KR20220130333A - Non-contacted exoskeleton robot - Google Patents

Abstract

Disclosed is a non-contact exoskeleton robot. The non-contact exoskeleton robot, which enhances muscular strength when lifting an external object, comprises: a support unit installed on the external object; a plurality of sensor frames mounted on the support unit to be spaced apart from each other; a plurality of sensors mounted on the multiple sensor frames to be spaced apart from each other and acquiring arm movement data for movement of arms; a driving unit coupled to the support unit and rotating the support unit; and a control unit electrically connected to the driving unit, receiving the arm movement data acquired by the plurality of sensors, and controlling the driving unit to rotate the support unit in correspondence based on the received arm movement data.

Description

Non-contact exoskeleton robot {NON-CONTACTED EXOSKELETON ROBOT}

The disclosed invention relates to a non-contact exoskeleton robot, and more particularly, to a non-contact exoskeleton robot capable of improving the ease of wearing, solving the discomfort of wearing, and enhancing muscle strength.

The exoskeleton robot assists, supports, or supports the wearer's strength. The exoskeleton system can be broadly divided into a muscle strength enhancement system and a muscle support system depending on the purpose.

The muscle strength system has the advantage of supporting muscle strength by about 10 times, but friction occurs in the contact area between the wearer and the exoskeleton structure. Since the burden on the body is large, it has the disadvantage that it is difficult to wear it for a long time. In addition, there is a disadvantage that it is difficult to put on and take off because there are many bonding sites. It is advantageous to wear it when it is necessary to increase muscle strength, but wearing a muscle-strengthening exoskeleton system for simple tasks and movement can be a disadvantage to the wearer. On the other hand, the muscle strength assisting system is manufactured in a suit type with low friction such as wire and fabric, so it is easy to wear and has a light weight, but it has a disadvantage in that it does not provide large muscle strength.

The muscular strength system can help to increase muscle strength rather than the strength assistance system when transporting the elderly and patients in industrial sites that repeatedly lift large weights, but it takes a lot of time to put on and take off the exoskeleton robot. There is a problem in that when the exoskeleton robot is worn, pressure is applied to the part where the wearer and the exoskeleton robot come into contact, thereby resolving the inconvenience.

Therefore, recently, research on exoskeleton robots capable of improving the ease of wearing, resolving the discomfort of wearing, and enhancing muscle strength has been actively conducted.

For the above reasons, an aspect of the disclosed invention is to provide a non-contact exoskeleton robot capable of improving the ease of wearing, solving the discomfort of wearing, and enhancing muscle strength.

A non-contact exoskeleton robot according to an aspect of the disclosed invention is a non-contact exoskeleton robot that enhances muscle strength when lifting an external object, the non-contact exoskeleton robot comprising: a support mounted on the external object; a plurality of sensor frames spaced apart from each other and mounted on the support; a plurality of sensors mounted on the plurality of sensor frames to be spaced apart from each other and configured to obtain arm motion data for arm motion; a driving unit coupled to the support and rotating the support; and electrically connected to the driving unit, receiving arm motion data for arm motion acquired by the plurality of sensors, and rotating the support unit corresponding to the arm motion based on the received arm motion data. It may include a control unit for controlling the driving unit so as to

The plurality of sensor frames are provided in two, and the plurality of sensors respectively mounted on the two plurality of sensor frames acquires respective arm movement data including respective distances to a point in contact with the arm, and the control unit may control the driving unit using a predetermined arm motion model to rotate the support unit based on the respective arm motion data.

The arm motion model generates respective coordinates in a space with the elbow as an origin based on the respective arm motion data, and uses each of the generated coordinates to form a triangle for the two plurality of sensor frames. The circumcentric coordinates may be calculated, respectively, and the shape information of the arm may be generated by connecting the calculated triangular centroid coordinates for the two plurality of sensor frames, the center coordinates of the elbow, and the center coordinates of the wrist.

The controller may determine a rotation direction and a rotation speed of a motor included in the driving unit based on arm shape information output from the arm motion model to rotate the support unit corresponding to the movement of the arm.

A part of the support part is seated, and may further include a seating part on which the driving part and the control part are seated.

It is mounted on the seating part on which the support part is seated, further comprising an auxiliary support for supporting the forearm; A strap surrounding the auxiliary support and the forearm may be further included to fix the auxiliary support and the forearm.

According to one aspect of the disclosed invention, it is possible to provide a non-contact exoskeleton robot capable of improving the ease of wearing, solving the discomfort of wearing, and enhancing muscle strength.

1 illustrates an example of a non-contact exoskeleton robot mounted on a patient carrier according to an embodiment.
Figure 2 shows the internal structure of the non-contact exoskeleton robot according to an embodiment.
3 illustrates a cross-section of a first sensor frame in a non-contact exoskeleton robot according to an embodiment as an example.
4 shows a configuration of a non-contact exoskeleton robot according to an embodiment.
FIG. 5 shows an example of deriving an arm motion using an arm motion model of a controller in a non-contact exoskeleton robot according to an embodiment.
6 illustrates an example of generating arm shape information by the arm motion model of the controller in the non-contact exoskeleton robot according to an embodiment.
7 illustrates shape information when there is no arm movement generated by the arm movement model of the controller in the non-contact exoskeleton robot according to an embodiment.
8 shows an example of shape information of an arm raised by 5° generated by an arm motion model of a controller in a non-contact exoskeleton robot according to an embodiment.
9 shows an example of the shape information of the arm lowered by 5° generated by the arm motion model of the controller in the non-contact exoskeleton robot according to an embodiment.
10 is a graph illustrating a comparison between the rotation angle of the support part of the non-contact exoskeleton robot according to an embodiment and the rotation angle of the wearer's arm, which is actually measured.

Like reference numerals refer to like elements throughout. This specification does not describe all elements of the embodiments, and general content in the technical field to which the disclosed invention pertains or content overlapping between the embodiments is omitted. The term 'part, module, member, block' used in the specification may be implemented in software or hardware, and according to embodiments, a plurality of 'part, module, member, block' may be implemented as a single component, It is also possible for one 'part, module, member, block' to include a plurality of components.

Throughout the specification, when a part is "connected" with another part, this includes not only direct connection but also indirect connection, and indirect connection includes connection through a wireless communication network. do.

Also, when a part "includes" a certain component, it means that other components may be further included, rather than excluding other components, unless otherwise stated.

Throughout the 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 the two members.

Terms such as first, second, etc. are used to distinguish one component from another, and the component is not limited by the above-mentioned terms.

The singular expression includes the plural expression unless the context clearly dictates otherwise.

In each step, the identification code is used for convenience of description, and the identification code does not describe the order of each step, and each step may be performed differently from the specified order unless the specific order is clearly stated in the context. have.

The non-contact exoskeleton robot according to an embodiment fixes the forearm of the wearer and moves together in response to the movement of the wearer's arm in a non-contact manner, so it is possible to improve the ease of wearing, solve the discomfort of wearing, and increase the muscle strength. .

Hereinafter, the working principle and embodiments of the disclosed invention will be described with reference to the accompanying drawings.

1 illustrates an example of a non-contact exoskeleton robot mounted on a patient carrier according to an embodiment.

As shown in FIG. 1 , the non-contact exoskeleton robots 100a to 100d may assist force when lifting the patient carrier 10 , which is an external object. Four non-contact exoskeleton robots 100a to 100d may be respectively mounted on the handles 1a to 1d of the patient carrier 10 . Two non-contact exoskeleton robots 100a and 100b or 100c and 100d may be respectively mounted on one handle 1a and 1b or 1c and 1d of the patient carrier 10 according to the strength of the wearer. The non-contact exoskeleton robots 100a to 100d may be mounted to be spaced apart from the handles 1a to 1d. A user may directly hold and lift the handles 1a to 1d of the patient carrier 10 . Reference numeral 101 denotes a cover protecting a plurality of sensor frames, which will be described later, 110, a support, 140, a strap, 170, a driving unit, and 180, a control unit. Hereinafter, the internal structure of the lower left non-contact exoskeleton robot 100a including the support unit 110 , the strap 140 , the driving unit 170 , and the control unit 180 will be described.

Figure 2 shows the internal structure of the non-contact exoskeleton robot according to an embodiment.

As shown in FIG. 2 , the non-contact exoskeleton robot 100a with the cover 101 removed has a support 110 , a seating portion 120 , an auxiliary support 130 , a strap 140 , and a plurality of sensor frames 150 ). , a plurality of sensors 161 to 166 , a driving unit 170 , and a control unit 180 may be included.

The support 110 may be mounted to be spaced apart from one side of the handle 1a of the patient carrier 10 . The support unit 110 may be manufactured as long as the arm length to correspond to the arm length direction. For example, the support 110 may be provided as a frame including a light and strong material.

The auxiliary support 130 may be mounted on the seat 120 on which a part of the support 110 is seated to support the forearm 102 of the wearer. The auxiliary support 130 may be mounted at an upper end of the seating part 120 supporting the elbow and forearm 102 to be spaced apart from the support 110 . The auxiliary support 130 may be manufactured as long as the forearm 102 in correspondence to the length direction of the forearm 102 . For example, the seating part 120 and the auxiliary support part 130 may be provided with a frame including a light and strong material.

The strap 140 may wrap the auxiliary support 130 and the forearm 102 to fix the auxiliary support 130 and the forearm 102 . The strap 140 may adjust the degree of fixing between the auxiliary support 130 and the forearm 102 according to the degree of winding of the fixing strap. For example, the strap 140 may be made of an elastic material capable of fixing the auxiliary support 130 and the forearm 102 without straining the forearm 102 .

The plurality of sensor frames 150 may be mounted on the support 110 to be spaced apart from each other. Two sensor frames 150 may be provided on the support unit 110 to correspond to the central portion of the arm 103 . The plurality of sensor frames 150 may include a first sensor frame 151 and a second sensor frame 152 .

3 illustrates a cross-section of a first sensor frame in a non-contact exoskeleton robot according to an embodiment as an example.

As shown in FIG. 3 , the first sensor frame 151 has a plurality of mounting holes 151a and 151b corresponding to the plurality of sensors 161 , 162 , and 163 to mount the plurality of sensors 161 , 162 and 163 . , 151c) may be included. The first sensor frame 151 includes a first mounting hole 151a corresponding to the first sensor 161 spaced apart from each other, a second mounting hole 151b corresponding to the second sensor 162, and a second mounting hole 151b corresponding to the second sensor 162. A third mounting hole 151c corresponding to the third sensor 163 may be included. An angle between the first sensor 161, the second sensor 162, and the third sensor 163 mounted on the first sensor frame 151 may form 120° with each other. The first sensor 161 , the second sensor 162 , and the third sensor 163 may acquire arm movement data regarding the movement of the arm 103 . The first sensor 161 , the second sensor 162 , and the third sensor 163 may acquire respective arm movement data including respective distances to the point of contact with the arm 103 .

Meanwhile, although not illustrated, the second sensor frame 152 (refer to FIG. 2 ) is the same as the structure of the first sensor frame 151 (refer to FIG. 2 ), and each fourth sensor 164 (refer to FIG. 2 ) spaced apart from each other. ) may include a fourth mounting hole corresponding to a fourth mounting hole, a fifth mounting hole corresponding to the fifth sensor 165 (refer to FIG. 2 ), and a sixth mounting hole corresponding to the sixth sensor. The sixth sensor may be a position of the second sensor frame 152 (refer to FIG. 2 ) corresponding to the position of the third sensor 163 . The angle between the fourth sensor 164 (refer to FIG. 2 ), the fifth sensor 165 (refer to FIG. 2 ) and the sixth sensor mounted on the second sensor frame 152 (refer to FIG. 2 ) may form an angle of 120° to each other. The fourth sensor 164 (refer to FIG. 2 ), the fifth sensor 165 (refer to FIG. 2 ), and the sixth sensor may acquire arm movement data for the movement of the arm 103 . The fourth sensor 164 (refer to FIG. 2), the fifth sensor 165 (refer to FIG. 2), and the sixth sensor may acquire respective arm motion data including the respective distances to the point of contact with the arm 103. have. The inner diameters of the first and second sensor frames 151 and 152 may be manufactured to be 6 cm, respectively, in consideration of the thickness of an adult's arm and the measurable range of the first to sixth sensors, and the first to sixth sensors are the maximum It may be a laser sensor capable of precise measurement up to 60 cm.

As shown in FIG. 2 , the driving unit 170 may be seated on the mounting unit 120 , shaft-coupled to the supporting unit 110 , and rotate the supporting unit 110 . The driving unit 170 may include a motor 171 and a gear box 172 .

The motor 171 may be a BLDC motor that is less noisy and lighter than a DC motor. BLDC motors can reduce the strain on the body and reduce noise. A rotation angle of the motor 171 may be measured by attaching an incremental encoder capable of recognizing a rotational motion to the motor 171 . The motor 171 may be set to stop when the rotation angle obtained through the incremental encoder is greater than the maximum range of motion angle of the arm. The motor 171 may be stopped when the maximum value is reached by setting the maximum value of the incremental encoder value in order to prevent the support 110 from excessively rotating. The incremental encoder can more precisely control the driving of the motor 171 .

The gear box 172 may include a bevel gear, and the bevel gear may transmit power at a right angle from the rotation direction of the motor 171 shaft. The motor 171 and the bevel gear transmit power to the shaft-coupled support 110 to rotate the support 110 . The motor 171 may increase the rotational accuracy of the support unit 110 through PID control. The driving unit 170 may include a speed reducer for reducing the rotation speed of the motor 171 .

The control unit 180 may be seated on a portion of the mounting unit 120 , and may be electrically connected to the driving unit 170 . The controller 180 may control the motor 171 to rotate the support unit 110 in response to the movement of the wearer's arm 103 . The controller 180 may control the motor 171 to rotate the support 110 by transmitting power to the support 110 axially coupled to the bevel gear. The controller 180 may include a motor driving unit for driving the motor 171 , or may control the motor driving unit to rotate the support unit 110 .

Hereinafter, a process in which the non-contact exoskeleton robot 100 according to an embodiment moves in response to the movement of the wearer's arm 103 in a non-contact manner to increase muscle strength will be described.

4 shows a configuration of a non-contact exoskeleton robot according to an embodiment.

As shown in FIG. 4 , the non-contact exoskeleton robot 100 may include a plurality of sensors 161 to 166 , a driving unit 170 , and a control unit 180 . The controller 180 may include a processor 181 and a memory 182 .

The processor 181 may receive arm movement data for the movement of the arm 103 obtained by the plurality of sensors 161 to 166 . The processor 181 may derive the movement of the arm 103 based on the received arm movement data.

FIG. 5 shows an example of deriving an arm motion using an arm motion model of a controller in a non-contact exoskeleton robot according to an embodiment.

As shown in FIG. 5 , the processor 181 determines the respective distances (P) to the arm contact points obtained by the first sensor 161, the second sensor 162, and the third sensor 163. Each arm movement data including d1, d2, and d3) may be received. The processor 181 includes the respective distances d1, d2, and d3 to the arm contact point P obtained by the fourth sensor 164, the fifth sensor 165, and the sixth sensor 166. Each arm movement data may be received.

The control unit 180 may use a predetermined arm motion model to rotate the support unit 110 based on each arm motion data including the respective distances d1, d2, and d3 to the point P touching the arm. can The MATLAB program can generate an arm motion model by analyzing the arm motion.

를 이용한 [수학식 1] 내지 [수학식 6]을 통해 팔의 중심인 삼각형의 외심 좌표(O(x,y))를 도출할 수 있다.

는 제 1 센서(161) 또는 제 4 센서(164)에 의하여 획득된 팔에 닿는 지점(P)까지의 거리(d1)에 대한 팔에 닿는 지점(P)에서의 좌표일 수 있고,

는 제 2 센서(162) 또는 제 5 센서(165)에 의하여 획득된 팔에 닿는 지점(P)까지의 거리(d2)에 대한 팔에 닿는 지점(P)에서의 좌표일 수 있고,

는 제 3 센서(163) 또는 제 6 센서(166)에 의하여 획득된 팔에 닿는 지점(P)까지의 거리(d3)에 대한 팔에 닿는 지점(P)에서의 좌표일 수 있다. 이때,

간의 조건은

일 수 있다. 삼각형의 외심의 특성인

를 통해

를 도출할 수 있고, 이를 통해 하기 [수학식 1]과 같은 연립 방정식을 만들 수 있고, [수학식 1]을 재전개하면 하기 [수학식 2]와 같이 나타낼 수 있다.The arm motion model can derive the arm motion by using the circumcentric coordinates of the triangle and the circumcircle. The arm movement model has three coordinate values.

Using [Equation 1] to [Equation 6], it is possible to derive the circumcenter coordinates (O(x,y)) of the triangle that is the center of the arm.

may be the coordinates at the arm touching point (P) for the distance (d1) to the arm touching point (P) obtained by the first sensor 161 or the fourth sensor 164,

may be the coordinates at the arm touching point (P) for the distance (d2) to the arm touching point (P) obtained by the second sensor 162 or the fifth sensor 165,

may be coordinates at the arm touching point P with respect to the distance d3 to the arm touching point P obtained by the third sensor 163 or the sixth sensor 166 . At this time,

The conditions between

can be Characteristics of the circumcenter of a triangle

Through the

can be derived, and through this, a system of equations such as the following [Equation 1] can be created, and if [Equation 1] is redistributed, it can be expressed as [Equation 2] below.

[Equation 1]

[Equation 2]

The arm motion model can use the following [Equation 3] when obtaining the x-coordinate of the circumcenter based on [Equation 2].

[Equation 3]

The arm movement model can obtain the x-coordinate of the circumcenter as in the following [Equation 4] using [Equation 3].

[Equation 4]

The arm movement model may use the following [Equation 5] when obtaining the y-coordinate of the circumcenter based on [Equation 2].

[Equation 5]

The arm motion model can obtain the y-coordinate of the circumcenter as shown in the following [Equation 6] using [Equation 5].

[Equation 6]

를 생성할 수 있다. 팔꿈치는 안착부(120, 도 2 참조)에 안착되고 팔(103, 도 2 참조)은 제 1 센서 프레임(151, 도 2 참조)과 제 2 센서 프레임(152, 도 2 참조)의 내부 공간에서 움직이므로, 팔 움직임 모델은 팔꿈치를 원점으로 하는 공간상에 각각의 좌표(

)를 생성할 수 있다. 팔 움직임 모델은 생성된 각각의 좌표(

)를 이용한 [수학식 1] 내지 [수학식 6]을 통해 제 1 센서 프레임(151)에 대한 삼각형의 외심 좌표(O(x,y))와 제 2 센서 프레임(152)에 대한 삼각형의 외심 좌표(O(x,y))를 각각 산출할 수 있다. 팔 움직임 모델은 산출된 제 1 센서 프레임(151)에 대한 삼각형의 외심 좌표(O(x,y))와 제 2 센서 프레임(152)에 대한 삼각형의 외심 좌표(O(x,y))에 기초하여 팔(103)의 형상 정보를 생성할 수 있다.In other words, the arm motion model is based on each arm motion data including the respective distances (d1, d2, d3) to the point (P) touching the arm, each coordinate (

can create The elbow is seated on the seating part 120 (see FIG. 2) and the arm (103, see FIG. 2) is located in the inner space of the first sensor frame 151 (see FIG. 2) and the second sensor frame (152, see FIG. 2). As it moves, the arm movement model is based on each coordinate (

) can be created. The arm movement model is generated for each coordinate (

) using [Equation 1] to [Equation 6], the circumcenter of the triangle with respect to the first sensor frame 151 (O(x,y)) and the circumcenter of the triangle with respect to the second sensor frame 152 Each of the coordinates (O(x,y)) can be calculated. The arm motion model is calculated based on the circumcenter coordinates of the triangle for the first sensor frame 151 (O(x,y)) and the circumcenter coordinates of the triangle for the second sensor frame 152 (O(x,y)). Based on the shape information of the arm 103 may be generated.

6 illustrates an example of generating arm shape information by the arm motion model of the controller in the non-contact exoskeleton robot according to an embodiment.

As shown in Figure 6, the arm motion model is the center coordinates O1 of the elbow S1 formed on the first plane P1, and the second sensor frame S2 formed on the second plane P2. The circumcenter coordinates O2 of the triangle, the circumcenter coordinates O3 of the triangle with respect to the first sensor frame S3 formed on the third plane P3, and the cuff S4 formed on the fourth plane P4. By connecting the center coordinates (O4) of the arm shape information can be generated.

7 illustrates shape information when there is no arm movement generated by the arm movement model of the controller in the non-contact exoskeleton robot according to an embodiment.

As shown in FIG. 7 , the arm motion model may generate shape information when there is no motion of the arm as a reference. The arm shape information may have a truncated cone shape. The shape information when there is no arm movement may have shapes symmetrical to each other with respect to the center line. If the arm motion model outputs shape information when there is no arm motion, the processor 181 may not control the motor 171 for rotating the support unit 110 . Non-contact exoskeleton robots may not enhance the wearer's muscle strength.

Hereinafter, a process of generating shape information when there is an arm motion by the arm motion model will be described.

8 shows an example of shape information of an arm raised by 5° generated by an arm motion model of a controller in a non-contact exoskeleton robot according to an embodiment.

As shown in FIG. 8 , the arm motion model may generate shape information of an arm raised by 5°. The shape information of the arm raised by 5° may have a shape in which the arm and wrist except for the elbow are moved to the left with respect to the center line. When the arm movement model outputs the shape information of the arm raised by 5°, the processor 181 may determine the rotation direction of the motor 171 and the rotation speed of the motor 171 in response to the shape information of the arm raised by 5°. have. The processor 181 may transmit a rotation direction signal and a rotation speed signal corresponding to the shape information of the arm raised by 5° to the motor 171 . The motor 171 may transmit power to the support unit 110 shaft-coupled to the bevel gear based on the received rotation direction signal and rotation speed signal. The support unit 110 may be rotated counterclockwise and at a target speed in response to the wearer raising the arm upward by 5°. The non-contact exoskeleton robot including the support part 110 can enhance the muscle strength of the wearer when the wearer raises the arm upward by 5°.

9 shows an example of the shape information of the arm lowered by 5° generated by the arm motion model of the controller in the non-contact exoskeleton robot according to an embodiment.

As shown in FIG. 9 , the arm motion model may generate shape information of an arm that is lowered by 5°. The shape information of the arm lowered by 5° may have a shape in which the arm and wrist except for the elbow are moved to the right with respect to the center line. When the arm movement model outputs the shape information of the arm lowered by 5°, the processor 181 determines the rotation direction of the motor 171 and the rotation speed of the motor 171 in response to the shape information of the arm lowered by 5° can decide The processor 181 may transmit a rotation direction signal and a rotation speed signal corresponding to the shape information of the arm lowered by 5° to the motor 171 . The motor 171 may transmit power to the support unit 110 shaft-coupled to the bevel gear based on the received rotation direction signal and rotation speed signal. The support 110 may be rotated in a clockwise direction and at a target speed in response to the wearer lowering the arm down by 5°. The non-contact exoskeleton robot including the support part 110 may enhance the muscle strength of the wearer when the wearer lowers the arm down 5°.

Meanwhile, in the following description, for the non-contact exoskeleton robot according to an embodiment, a process of verifying whether the rotation angle of the support unit 110 naturally tracks the rotation angle of the wearer's arm, which is actually measured, will be described as an example.

10 is a graph showing a comparison between the rotation angle of the support part of the non-contact exoskeleton robot according to an embodiment and the actually measured rotation angle of the arm.

As shown in FIG. 10 , L1 is a graph showing the rotation angle of the support part of the non-contact exoskeleton robot over time, and L2 is a graph showing the actually measured rotation angle of the wearer's arm over time.

It can be seen that the rotation angle of the support part of the non-contact exoskeleton robot almost accurately tracks the rotation angle of the wearer's arm when the arm is raised (the graph curve of the rising L1 and L2). When the arm is lowered (the graph curve of L1 and L2 descending), the rotation angle of the support part of the non-contact exoskeleton robot is more error than when the arm is raised (the graph curve of L1 and L2 ascending). As a result of the measurement, the maximum did not exceed 5.73° (0.1 rad) when the arm was raised (the graph curve of ascending L1 and L2), and the maximum was 17.189° (the graph curve of the descending L1 and L2) when the arm was lowered (graph curve of L1 and L2) 0.3 rad), it was found that the rotation angle of the support part of the non-contact exoskeleton robot was naturally tracking the rotation angle of the wearer's arm, which was actually measured without a large error.

Meanwhile, the processor 181 may include a digital signal processor that receives and processes arm movement data for the movement of the arm 103 obtained by the plurality of sensors 161 to 166 .

The processor 181 may include a micro control unit (MCU) that generates a rotation direction signal and a rotation speed signal of the motor 171 .

The memory 182 may temporarily store arm movement data for the movement of the arm 103 acquired by the plurality of sensors 161 to 166 , and store the processing result of the arm movement data for the movement of the arm 103 . It can be stored temporarily.

The memory 182 allows the processor 181 to process a program and/or data for processing arm movement data for the movement of the arm 103 , and the processor 181 to receive a rotation direction signal and a rotation speed signal of the motor 171 . It may store programs and/or data for generating.

The memory 182 includes not only volatile memories such as S-RAM and D-RAM, but also flash memory, read-only memory (ROM), erasable programmable read-only memory (EPROM), etc. of non-volatile memory.

As described above, the non-contact exoskeleton robot according to an embodiment fixes the forearm 102 of the wearer by the auxiliary support 130 and the strap 140, and responds to the movement of the arm 103 of the wearer in a non-contact manner. Since it is movable, it is possible to improve the ease of wearing, eliminate the discomfort of wearing, and increase muscle strength.

100: non-contact exoskeleton robot 161: first sensor
162: second sensor 163: third sensor
164: fourth sensor 165: fifth sensor
166: sixth sensor 170: driving unit
180: control unit 181: processor
182: memory

Claims (6)

In the non-contact exoskeleton robot for enhancing muscle strength when lifting an external object,
a support mounted on the external object;
a plurality of sensor frames spaced apart from each other and mounted on the support;
a plurality of sensors mounted on the plurality of sensor frames to be spaced apart from each other and configured to obtain arm motion data for arm motion;
a driving unit coupled to the support and rotating the support; and
to be electrically connected to the driving unit, receive arm motion data for arm motion acquired by the plurality of sensors, and rotate the support unit corresponding to the arm motion based on the received arm motion data A non-contact exoskeleton robot comprising a control unit for controlling the driving unit. According to claim 1,
The plurality of sensor frames are provided in two,
A plurality of sensors respectively mounted on the two plurality of sensor frames acquires respective arm movement data including a respective distance to a point touching the arm,
The control unit is a non-contact exoskeleton robot that controls the driving unit using a predetermined arm motion model to rotate the support unit based on the respective arm motion data. 3. The method of claim 2,
The arm movement model is
Based on the respective arm movement data, each coordinate is generated in a space with the elbow as the origin,
Calculate the circumcenter coordinates of the triangles for the two plurality of sensor frames by using each of the generated coordinates,
A non-contact exoskeleton robot that generates arm shape information by connecting the calculated triangular circumcentric coordinates for the two plurality of sensor frames, the elbow center coordinates, and the wrist center coordinates. 3. The method of claim 2,
The control unit is a non-contact exoskeleton robot that determines the rotation direction and rotation speed of the motor included in the driving unit based on the shape information of the arm output from the arm movement model so as to rotate the support unit corresponding to the movement of the arm. . According to claim 1,
The non-contact exoskeleton robot further comprising a seating part on which the support part is seated, and on which the driving part and the control part are seated. According to claim 1,
It is mounted on the seating part on which the support part is seated, further comprising an auxiliary support for supporting the forearm;
The non-contact exoskeleton robot further comprising a strap surrounding the auxiliary support and the forearm so as to fix the auxiliary support and the forearm.

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