KR20220115118A - Active walking aid apparatus - Google Patents

Abstract

The aging of society is accelerating, and the demands and needs for improving the quality of life of the elderly population are increasing significantly. There are various diseases that reduce the quality of life of the elderly population, but it starts from the fact that a very common daily life becomes difficult as it becomes difficult to walk or climb up and down stairs due to the deterioration of joints and muscles caused by aging. The present invention is to present a structure and a driving method of an active walking aid that helps not only walking on flat ground, uphill or downhill, but also climbing and descending stairs for users who are leg-related disabled or patients, including the elderly so as to provide the users with convenience in daily life. The active walking aid provides the user with benefits different from existing walking aids because the active walking aid actively assists walking by providing the user with force necessary for actual walking, rather than just supporting simple loads like existing crutches or canes. In addition, by adopting various sensors, the walking aid recognizes the surrounding environment and detects the user's motion to actively assist walking, so that the user can walk more conveniently than before without any manipulation. The active walking aid comprises: an exterior of a main body; a drive motor; a reduction gear; a ground contact unit; and a control circuit unit controlling the driving motor.

Description

Active walking aid apparatus

The present invention relates to a walking aid for the elderly, the disabled, and people with gait-related accidents or diseases who have difficulty walking normally.

The present invention relates to an active walking aid that actively generates a force to move the weight of a pedestrian in order to assist a person with a disability in walking.

With the advent of the 100-year-old society, the proportion of the elderly in society is rapidly increasing in many developed countries. Accordingly, a variety of welfare, systems, and products to improve the quality of life of the elderly are being presented in a new and diverse way. However, the most realistic reason for many elderly people to feel the decline in quality of life due to aging is the fact that walking is difficult due to joint abnormalities or diseases, making it a burden to go outside.

This is because the leg joints are the first part of the body that has a surgical problem with the aging population. .

The present invention relates to an active walking aid that allows a user who has difficulty in walking, such as a leg-related handicapped or a patient, including the elderly, to walk more conveniently and safely.

The situation in which pedestrians have difficulty walking is when the leg joints or muscles do not function normally due to aging, accidents or diseases, etc. This is the situation in which this occurs. In particular, when going up or down stairs or going up or down an uphill, a significant amount of weight is concentrated on one leg, causing great pain in the knee, making it difficult to walk, or when the muscles themselves are weak and unable to provide the necessary strength. This becomes practically difficult, and the incidence of falls due to this is not small.

The active walking aid of the present invention is an active force generating walking aid that provides load support and load movement force necessary for walking in order to solve the user's walking difficulties. It solves the user's walking difficulties by providing the power to transfer the weight for the pedestrian's weight rise or fall in the Shiki stairs or uphill.

The active walking aid of the present invention uses a battery and a motor as a driving power source, and converts it into amplification and linear motion to generate a force to assist walking, thereby actively moving the load when the user walks on flat ground, walks uphill, or goes up and down stairs. be carried out with The operation of the active walking aid of the present invention is possible with a few manual buttons, and it can also be automatically operated according to the movement of the user without user manipulation by utilizing various sensor functions.

Through this, the walking aid of the present invention provides the user with convenience and stability of walking by actively reducing the weight burden on the user's legs.

The present invention reduces the user's knee pain and the risk of walking, and provides convenience to the user's daily life by helping the user who has difficulty walking, such as the elderly, the leg-related handicapped, and the patient. This solves the problem of gait, which constitutes the most basic quality of life for humans, and further enhances the user's quality of life. In addition, the technology employed in the present invention is the most basic configuration driving technology and sensor technology of robot technology, and it is expected to have a linkage effect to the human body support robot industry by allowing users to accept it without any sense of heterogeneity.

1 is an example of the appearance of an active walking aid according to a first embodiment of the present invention.
Figure 2 is an example of the internal structure of the active walking aid according to the first embodiment of the present invention.
3 is an enlarged view of an example of an active walking aid handle portion according to a first embodiment of the present invention.
Figure 4 is an exemplary internal structure of the active walking aid handle portion according to the first embodiment of the present invention.
5 is an example of an active walking aid control circuit according to the first embodiment of the present invention.
6 is a block diagram illustrating an active walking aid control circuit according to a first embodiment of the present invention.
7 is an operation example of the active walking aid according to the first embodiment of the present invention.
8 is an example of an active walking aid length change according to the first embodiment of the present invention.
9 is an example of an active walking aid length change internal structure according to the first embodiment of the present invention.
10 is an example of walking on flat ground using the active walking aid according to the first embodiment of the present invention.
11 is an example of climbing stairs using an active walking aid according to the first embodiment of the present invention.
12 is an example of descending stairs using an active walking aid according to the first embodiment of the present invention.
13 is an example of the appearance of an active walking aid according to a second embodiment of the present invention.
14 is an example of the internal structure of the active walking aid according to the second embodiment of the present invention.
15 is an exemplary view in which the shoulder support is mounted on the active walking aid according to the second embodiment of the present invention.
16 is an enlarged view of an example of an active walking aid handle portion according to a second embodiment of the present invention.
17 is an exemplary internal structure of the handle portion of the active walking aid according to the second embodiment of the present invention.
18 is an example of a control circuit of an active walking aid according to a second embodiment of the present invention.
19 is an exemplary active walking aid control circuit block diagram according to a second embodiment of the present invention.
20 is an example of the sensing direction of the active walking aid according to the second embodiment of the present invention.
21 is an operation example of an active walking aid according to a second embodiment of the present invention.
22 is an operation example of the active walking aid rotation motor according to the second embodiment of the present invention.
23 is an example of walking on flat ground using an active walking aid according to a second embodiment of the present invention.
24 is an example of climbing stairs using an active walking aid according to a second embodiment of the present invention.
25 is an example of descending stairs using an active walking aid according to a second embodiment of the present invention.
26 is an example of walking on flat ground using two active walking aids according to the second embodiment of the present invention.
27 is an example of climbing stairs using two active walking aids according to a second embodiment of the present invention.
28 is an example of descending stairs using two active walking aids according to a second embodiment of the present invention.

Hereinafter, preferred embodiments according to the present invention will be described in detail with reference to the accompanying drawings.

1 is an external view of an active walking aid 1000 according to a first embodiment of the present invention.

2 shows the internal structure of the active walking aid 1000.

A structure according to a first embodiment of the present invention will be described with reference to FIGS. 1 and 2 .

Active walking aid 1000 according to the first embodiment of the present invention is a body exterior 1400 composed of a plurality of components, a first operation button 1130 disposed at a predetermined position of the exterior body 1400, the body A second operation button 1140 disposed at a predetermined position of the exterior 1400, a driving motor 1210 disposed at a predetermined position of the body exterior 1400, and the driving motor 1210 are connected in a predetermined manner A speed reducer 1220 that performs a deceleration function with It consists of a driving support 1300 connected to the nut 1240 in a predetermined manner, and a ground contact part 1500 coupled to the driving support 1300 in a predetermined manner.

3 is an enlarged view of the handle portion of the active walking aid 1000.

4 is an enlarged view of the internal structure of the handle portion of the active walking aid 1000.

The structure of the active walking aid 1000 will be described in detail with reference to FIGS. 3 and 4 .

The handle portion of the main body exterior 1400 of the active walking aid 1000 is a battery 1110 that supplies power for the operation of the active walking aid 1000, a control operated by receiving power from the battery 1110 Circuit 1120, a first operation button 1130 and a second operation button 1140 for operation control connected to the control circuit 1120, and a driving motor 1210 for operation control by the control circuit 1120 is built-in

5 is an example of a control circuit 1120 for controlling the active walking aid 1000 of the present invention.

6 is a block diagram of the control circuit 1120 .

When the configuration of the control circuit 1120 is described with reference to FIGS. 5 and 6 , the control circuit 1120 includes a circuit board 1121 , a central processing unit IC 1122 , and a memory 1129 including one or more. ), a power control IC 1127, a first button connector 1123 to which the first operation button 1130 is connected, a second button connector 1124 to which the second operation button 1140 is connected, and the driving motor A motor interface connector 1128 to which 1210 is connected, a plurality of distance sensors selectively added for function expansion, a three-dimensional sensor, a load sensor, a motor position sensor, and a function expansion connector 1125 for connecting a sliding sensor. is composed

The circuit board 1121 of the control circuit 1120 is configured such that a wireless communication module, a motion detection sensor, and an attitude detection sensor can be selectively added.

7 to 8 illustrate the basic operation of the active walking aid 1000 according to the first embodiment of the present invention.

When the operation of the present invention is described with reference to the drawings, when the first operation button 1130 is pressed, the driving motor 1210 rotates in a predetermined direction, and the rotation of the motor of the speed reducer 1220 is reduced and a force is applied. amplified and transmitted to the spiral screw 1230, the screw nut 1240 converts the rotational motion of the spiral screw 1230 into a linear motion, and the driving support 1300 is a force that moves the load upwards on the ground causes

When the second operation button 1400 is pressed, the driving motor 1210 rotates in the opposite direction to that when the first operation button 1130 is pressed, so that the rotational movement of the driving motor 1210 is performed by the speed reducer 1220 ), the helical screw 1230, and the screw nut 1240, the driving support 1300 supports the load and generates a movement to move toward the ground.

10 is an operation example of the active walking aid 1000 when walking on flat ground according to the first embodiment of the present invention.

The user of the active walking aid 1000 walks while holding the handle part of the main body 1140 of the active walking aid 1000 by hand, and when the first operation button 1130 is pressed, the active walking aid 1000 ) generates a force pushing the ground, and when the second operation button 1140 is pressed, the active walking aid 1000 supports the load and generates a motion to move the load toward the ground, as shown in FIG. It is possible to walk while operating the active walking aid 1000 .

In the case of walking on flat ground where the need for weight distribution is not large, the active walking aid 1000 may be walked by fixing the length of the active walking aid 1000 to an appropriate position.

11 is an example of climbing stairs using the active walking aid 1000.

12 is an example of descending the stairs using the active walking aid 1000.

Referring to FIG. 11 , if the case in which the user of the active walking aid 1000 climbs the stairs is described as going from left to right, the user of the active walking aid 1000 is at the bottom of the target stair to climb. When the walking aid 1000 is positioned and the first operation button 1130 is pressed, the active walking aid 1000 provides a lifting force to the user so that the user moves his or her weight up the stairs with little force. After the user's weight moves up one step, the user presses the second operation button 1140 to return the active walking aid 1000 to the standby position, and to position the active walking aid 1000 at the position of the stairs climbed. You can climb stairs in a way that does the same thing. When the load moves up the stairs, the load is supported by adjusting the length of the active walking aid 1000 so that the load bearing direction of the active walking aid 1000 and the user's arm of the active walking aid 1000 are arranged in a straight line as much as possible. Efficiency is maximized so that even users with weak arms can easily move the load.

When the user of the active walking aid 1000 goes down the stairs with reference to FIG. 12 as a case where the user goes down the stairs from left to right, the user faces the active walking aid 1000 to a lower position by one step to go down. In this state, the first operation button 1130 is operated until the ground contact part 1500 of the active walking aid 1000 comes into contact with the lower stairs. When the ground contact part 1500 is seated on the ground, the user of the active walking aid 1000 moves the body weight to the active walking aid 1000 and operates the second operation button 1140 to move the load downward. Repeat the same operation on the lower stairs to move the weight downward through the active walking aid 1000 and descend the stairs. When the load moves down the stairs, the load is supported by adjusting the length of the active walking aid 1000 so that the load bearing direction of the active walking aid 1000 and the user's arm of the active walking aid 1000 are arranged in a straight line as much as possible. Efficiency is maximized so that even users with weak arms can easily move the load.

The driving circuit 1120 is selectively equipped with a motion or posture sensor and a load recognition sensor is additionally mounted to replace the first operation button 1130 and the second operation button 1140, so that only the user's motion The length of the walking aid 1000 may be manipulated.

In addition, one or more distance sensors, three-dimensional recognition sensors, slip detection sensors, or load sensors may be additionally included to implement more convenient and safe control according to the ground slope or conditions of the user's walking direction.

13 is an external view of an active walking aid 2000 according to a second embodiment of the present invention.

14 shows the internal structure of the active walking aid 2000.

A structure according to a second embodiment of the present invention will be described with reference to FIGS. 13 and 14 .

Active walking aid 2000 according to the second embodiment of the present invention is a main body exterior 2400 composed of a plurality of components, an operation button 2130 disposed at a predetermined position of the main body exterior 2400, the main body exterior ( 2400), a first drive motor 2210 disposed at a predetermined position, a speed reducer 2220 connected to the drive motor to perform a deceleration function in a predetermined manner, and a spiral screw that transmits the output of the speed reducer 2220 ( 2230), a screw nut 2240 for converting the rotational motion of the helical screw 2230 into a linear motion, a driving support 2300 connected to the screw nut 2240 in a predetermined manner, and a predetermined to the driving support 1300 It consists of a rotation motor module 2600 in which a motor reducer that is coupled in a manner of generating rotational motion is integrally incorporated, and a ground contact part 2500 connected to the rotation motor module 2600 in a predetermined manner.

15 illustrates a view in which a shoulder support 2600 that can be selectively attached to the active walking aid 2000 is added.

16 is an enlarged view of the handle portion of the active walking aid 2000.

17 is an enlarged view of the internal structure of the handle portion of the active walking aid 2000.

The structure of the active walking aid 2000 will be described in detail with reference to FIGS. 16 and 17 .

The handle portion of the main body exterior 2400 of the active walking aid 2000 is a battery 2110 that supplies power for the operation of the active walking aid 2000, a control operated by receiving power from the battery 2110 Circuit 1120, an operation button 2130 for operation control connected to the control circuit 2120, and a driving motor 2210 for operation control by the control circuit 2120 are built-in.

18 is an example of a control circuit 2120 for controlling the active walking aid 2000 of the present invention.

19 is a block diagram of the control circuit 2120. Referring to FIG.

When the configuration of the control circuit 2120 is described with reference to FIGS. 18 and 19 , the control circuit 2120 includes a circuit board 2121 , a central processing unit IC 2122 , and a memory 2129 including at least one ), a power control IC 2127, a button connector 2123 to which the operation button 2130 is connected, a motor interface connector 2128 to which the driving motor 2210 is connected, a plurality of selectively added for function expansion It is composed of a function expansion connector 2125 for connecting a distance sensor, a three-dimensional sensor, a load sensor, a motor position sensor, and a sliding sensor.

The circuit board 2121 of the control circuit 2120 is configured such that a wireless communication module, a motion detection sensor, and an attitude detection sensor can be selectively added.

20 exemplifies operation detection of the operation button 2130 .

The operation button 2130 is capable of a button rotation movement 2132 and a button vertical movement 2133 about the button rotation center 2131, and the operation of pressing the upper side by detecting the two-axis displacement of the rotation operation and the vertical linear operation. (2134), a lower pressing operation (2135), a clockwise rotation operation (2135), and a counterclockwise rotation operation (2136) are sensed.

21 and 22 illustrate the basic operation of the active walking aid 2000 according to the second embodiment of the present invention.

Referring to FIG. 21 , when an upper pressing operation 2134 is applied to the operation button 2130 , the driving motor 2210 rotates in a predetermined direction, and the rotation of the motor of the reducer 2220 is performed at an appropriate speed. By decelerating and amplifying the force, it is transmitted to the spiral screw 2230, and the screw nut 2240 converts the rotational motion of the spiral screw 2230 into a linear motion so that the driving support 2300 applies the load above the ground. generates a force that moves

When a lower pressing operation 2135 is applied to the operation button 2130, the driving motor 1210 rotates in the opposite direction to that when the upper pressing operation 2134 is applied. The driving support 2300 through the reducer 2220, the helical screw 2230, and the screw nut 2240 moves the load toward the ground while supporting the load.

Referring to FIG. 22 , when the counterclockwise rotation operation 2136 is applied to the operation button 2130 , the rotation motor module 2600 moves the ground contact part 2500 to the ground as shown in the left drawing of FIG. 21 . The contact part 2500 is rotated counterclockwise.

When the clockwise rotation operation 2136 is applied to the operation button 2130, the rotation motor module 2600 rotates the ground contact part 2500 clockwise as shown in the right diagram of FIG.

23 is an operation example of the active walking aid 2000 when walking on flat ground according to the second embodiment of the present invention.

The user of this active walking aid 2000 walks while holding the handle portion of the main body 2140 of the active walking aid 2000 by hand, and operates the driving motor 2210 of the active walking aid 2000 to the ground. Controls the movement of the load on the , and controls the contact area with the ground by manipulating the rotation motor module (2600). Although this control is a two-axis control, the operation of pressing the operation button 2300 downward and simultaneously pushing the upper side forward to rotate it counterclockwise, and the operation of pressing the upper side and simultaneously pushing the lower side forward at the same time to rotate the clockwise operation are intuitive with the walking operation. With a structure that is connected, it can be easily acquired even with a short learning period.

24 is an example of climbing stairs using the active walking aid 2000.

25 is an example of going down stairs using the active walking aid 2000.

If the case in which the user of the active walking aid 2000 climbs the stairs is described as a case in which the user of the active walking aid 2000 goes from left to right with reference to FIG. Positioning the walking aid 2000, the active walking aid 2000 presses the upper side of the operation button 2300 down and simultaneously pushes forward to rotate it counterclockwise, and the active walking aid 2000 is the user's Generates a force that pushes your weight up and forward, creating a force to climb stairs. In accordance with this ascending force, the leg is placed on the stairs one step higher to complete the load movement, and while pressing the lower side of the operation button 2300 upward at the same time, the active walking aid 2000 waits for the operation to rotate in a clockwise direction. bring to location By repeating this operation, the user of the active walking aid 2000 performs an operation to climb the stairs.

When the load moves up the stairs, the load is supported by adjusting the length of the active walking aid 1000 so that the load supporting direction of the active walking aid 1000 and the user's arm of the active walking aid 1000 are arranged in a straight line as much as possible. Efficiency is maximized so that even users with weak arms can easily move the load.

Referring to FIG. 25 , when the user of the active walking aid 2000 goes down the stairs from left to right, the user of the active walking aid 2000 moves to a lower position by one step to go down. Face the assist device 2000, and press the upper side of the operation button 2300 downward until the ground contact unit 2500 touches the lower step, and simultaneously push forward to rotate it counterclockwise. When the ground contact part 2500 is seated on the lower stairway, the user of the active walking aid 2000 gradually puts his or her weight on the active walking aid 2000 and simultaneously pulls the lower side of the operation button 2300 upward while pulling it counterclockwise. By rotating the body in the direction of rotation, the body weight is shifted downward and forward. By repeating the same operation on the lower stairs, the body weight is put on the active walking aid 2000 to descend the stairs.

When the load moves down the stairs, the load is supported by adjusting the length of the active walking aid 1000 so that the load bearing direction of the active walking aid 1000 and the user's arm of the active walking aid 1000 are arranged in a straight line as much as possible. Efficiency is maximized so that even users with weak arms can easily move the load.

The ground contact unit 2500 prevents an accident in which the user's body tilts forward or backward while ascending or descending the stairs by providing a supporting force in the forward and backward direction.

26 to 28 show a left active walking aid 3000 and a right active walking aid 4000 equipped with the shoulder support 2600 to the active walking aid 2000 according to the second embodiment of the present invention. This is an example of using both at the same time.

26 is an example of walking using two active walking aids at the same time, the left active walking aid 3000 and the right active walking aid 4000.

27 is an example of climbing stairs using the active walking aid of the left active walking aid 3000 and the right active walking aid 4000 at the same time.

28 is an example of going down stairs using two active walking aids at the same time as the left active walking aid 3000 and the right active walking aid 4000. Each operation is the same as the basic operation of the active walking aid 2000 do.

1120: control circuit of the first embodiment
1130, 1140: operation button of the first embodiment
1210: driving motor of the first embodiment
1220: Reducer of the first embodiment
1400: body appearance of the first embodiment
2120: control circuit of the first embodiment
2130, 1140: operation button of the first embodiment
2210: driving motor of the first embodiment
2220: Reducer of the first embodiment
2400: main body appearance of the first embodiment
2600: rotation motor of the first embodiment

Claims (31)

a body exterior consisting of one or more components and constituting the exterior of the product;
a driving motor disposed at a predetermined position on the exterior of the main body to generate a driving force;
a reducer amplifying the output of the driving motor;
a ground contact part connected to the output of the speed reducer in a predetermined mechanical manner;
a control circuit unit for controlling the driving motor;
Active walking aid, characterized in that consisting of a battery for supplying power to the control circuit unit According to claim 1,
The active walking aid selectively further comprises a manual operation button for receiving an operation input of one or more axes, and connecting the output of the operation button to the control circuit unit to control the rotation of the driving motor of the active walking aid, characterized in that active walking aid 3. The method of claim 2,
By manipulating the operation button, the driving motor is rotated clockwise or counterclockwise, and the reducer amplifies the driving motor output and transmits the output of the reducer to the ground contact part through a predetermined mechanical connection. According to the operation of the operation button, the active walking aid operates to lift the load applied to the active walking aid upwards by rotating the driving motor or move it downward while supporting the load, and when the load rises or falls Active walking aid, characterized in that the length control of the active walking aid is made together so that the load bearing direction of the active walking aid and the arm of the active walking aid user are arranged in a straight line as much as possible so that weight transfer is efficient. According to claim 1,
The active walking aid selectively further comprises a position detection sensor for detecting the driving position of the driving motor to recognize the end point of the operation of the driving motor to increase the driving stability, characterized in that the active walking assist According to claim 1,
The control circuit unit includes a circuit board, one or more ICs, a plurality of passive elements, and one or more connectors, and receives power from the battery to control the rotation of the driving motor. According to claim 1,
The active walking aid optionally further includes a motion detection sensor or a posture detection sensor and a load detection sensor, and when the ground in front is recognized higher and a load greater than a predetermined load is applied to the active walker, it automatically lifts the load. When the ground is recognized as lower and a load greater than a predetermined load is applied to the active walker, the load is automatically lowered, and when the load is raised or lowered, the load bearing direction of the active walking aid and the user's arm of the active walking aid are possible An active walking aid, characterized in that the length control of the active walking aid is made together so that the weight is transmitted efficiently by being arranged in a straight line. According to claim 1,
The active walking aid optionally further includes a wireless communication module, active walking aid, characterized in that when a user's dangerous situation occurs, a function of notifying a dangerous situation to a designated remote location According to claim 1,
The active walking aid optionally further includes a motion detection sensor to automatically operate the driving motor to automatically operate the driving motor to shorten the length of the walking aid when the motion of the walking aid is lifted above the ground is detected, thereby providing the active walking aid. Active walking aid, characterized in that it is convenient and quick to return to the standby position for use According to claim 1,
The active walking aid optionally further includes a slip sensor, active walking aid characterized in that it performs a warning operation to quickly remove the load when the slip occurs in the walking aid According to claim 1,
The active walking aid optionally further includes a load sensor, one or more distance sensors, a posture sensor, and a motion sensor, and the forward and backward directions of the active walking aid are stairs, uphill and flat. In the case of an operation of recognizing and changing the operation mode and raising the load, when a load greater than a predetermined set value is applied, the load is automatically lifted. , it automatically lowers the load, and when the load is removed, it automatically returns to the next standby state. An active walking aid, characterized in that the length control of the active walking aid is made together so that the weight is transmitted efficiently by being arranged. According to claim 1,
The active walking aid selectively further includes a load sensor, a three-dimensional spatial recognition sensor, a posture sensor, and a motion sensor, and recognizes the surrounding situation of the active walking aid widely to generate a driving model, and the front and rear directions are stairs The operation mode is changed by recognizing the case of high slope, uphill and flat ground, and in the case of raising the load, when a load greater than a predetermined value is applied, the load is automatically lifted, and the ground in front is recognized as lower When a load greater than a predetermined value is applied to the active walker, it automatically lowers the load, and when the load is removed, it automatically returns to the next standby state. Active walking aid, characterized in that the length of the active walking aid is controlled so that the arm of the active walking aid user is arranged as straight as possible so that weight transfer is efficient. According to claim 1,
The active walking aid optionally further includes a shoulder support or an arm support to further support the load of the user of the active walking aid. According to claim 1,
The active walking aid selectively further includes a wired charging module and a battery remaining amount display module, so that wired charging and battery remaining amount display are possible. According to claim 1,
The active walking aid is an active walking aid capable of wireless charging and remaining battery display by selectively further comprising a wireless charging module and a battery remaining amount display module a body exterior consisting of one or more components and constituting the exterior of the product;
a first driving motor disposed at a predetermined position on the exterior of the main body;
a first reducer for decelerating the output of the first driving motor;
a second driving motor connected to the output terminal of the first reducer in a predetermined manner;
a second reducer for decelerating the output of the second driving motor;
a ground contact part connected to the second reducer output in a predetermined manner;
a control circuit unit for controlling the first driving motor and the second driving motor;
Active walking aid, characterized in that it consists of a battery for supplying power to the control circuit unit 16. The method of claim 15,
The active walking aid selectively further includes a manipulation button for receiving manipulation input of two or more axes, and connecting the output of the manipulation button to the control circuit unit to control the walking aid. 17. The method of claim 16,
When the first driving motor is rotated clockwise or counterclockwise by manipulation of one of the sensing axes of the operation button, the first reducer decelerates and amplifies the output of the first driving motor. The second driving motor is connected to the output of the first reducer in a predetermined mechanical manner, and when the second driving motor is rotated clockwise or counterclockwise by the operation of the other one of the operation button sensing axis, the second reducer is The output of the second driving motor is amplified and finally transmitted to the ground contact unit. According to the operation of the operation button, the active walking aid lifts the load applied to the active walking aid upward or drives to move it downward while supporting the load, and the load of the active walking aid when the load rises or falls The length of the active walking aid is controlled so that the weight transfer is efficient by making the support direction and the arm of the user of the active walking aid arranged in a straight line as possible, and the ground contact part allows the user of the active walking aid to fall in the front-rear direction. Active walking aid, characterized in that it provides a force to prevent it. 16. The method of claim 15,
The active walking aid selectively further comprises one or more of the first drive motor and the second drive motor motion position detection sensor to recognize the control end points of the first drive motor and the second drive motor to increase the control stability Active walking aid, characterized in that 16. The method of claim 15,
The active walking aid optionally further includes a motion detection sensor or a posture detection sensor and a load detection sensor, and when the ground in front is recognized higher and a load greater than a predetermined load is applied to the active walker, it automatically lifts the load. When the ground is recognized lower and a load greater than a predetermined load is applied to the active walker, it automatically lowers the load. The length control of the active walking aid is performed together so that the weight transfer is efficiently performed by placing as a Active walking aid, characterized in that it provides a force to prevent falling in the direction. 16. The method of claim 15,
The control circuit unit includes a circuit board, one or more ICs, a plurality of passive elements, and one or more connectors, and uses the battery as a power source to control the first driving motor and the second driving motor. orthosis 16. The method of claim 15,
The active walking aid optionally further includes a wireless communication module to selectively perform a function of notifying a dangerous situation to a predetermined remote location when a user falls dangerous situation occurs. 16. The method of claim 15,
The active walking aid optionally further includes a motion detection sensor to operate the driving motor when the motion of the walking aid is lifted above the ground is sensed to control the length of the walking aid to be shortened to the position in which the active walking aid is used. Active walking aid, characterized in that it is convenient and quick to return 16. The method of claim 15,
The active walking aid optionally further includes a slip sensor, active walking aid characterized in that it performs a warning operation to quickly remove the load when the slip occurs in the walking aid 16. The method of claim 15,
The active walking aid optionally further includes a load sensor, one or more distance sensors, a posture sensor, and a motion sensor, and the forward and backward directions of the active walking aid are stairs, uphill and flat. In the case of an operation of recognizing and changing the operation mode and raising the load, when a load greater than a predetermined set value is applied, the load is automatically lifted. , it automatically lowers the load, and when the load is removed, it automatically returns to the next standby state. The length control of the active walking aid is performed together so that the weight transfer is efficient by placing the active walking aid, and when a load is applied, the ground contact unit is interlocked with the ground to contact the ground contact unit as much as possible so that the user of the active walking aid can move in the front-rear direction. Active walking aid, characterized in that it provides a force to prevent falling. 16. The method of claim 15,
The active walking aid selectively further includes a load sensor, a three-dimensional spatial recognition sensor, a posture sensor, and a motion sensor, and recognizes the surrounding situation of the active walking aid widely to generate a driving model, and the front and rear directions are stairs The operation mode is changed by recognizing the case of high slope, uphill and flat ground, and in the case of raising the load, when a load greater than a predetermined value is applied, the load is automatically lifted, and the ground in front is recognized as lower When a load greater than a predetermined value is applied to the active walker, it automatically lowers the load, and when the load is removed, it automatically returns to the next standby state. The length of the active walking aid is controlled so that the arm of the active walking aid user is arranged in a straight line as much as possible so that weight transfer is efficient, and the ground contact unit is interlocked to contact the ground and the ground contact unit as much as possible when a load is applied. Controlled active walking aid, characterized in that providing a force to prevent the user of the active walking aid from falling in the front-rear direction. 16. The method of claim 15,
The active control aid selectively further includes any one or a combination of one or more distance detection sensors, motion detection sensors, posture detection sensors, three-dimensional recognition sensors, anti-skid sensors, and load detection sensors to recognize user movement and the surrounding environment. Active walking aid, characterized in that for controlling the walking aid 16. The method of claim 15,
The active walking aid is an active walking aid, characterized in that it further includes a shoulder support or an arm support to further support the load of the active walking aid user. 16. The method of claim 15,
The active walking aid selectively further includes a wired charging module and a battery remaining amount display module, so that wired charging and battery remaining amount display are possible. 16. The method of claim 15,
The active walking aid is an active walking aid capable of wireless charging and remaining battery display by selectively further comprising a wireless charging module and a battery remaining amount display module 16. The method of claim 15,
When the two active walking aids are used at the same time, the active control aid optionally further includes a wireless communication module so that the two active walking aids communicate with each other so that the two active walking aids are linked and controlled to fit the pedestrian. active walking aid with When using the two active walking aids at the same time, the active walking aid is any one of a wireless communication module, a motion sensor, a posture sensor, a load sensor, a slip sensor, one or more distance sensors, or a three-dimensional recognition sensor. Active walking aid, characterized in that the automatic interlocking control of the walking aid by sensing the surrounding environment and the user's movement of the walking aid by further including the combination selectively

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