inner motion detection unit and the outer motion detection unit. It is possible to reduce dependence on mechanical systems.

Description

Wearable Robot Having Structure To Minimize Acceleration Impact

The present invention relates to a wearable robot, and more particularly, to a wearable robot including a structure for minimizing the amount of acceleration impact.

In general, a gait assist device is a means used to assist the rehabilitation or movement of a patient or the elderly with difficulty walking.

The conventional walking assistance device has a simple mechanism that operates according to the movement of the wearer, but the recently developed walking assistance device combines a computer and an ergonomic mechanism to be more convenient and has an excellent muscle strength enhancing effect.

The above-described walking assistance device can be divided into three major fields. First, when moving while leaning on the body of the human body, it supports the wearer's weight instead of supporting the wearer's weight and uses the strength of the upper body to balance the field, and second, It can be divided into the field of wheelchairs, which enables people who cannot walk, and the field of wearable robots, which assists muscle strength by attaching actuators to the joints of the lower extremities of people who cannot walk easily.

As an example of the conventional walking assistance device as described above, Korean Patent No. 716597 discloses an intelligent muscle strength and walking assistance robot.

As shown in FIG. 1 , the intelligent muscular strength and walking assistance robot includes an exoskeleton worn on the wearer's lower body, a caster walker running by a motor, and an arm connecting the exoskeleton and the caster walker. The exoskeleton has a configuration in which a hip joint portion and a knee joint portion are respectively installed on the left and right leg frames, while a waist brace, a thigh brace, and a calf brace worn by the wearer are coupled to the leg frame. The caster walker on wheels is driven by a separate driving motor and has a handle that the wearer can hold and support. The arm installed on the caster walker and connected to the exoskeleton has a built-in driving device composed of a motor and a gear to drive the hip and knee joints of the exoskeleton, respectively.

Such a conventional walking assistance device or robot can be said to be very useful not only for walking assistance but also for rehabilitation through muscle strength enhancement because the caster walker operates the hip and knee joints of the exoskeleton through the arm driving device while driving by itself.

However, the conventional walking assistance device has problems in that it is difficult to control due to backlash because the structure of the driving device is too complicated, it is difficult to use in terrain such as stairs, and it is very difficult to carry.

In addition, when a wearable robot including a conventional walking assistance device is used to grip, push, or lift an external object, there is a problem in that the wearer cannot accurately grasp the weight of the external object. For this reason, the wearer has problems in that it is difficult to control a fine force using the wearable robot and cannot move at a high speed.

The wearable robot according to the prior art is applied with a technology of predicting the next movement using the wearer's movement pattern, but there is a problem with the limitation in various movements. There is a problem occurring.

In addition, in the case of a wearable robot according to the prior art, it is a structure that is worn in close contact with the wearer's body surface. It can cause shock to the body. In addition, even by a sudden movement of the wearer, the wearer's body and the suit of the wearable robot may collide with each other to apply an impact to the wearer's body.

Accordingly, there is a need for a technique capable of solving the above-mentioned problems according to the prior art.

Korean Patent Publication No. 10-1099521 (Registration Date: December 21, 2011)

It is an object of the present invention to provide a wearable robot that can reduce the dependence of mechanical systems on movement and balance control and give more quota to the wearer's capabilities, for the general public,

Another object of the present invention is to provide a high-speed movement of the wearer so that the wearer can walk by stably supporting the body without deformation so that the wearer can walk for the paraplegic patient, the elderly with weak muscle strength, and the patient with reduced muscle strength. And to provide a wearable robot including a structure that does not put a strain on the body by implementing natural movement.

In a wearable robot according to an aspect of the present invention for achieving this object, a plurality of bending joints are provided at positions corresponding to the wearer's joints, and the bending angle, bending angular velocity, and bending torque are detected at the plurality of bending joints. a suit in the form of a garment equipped with a sensor; a joint driving unit embedded in the bending joint and driven according to a control signal from a control unit; It is mounted on the inner surface of the suit, has a structure in direct contact with the wearer's body, and is spaced apart from the inner surface of the suit by a predetermined length by the first elastic restoring member mounted on the inner surface of the suit, and the movement of the wearer's body an inner motion detection unit in which the separation distance from the inner surface of the suit is changed according to the; It is mounted on the outer surface of the chute, has a structure in direct contact with an external object, and is spaced apart from the outer surface of the chute by a predetermined length by a second elastic restoring member mounted on the outer surface of the chute, and is applied to the contact pressing force of the external object. an outer movement detection unit in which the separation distance from the outer surface of the suit is changed according to; A control unit mounted inside the suit and controlling the operation of the joint driving unit based on data acquired through the inner and outer movement detection units; may be configured to include.

In one embodiment of the present invention, the suit is spaced apart by a predetermined distance to one side from the wearer's joint, a first wearing part mounted in a structure surrounding a part of the wearer's body; and a second wearable part that is bound to the first wearable part by a bending joint, is spaced apart from the wearer's joint by a predetermined distance to the other side, and is mounted in a structure that surrounds a part of the wearer's body.

In this case, the inner motion detecting unit and the outer motion detecting unit are mounted as a pair to face each other in opposite directions, and the inner motion detecting unit is continuously mounted along the inner circumferential surface of the suit in a form that surrounds a part of the wearer's body, and the outer side The motion detection unit may be continuously mounted in the form of surrounding the outer circumferential surface of the suit.

In addition, the inner motion detector and the outer motion detector may have a ring structure that surrounds a part of the wearer's body.

In this case, the inner motion detecting unit and the outer motion detecting unit may have a structure in which a plurality of plate-shaped structures form a group to form a shape surrounding a part of the wearer's body.

In addition, the plurality of plate-shaped structures constituting the inner motion detection unit and the outer motion detection unit may be connected to each other by a binding member having an elastic restoring force of a predetermined size.

In one embodiment of the present invention, the control unit detects the moving direction and speed of the wearer's body from the inner motion detection unit, detects the contact position and the amount of pressing force with the external object from the outer motion detection unit, and the detected data Based on this, it is possible to determine the operating direction of the joint drive and the magnitude of the rotational torque.

In this case, the control unit calculates the rotational torque size by multiplying a preset amplification constant in the process of calculating the rotational torque size of the joint driving unit based on the detected data, and the amplification constant is the pressure detected from the outside motion detection unit It increases in proportion to the data value, and may be set differently depending on the type of the wearer's joint in which the corresponding bending joint is located.

In an embodiment of the present invention, the inner motion detection unit has a structure in which a plurality of plate-shaped structures form a group to form a shape surrounding a part of the wearer's body, and the length spaced apart from the inner surface of the suit is the length of the wearer's body It is set differently for each part, and the outer motion detection unit has a structure in which a plurality of plate-shaped structures form a group to form a shape surrounding a part of the outer surface of the suit, and the length spaced apart from the outer surface of the suit is a body part of the wearer Each may be set differently.

In addition, the inner motion detection unit, the length spaced apart from the inner surface of the suit increases as it gets away from the wearer's joint, and decreases as it gets closer from the wearer's joint, and the outer motion detection unit is spaced apart from the inner surface of the suit. The length may be configured to increase as it moves away from the wearer's joint and decrease as it approaches from the wearer's joint.

As described above, according to the wearable robot of the present invention, a suit having a plurality of bending joints and a joint driving unit is provided with an inner motion detecting unit and an outer motion detecting unit having a specific structure, and a predetermined length between the inner motion detecting unit and the suit is provided. By forming a gap and forming a gap of a predetermined length between the outer movement detection unit and the suit, it is possible to absorb the acceleration shock through the gap and secure the calculation time at the same time to detect the movement direction and speed according to the movement of the wearer. , which can realize high-speed movement and natural movement of the wearer, consequently reducing the dependence of mechanical systems on movement and balance control, giving more quota to the wearer's abilities, and a wearable robot that does not strain the wearer's body can provide

In addition, according to the wearable robot of the present invention, it has a first wearable part disposed on one side and a second wearable part disposed on the other side around the wearer's joint, and the first wearable part and the second wearable part are inside the ring structure. By disposing the motion detection unit and the outside motion detection unit in a specific shape, it is possible to accurately and continuously detect the direction and speed of the wearer's movement, and after detection, it is possible to effectively implement the position restoration of the inside motion detection unit and the outside motion detection unit, so that the wearer It is possible to implement high-speed movement and natural movement of the body, and as a result, it is possible to provide a wearable robot that does not burden the wearer's body.

In addition, according to the wearable robot of the present invention, by configuring the inner motion detection unit and the outer motion detection unit in a structure in which a plurality of plate-shaped structures form a group to form a shape surrounding a part of the wearer's body, the movement of the wearer's body surface is controlled Various directions can be detected, and the direction and speed of the wearer's movement can be more accurately and precisely detected based on the detected data. As a result, high-speed movement and natural movement of the wearer can be realized, and at the same time It is possible to provide a wearable robot that does not put any strain on the human body.

In addition, according to the wearable robot of the present invention, by setting the amplification constant value differently depending on the type of joint of the wearer where the bending joint is located, and setting the length spaced apart from the inner surface of the suit differently for each body part of the wearer, The wearer's movement can be effectively detected while fundamentally blocking the occurrence of an acceleration shock that can damage the wearer's body surface, and as a result, high-speed movement and natural movement of the wearer can be realized, It is possible to provide a wearable robot that does not put any strain on the body.

1 is a side view showing a wearable suit according to the prior art.
2 is a block diagram illustrating a wearable robot according to an embodiment of the present invention.
3 is a schematic cross-sectional view showing a suit, an inner motion detection unit, and an outer motion detection unit of the wearable robot according to an embodiment of the present invention.
4 is an enlarged view of part A of FIG. 3 .
5 is a cross-sectional schematic view showing a suit, an inner motion detection unit, and an outer motion detection unit of a wearable robot according to another embodiment of the present invention.
6 is a side view illustrating a wearable robot according to an embodiment of the present invention.
7 is a side view illustrating a state in which the wearable robot shown in FIG. 6 is worn on a wearer's body.
FIG. 8 is a schematic diagram illustrating a comparison of the spaced lengths of the inner motion detecting unit and the outer motion detecting unit of the wearable robot shown in FIG. 6 .
9 is a photograph showing a field to which a wearable robot according to an embodiment of the present invention can be applied.

Hereinafter, preferred embodiments of the present invention will be described in detail with reference to the drawings. Prior to this, the terms or words used in the present specification and claims should not be construed as being limited to conventional or dictionary meanings, but should be interpreted as meanings and concepts consistent with the technical spirit of the present invention.

Throughout this specification, when a member is said to be located "on" another member, this includes not only a case in which a member is in contact with another member but also a case in which another member exists between two members. Throughout this specification, when a part "includes" a component, it means that other components may be further included, rather than excluding other components, unless otherwise stated.

2 is a block diagram illustrating a wearable robot according to an embodiment of the present invention, and FIG. 3 is a cross-sectional schematic diagram showing a suit, an inner motion detection unit, and an outer movement detection unit of the wearable robot according to an embodiment of the present invention 4 is an enlarged view of part A of FIG. 3 .

Referring to these drawings, the wearable robot 100 according to the present embodiment includes a suit 110 having a specific structure, a joint driving unit 120 , an inner motion detecting unit 130 , an outer motion detecting unit 140 , and a control unit 160 . It may be a configuration comprising.

In this case, according to the present embodiment, the chute 110 provided with a plurality of bending joints 111 and the joint driving unit 120 is provided with an inner motion detecting unit 130 and an outer motion detecting unit 140 having a specific structure, By forming a gap of a predetermined length between the inner movement detection unit 130 and the suit 110 and forming a gap of a predetermined length between the outer movement detection unit 140 and the suit 110, the movement direction according to the movement of the wearer and In detecting the speed, it is possible to absorb the acceleration shock through the gap and secure the calculation time at the same time, thereby realizing the wearer's high-speed movement and natural movement, consequently reducing the dependence of the mechanical system on movement and balance control. A higher quota can be given to the wearer's capabilities, and a wearable robot that does not strain the wearer's body can be provided.

Specifically, the suit 110 is a configuration in the form of a garment that wraps a part of the wearer's body, and a bending joint 111 is provided at a position corresponding to the wearer's joint, and a bending angle, bending at a plurality of bending joints 111 . It is preferable to have a structure in which a detection sensor for detecting angular velocity and bending torque is mounted. In this case, the joint driving unit 120 driven according to a control signal of the control unit 160 may be embedded in the bending joint 111 .

3 and 4, the inner motion detection unit 130 and the outer motion detection unit 140 according to this embodiment are each independently mounted on the inner surface and the outer surface of the suit 110, respectively. .

Specifically, the inner motion detection unit 130 is mounted on the inner surface of the suit 110 and has a structure in direct contact with the wearer's body. The inner surface of the suit 110 is spaced apart from the inner surface by a predetermined length, and the distance from the inner surface of the suit 110 may be changed according to the movement of the wearer's body.

In addition, the outer motion detection unit 140 is mounted on the outer surface of the chute 110 and has a structure in direct contact with an external object, and is a chute by a second elastic restoring member 152 mounted on the outer surface of the chute 110 . It is disposed to be spaced apart from the outer surface of the 110 by a predetermined length, and the separation distance from the outer surface of the chute 110 may be changed according to the contact and pressing force of an external object.

The control unit 160 according to this embodiment is a component mounted inside the suit 110 , and based on data acquired through the inner motion detection unit 130 and the outer motion detection unit 140 , operation can be controlled.

Specifically, as shown in FIG. 4 , the control unit 160 may detect the direction and speed of the movement of the wearer's body from the inner motion detection unit 130 . In addition, the control unit 160 may detect a contact position with an external object and a magnitude of a pressing force from the outer motion detection unit 140 , and may determine an operating direction and a rotational torque magnitude of the joint driving unit 120 based on the detected data. . In some cases, since the detection data is absent due to contact with an external object in the case of a simple movement of the wearer, the data detected from the outer movement detection unit 140 is omitted or ignored, and the operation direction and rotation torque of the joint driving unit 120 are ignored. can be decided

In this case, in the process of calculating the magnitude of rotation torque of the joint driving unit 120 based on the detected data, the controller 160 may calculate the magnitude of the rotation torque by multiplying it by a preset amplification constant. It is preferable that the above-mentioned amplification constant increases in proportion to the value of the pressure data detected from the outer motion detection unit 140 , and is set differently depending on the type of joint of the wearer in which the corresponding bending joint 111 is located.

As shown in FIG. 2 , the control unit 160 according to the present embodiment may have a data storage unit 161 mounted therein. The data storage unit 161 stores a driving program of the joint driving unit 120 driven by a control signal of the control unit 160 , and data such as a wearer's wearing position, body size, and weight may be stored. The control unit 160 controls each component constituting the wearable robot 100 by using the data stored in the data storage unit 161 . In some cases, after deriving a movement pattern by recording the movement of the wearer in real time, when the wearer moves according to the pattern, a control signal corresponding to the pattern is transmitted to the joint driving unit 120 to control the wearable robot 100 . A more natural movement can be realized.

5 is a cross-sectional schematic diagram showing a suit, an inner motion detection unit, and an outer motion detection unit of a wearable robot according to another embodiment of the present invention.

Referring to FIG. 5 together with FIG. 2 , the inner motion detecting unit 130 and the outer motion detecting unit 140 according to the present embodiment include a plurality of plate-shaped structures 130a and 140a to form a shape surrounding a part of the wearer's body. It may be a structure that forms a group of

Specifically, as shown in FIG. 5 , the inner motion detection unit 130 has a structure in which a plurality of plate-shaped structures 130a form a group to form a shape surrounding a part of the wearer's body. At this time, it is preferable that the inner motion detection unit 130, the length spaced apart from the inner surface of the suit 110 is set differently for each body part of the wearer. In addition, the outer motion detection unit 140 has a structure in which a plurality of plate-shaped structures 140a form a group to form a shape surrounding a portion of the outer surface of the suit 110 . At this time, it is preferable that the length spaced apart from the outer surface of the suit 110 is set differently for each body part of the wearer.

More preferably, as shown in FIG. 5 , the plurality of plate-shaped structures constituting the inner motion detecting unit 130 and the outer motion detecting unit 140 include binding members 130b and 140b having a predetermined size of elastic restoring force to each other. can be connected At this time, the binding members 130b and 140b may be made of a waterproof and dustproof material so that foreign substances cannot penetrate into the wearer's body direction from the outside, or may be made of a material in which such material is deposited or coated on the outer surface. have.

In this case, according to the present embodiment, by configuring the inner motion detecting unit 130 and the outer motion detecting unit 140 in a structure in which a plurality of plate-shaped structures form one group to form a shape surrounding a part of the wearer's body, the wearer's The movement of the body surface can be detected in various directions, and the direction and speed of the wearer's movement can be detected more accurately and precisely based on the detected data. As a result, high-speed movement and natural movement of the wearer can be realized. And at the same time, it is possible to provide a wearable robot that does not put a strain on the wearer's body.

More specifically, as shown in Fig. 8, the inner motion detection unit 130, the length spaced apart from the inner surface of the suit 110 increases as the distance from the wearer's joint increases, and decreases as it approaches the wearer's joint. It is preferable to be mounted so that In addition, it is preferable that the outer motion detection unit 140 is mounted so that the length spaced apart from the outer surface of the suit 110 increases as the distance from the wearer's joint increases, and decreases as it approaches the wearer's joint.

In this case, according to the present embodiment, the amplification constant value is set differently according to the type of joint of the wearer where the corresponding bending joint is located, and the length spaced apart from the inner surface of the suit 110 is set differently for each body part of the wearer. By doing so, it is possible to fundamentally block the occurrence of an acceleration shock that can damage the wearer's body surface and at the same time effectively detect the wearer's movement, as a result, it is possible to realize high-speed movement and natural movement of the wearer, It is possible to provide a wearable robot that does not put any strain on the wearer's body.

FIG. 6 is a side view showing a wearable robot according to an embodiment of the present invention, and FIG. 7 is a side view showing a state in which the wearable robot shown in FIG. 6 is worn on a wearer's body.

Referring to these drawings together with FIG. 2 , the suit 110 according to the present embodiment may include a plurality of wearing parts 110a and 110b. For example, a wearing part having a structure that wraps around the body including the chest of the wearer, a wearing part having a structure that wraps part or all of an arm, a wearing part having a structure that wraps part or all of the foot, and a wearing part with a structure wrapping around the wearer's joints can

6 and 7 show the wearable robot 100 including the wearable parts 110a and 110b having a structure surrounding the wearer's joints.

Specifically, the wearable robot 100 according to the present embodiment is spaced apart from each other by a predetermined distance on one side and the other side from the wearer's joint, the first wearable part 110a and It may be of a configuration including the second wearing part (110b). In this case, the first wearable part 110a and the second wearable part 110b may be bound by the bending joint 111 disposed adjacent to the wearer's joint.

As described above, the inner motion detecting unit 130 and the outer motion detecting unit 140 according to the present embodiment are preferably mounted as a pair so as to face opposite directions to each other. In this case, the inner motion detection unit 130 may be continuously mounted along the inner circumferential surface of the suit 110 in a form that surrounds a part of the wearer's body. At the same time, it is preferable that the outer motion detection unit 140 is continuously mounted in a form surrounding the outer circumferential surface of the suit 110 .

6 and 7 show only the inner motion detection unit 130 and the outer motion detection unit 140 having a structure that surrounds a part of the wearer's body, but in some cases, it may have a ring structure that can wrap the wearer's finger or arm. Of course, the structures of the inner motion detecting unit 130 and the outer motion detecting unit 140 may be changed into various structures according to the size and shape of the part to be worn and the intention of the designer.

In this case, according to the present embodiment, a first wearable part 110a disposed on one side around the wearer's joint and a second wearable part 110b disposed on the other side are provided, and the first wearable part 110a and By disposing the inner motion detecting unit 130 and the outer motion detecting unit 140 of the ring structure in a specific shape in the second wearing unit 110b, the direction and speed of the wearer's movement can be accurately and continuously detected, and the detected Afterwards, it is possible to effectively implement the position restoration of the inner motion detection unit 130 and the outer motion detection unit 140, so that the wearer's high-speed movement and natural movement can be implemented, resulting in a wearable robot that does not put strain on the wearer's body can

9 is a photograph showing a field to which the wearable robot according to an embodiment of the present invention can be applied.

As shown in FIG. 9 , the wearable robot according to the present embodiment may be applied to various fields according to a wearer's wearing position, wearable form, and application field.

Specifically, when worn on the shoulder and upper body, it can be used in work and rehabilitation fields, when worn on the arm, can be used in work, daily life and games, and when worn on the hand, rehabilitation, daily life and game fields can be used for

Of course, the various fields shown in FIG. 9 are only one embodiment and are not limited thereto.

In the above detailed description of the present invention, only specific embodiments thereof have been described. However, it is to be understood that the present invention is not limited to the particular form recited in the detailed description, but rather, it is to be understood to cover all modifications and equivalents and substitutions falling within the spirit and scope of the invention as defined by the appended claims. should be

That is, the present invention is not limited to the specific embodiments and descriptions described above, and any person skilled in the art to which the present invention pertains without departing from the gist of the present invention claimed in the claims can implement various modifications are possible, and such modifications shall fall within the protection scope of the present invention.

10: wearer body
11: wearer's joints
12: wearer's thigh
13: wearer's calf
100: wearable robot
110: suit
111: bending joint
110a: first wearing part
110b: second wearing part
120: joint driving unit
130: inner motion detection unit
130a: plate-shaped structure
130b: binding member
140: lateral movement detection unit
140a: plate-like structure
140b: binding member
151: first elastic restoring member
152: second elastic restoring member
160: control unit
161: data storage unit

Claims (5)

A plurality of bending joints 111 are provided at positions corresponding to the wearer's joints, and a detection sensor for detecting bending angles, bending angular velocity, and bending torque is mounted on the plurality of bending joints 111. Suit 110 in the form of clothing ;
a joint driving unit 120 built in the bending joint 111 and driven according to a control signal of the control unit 160;
It is mounted on the inner surface of the suit 110 and has a structure in direct contact with the wearer's body, and the inner surface of the suit 110 and the predetermined by the first elastic restoring member 151 mounted on the inner surface of the suit 110 an inner motion detection unit 130 that is spaced apart by a length and is spaced apart from the inner surface of the suit 110 according to the movement of the wearer's body;
It is mounted on the outer surface of the chute 110, has a structure in direct contact with an external object, and has a predetermined length with the outer surface of the chute 110 by the second elastic restoring member 152 mounted on the outer surface of the chute 110 an outer motion detection unit 140 that is spaced apart by a distance and that the distance from the outer surface of the chute 110 is changed according to the contact and pressing force of the external object; and
a control unit 160 mounted inside the suit 110 and controlling the operation of the joint driving unit 120 based on data obtained through the inner motion detecting unit 130 and the outer motion detecting unit 140;
A wearable robot comprising a.
According to claim 1,
The chute 110 is
A first wearing part (110a) which is spaced apart from the wearer's joint by a predetermined distance to one side and is mounted in a structure that surrounds a part of the wearer's body; and
A second wearable part (110b) which is bound by the first wearable part (110a) and the bending joint (111), is spaced apart from the wearer's joint by a predetermined distance to the other side, and is mounted in a structure that surrounds a part of the wearer's body;
including,
The inner motion detecting unit 130 and the outer motion detecting unit 140 are mounted as a pair so as to face each other in opposite directions,
The inner motion detection unit 130 is continuously mounted along the inner circumferential surface of the suit 110 in a form that surrounds a part of the wearer's body,
The outer motion detection unit 140 is a wearable robot, characterized in that it is continuously mounted in the form of surrounding the outer peripheral surface of the suit (110).
According to claim 1,
The control unit 160,
Detects the movement direction and speed of the wearer's body from the inner motion detection unit 130,
Detects a contact position with an external object and a magnitude of a pressing force from the outer motion detection unit 140,
A wearable robot, characterized in that it determines the operating direction and the rotational torque size of the joint driving unit 120 based on the detected data.
4. The method of claim 3,
The control unit 160,
In the process of calculating the magnitude of rotation torque of the joint driving unit 120 based on the detected data, the magnitude of rotation torque is calculated by multiplying by a preset amplification constant,
The amplification constant increases in proportion to the pressure data value detected from the outer motion detection unit 140, and is set differently depending on the type of joint of the wearer in which the corresponding bending joint 111 is located.
According to claim 1,
The inner motion detection unit 130 has a structure in which a plurality of plate-shaped structures 130a form a group to form a shape surrounding a part of the wearer's body, and the length spaced apart from the inner surface of the suit 110 is the wearer's body It is set differently for each part,
The outer motion detection unit 140 has a structure in which a plurality of plate-shaped structures 140a form a group to form a shape surrounding a portion of the outer surface of the chute 110, and a length spaced apart from the outer surface of the chute 110 is a wearable robot, characterized in that it is set differently for each body part of the wearer.

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