KR20230027717A - Modular exoskeleton robot for gait assistance and rehabilitation equipment - Google Patents

Abstract

A modular exoskeleton robot for gait assistance and rehabilitation equipment, according to the disclosed invention, comprises: a wearing unit which comprises a plurality of assists worn on each body part of a user; at least one connection unit which detachably connects at least two among a plurality of assists to each other; a main control unit which is provided in any one of a plurality of assists and integrally controls a plurality of assists; and at least one sub control unit which is provided to independently control remaining assists having no main control unit in a plurality of assists. According to such configuration, a plurality of assists are mutually connected or separated to enable independent operation as a modular type according to use conditions, use convenience and efficiencies are excellent.

Description

Modular Exoskeleton Robot for Gait Assistance and Rehabilitation Equipment

The present invention relates to a modular exoskeleton robot, which is capable of independent operation by attaching and detaching each module of the hip joint, knee joint, and ankle joint, and can be used in a walking assistance mode or rehabilitation treatment mode as needed, thereby increasing efficiency. It relates to a modular exoskeleton robot for an excellent walking aid and rehabilitation device.

In general, the supporting portion of an exoskeleton robot for muscle strength support is supported by a method of pushing the chest or pulling the waist when a predetermined load is lifted. The joint drive module of the exoskeleton robot stores elastic energy in springs such as gas springs, coil springs, and springs, and uses them to support muscle strength. In particular, the joint drive module outputs the elastic force stored in the ligaments of the lumbar and sacral vertebrae of the body and the lumbar joint to reduce the load when the user bends forward or twists when lifting or moving a load, thereby supporting muscle strength. will do

On the other hand, an exoskeleton robot for general gait and muscle strength support is driven in a state in which the hip joint, knee joint, ankle joint and foot are not separated as an integral unit. For this reason, there is an inconvenience that the exoskeleton robot cannot independently use each part as an auxiliary function, and even if each part can be used individually, the efficiency of controlling the whole is reduced. In addition, power consumption also increases due to an increase in weight due to connection of each part of the exoskeleton robot.

Accordingly, in recent years, there is a continuous demand for research on improving the efficiency of use by operating the exoskeleton robot independently for each part.

Republic of Korea Patent Registration No. 1490617 (2015.01.30) Republic of Korea Patent Registration No. 1186540 (2012.09.21)

An object of the present invention is to provide walking assistance and rehabilitation for each joint of the lower extremity, which can independently attach and detach each part supporting the human body, and can perform a walking assistance function and a rehabilitation treatment function to improve the efficiency of use. It is to provide a modular exoskeleton robot for the device.

In order to achieve the above object, a modular exoskeleton robot for walking assistance and rehabilitation equipment according to the present invention is a wearable part including a plurality of assists worn on each body part of a user, and at least two or more of the plurality of assists are mutually connected. At least one connecting part detachably connected, a main control unit provided on any one of the plurality of assists and integrally controlling the plurality of assists, and independently controlling the remaining assists not provided with the main control unit among the plurality of assists. It includes at least one sub-controller provided to do so.

In addition, the plurality of assists may be provided to be worn on each joint of the user's upper limbs, lower limbs, or entire body.

In addition, the wearing part may include a hip-assist worn on the user's hip to assist hip joint drive, a knee-assist worn on the user's knee to assist knee joint drive, and the user's ankle It can be worn on the lower extremity of the user, including an ankle-assist worn on an ankle to assist ankle joint drive and a foot-assist worn on the user's foot to assist ankle joint drive. .

In addition, the main control unit may be provided on the hip-assist, and the sub-control unit may be provided on the at least one connecting part connecting the knee, ankle, and foot-assist, respectively.

In addition, the hip-assist alone is worn on the user, the ankle and foot-assist are connected to the connection part and worn on the user, or the knee, ankle and foot-assist are connected to the connection part to the user The hip and knee-assist may be connected to the connection part and worn on the user, or the hip, knee, ankle, and foot-assist may be connected to the connection part and worn on the user.

In addition, the at least one connection part may be provided with at least one of a bolt fastening method, a slide button method, or a toggle method.

In addition, the main control unit may include at least one of an upper control unit, a battery unit, a wireless communication unit, a wired communication unit, a sensing unit, and a power supply unit, and integrally drive and control the plurality of assists.

In addition, the sub control unit includes at least one of a lower control unit, a battery unit, a wireless communication unit, a wired communication unit, a driving unit, a driving source, a deceleration unit, and an encoder, and is connected to the main control unit to perform the plurality of assists. It is possible to drive or control the driving of the plurality of assists independently.

In addition, the main control unit, when a sensor signal is input, estimates a torque using the dynamics of the user's body/leg, and converts the estimated torque to a torque controller , joint torque/position is commanded, and the joint torque/position may be fed back to the torque controller together with the estimated torque.

In addition, the sub-controller, when a sensor signal is input, estimates torque using body/leg dynamics of the user, and converts the estimated torque to a torque controller , joint torque/position is commanded, and the joint torque/position may be fed back to the torque controller together with the estimated torque.

In addition, when the absolute value of the joint angle measured in the walking assistance mode is greater than the dead zone factor, the main and sub controllers measure joint velocity and acceleration and generate transmission torque by Equation 1 below. and

[Equation 1]

는 전달 토크이다. here,

is the transfer torque.

When the absolute value of the joint angle is smaller than the blind spot factor, the transmission torque may be generated as 0, and driving may be controlled in the walking assistance mode.

In addition, the support torque is generated by Equation 2 in proportion to the operating speed,

[Equation 2]

Torque may be transmitted in the direction in which the thigh, tibia, and foot of the user move, and a predetermined weight for each factor for determining the walking assistance mode may be applied.

In addition, after the main and sub controllers previously set driving conditions including the range of motion, speed and time for each joint of the user in the rehabilitation treatment mode, the absolute value of the measured joint angle is the blind spot factor (dead zone). factor), the joint speed and acceleration are measured to generate the transmitted torque by Equation 1 below,

[Equation 1]

는 전달 토크이다. here,

is the transfer torque.

When the absolute value of the joint angle is smaller than the blind spot factor, input torque and output torque may be mutually compared, and driving may be controlled in the rehabilitation treatment mode.

In addition, when the transmission torque is generated, a torque for feedback on the user's gait is generated and input, compared with the use torque, and the corrected torque is transmitted as torque for each joint of the user, and the torque for feedback is can be calculated by

A modular exoskeleton robot for walking assistance and rehabilitation devices according to another preferred aspect of the present invention includes a wearing part including a plurality of assists worn on a user's body, and at least two or more of the plurality of assists are detachably connected to each other. At least one connection unit for controlling, a main control unit for driving and controlling the plurality of assists in any one of a walking assistance mode and a rehabilitation treatment mode, and electrically connected to and controlled from the main control unit, or independent driving control, and at least one sub-controller connected to at least one of the plurality of assists.

In addition, the plurality of assists are provided to be worn on each joint of the user's upper limbs, lower limbs, or entire body, the main controller is provided in one of the plurality of assists, and the sub-controller transmits the plurality of assists to each other. It may be provided in the connection part to connect.

In addition, the wearing part may include a hip-assist worn on the user's hip to assist hip joint drive, a knee-assist worn on the user's knee to assist knee joint drive, and the user's ankle It can be worn on the lower extremity of the user, including an ankle-assist worn on an ankle to assist ankle joint drive and a foot-assist worn on the user's foot to assist ankle joint drive. .

In addition, the main control unit may be provided in the hip-assist, and the sub-control unit may be provided in each of the at least one connecting part connecting the knee, ankle, and foot-assist.

In addition, the hip-assist alone is worn on the user, the ankle and foot-assist are connected to the connection part and worn on the user, or the knee, ankle and foot-assist are connected to the connection part to the user The hip and knee-assist may be connected to the connection part and worn on the user, or the hip, knee, ankle, and foot-assist may be connected to the connection part and worn on the user.

In addition, the at least one connection part may be provided with at least one of a bolt fastening method, a slide button method, or a toggle method.

In addition, the main control unit includes at least one of an upper control unit, a battery unit, a wireless communication unit, a wired communication unit, a sensing unit, and a power supply unit, and the sub-control unit includes a lower control unit, a battery unit, a wireless communication unit, It may include at least one of a wired communication means, a driving means, a driving source, a deceleration means, and an encoder.

In addition, the main and sub controllers, when a sensor signal is input, estimate a torque using the dynamics of the user's body/leg, and convert the estimated torque to a torque controller controller) to command joint torque/position, and the joint torque/position may be fed back to the torque controller together with the estimated torque.

In addition, the main and sub controllers, when the absolute value of the joint angle measured in the walking assistance mode is greater than the dead zone factor, measure the joint speed and acceleration and determine the transmission torque by Equation 1 below. create,

[Equation 1]

는 전달 토크이다. here,

is the transfer torque.

When the absolute value of the joint angle is smaller than the blind spot factor, the transmission torque may be generated as 0, and driving may be controlled in the walking assistance mode.

In addition, the support torque is generated by Equation 2 in proportion to the operating speed,

[Equation 2]

Torque may be transmitted in the direction in which the thigh, tibia, and foot of the user move, and a predetermined weight for each factor for determining the walking assistance mode may be applied.

In addition, the main and sub controllers, in the rehabilitation treatment mode, after previously setting driving conditions including the range of motion, speed and time for each joint of the user, the absolute value of the measured joint angle is a blind spot factor (dead spot). zone factor), the joint speed and acceleration are measured to generate the transmission torque by Equation 1 below,

[Equation 1]

는 전달 토크이다. here,

is the transfer torque.

When the absolute value of the joint angle is smaller than the blind spot factor, input torque and output torque may be mutually compared, and driving may be controlled in the rehabilitation treatment mode.

In addition, when the transmission torque is generated, a torque for feedback on the user's gait is generated and input, compared with the use torque, and the corrected torque is transmitted as torque for each joint of the user, and the torque for feedback is can be calculated by

According to the present invention having the configuration as described above, first, the exoskeleton robot capable of assisting the user's movement is provided to enable independent operation by mounting and dismounting of each module, thereby improving the user's usability and accessibility. there is.

Second, a plurality of assists are provided so that the user's body can be assisted in driving each joint, and at least one of the plurality of assists can be selected or connected to other assists as needed, compared to existing fixed exoskeleton robots. convenience can be increased.

Third, a walking assistance mode in which the user walks while wearing the exoskeleton robot and a sitting rehabilitation treatment mode in which the user performs rehabilitation treatment while sitting on a chair can be implemented with a single exoskeleton robot. Therefore, as it is provided to users in various forms of use, such as walking assistance or rehabilitation treatment mode, the effect of improving economic feasibility can be expected by implementing various functions with one exoskeleton robot.

Fourth, a main controller, which is an upper controller, and a sub-controller, which is a lower controller, capable of exchanging signals with the main controller through wired/wireless communication, are provided between a plurality of assists, thereby enabling integrated drive control and independent drive control of the exoskeleton robot.

1 is a perspective view schematically showing a modular exoskeleton robot for a walking assistance and rehabilitation device according to a preferred embodiment of the present invention.
FIG. 2 is a perspective view schematically showing the modular exoskeleton robot for walking assistance and rehabilitation devices shown in FIG. 1 from another direction.
FIG. 3 is a perspective view schematically illustrating a state in which the hip-assist and knee-assist of the wearable part shown in FIG. 1 are connected by a connection part.
FIG. 4 is a perspective view schematically illustrating a state in which the knee-assist and ankle-assist of the wearable part shown in FIG. 1 are connected by a connection part.
FIG. 5 is a perspective view schematically illustrating a state in which the hip-assist, knee-assist, and ankle-assist of the wearable part shown in FIG. 1 are connected by a connection part.
FIG. 6 is a block diagram schematically illustrating a control algorithm of the main and sub controllers shown in FIG. 1 .
7 is a flowchart schematically showing a control algorithm in walking assistance mode of a modular exoskeleton robot for walking assistance and rehabilitation equipment according to a preferred embodiment of the present invention. and,
8 is a flowchart schematically showing a control algorithm in a rehabilitation treatment mode of a modular exoskeleton robot for walking assistance and rehabilitation equipment according to a preferred embodiment of the present invention.

Hereinafter, a preferred embodiment of the present invention will be described with reference to the accompanying drawings. However, the spirit of the present invention is not limited to such embodiments, and the spirit of the present invention may be proposed differently by adding, changing, and deleting components constituting the embodiments, but this is also included in the spirit of the present invention. It will be.

Referring to FIGS. 1 and 2 , a modular exoskeleton robot 1 for a walking assistance and rehabilitation device according to a preferred embodiment of the present invention is schematically shown. As shown in FIGS. 1 and 2 , the modular exoskeleton robot 1 for walking assistance and rehabilitation devices according to an embodiment of the present invention includes a wearing part 10, a connecting part 20, a main control unit 30, and It includes a sub control unit 40.

The wearable part 10 is worn as a plurality of assists 11, 12, 13, and 14 on each body part of the user H. Here, a plurality of assists 11, 12, 13, and 14 are provided to correspond to the user H's joints. In this embodiment, as shown in FIGS. 1 and 2 , the wearable part 10 is exemplified as being worn below the waist of the user H, that is, on the lower extremity. To this end, the wearing part 10 may include a hip-assist 11, a knee-assist 12, an ankle-assist 13, and a foot-assist 14.

For reference, in this embodiment, the wearable part 10 is exemplified as being worn on the lower extremity to support the movement of the lower extremity of each user H, but is not limited thereto. For example, the wearing unit 10 may include a plurality of assists (not shown) so that it can be worn on the upper limbs of the user H, and a modified example worn on both the upper and lower limbs, that is, the whole body, is also possible.

The hip-assist 11 is worn on the hip of the user H and assists in driving the hip joint. The knee-assist 12 is worn on the knee of the user H and assists in driving the knee joint. The ankle-assist 13 is worn on the ankle of the user H and assists in driving the ankle joint. In addition, the foot-assist 14 is worn on the foot of the user H and assists the driving of the foot joint. The hip, knee, ankle, and foot-assist 11, 12, 13, and 14 are worn in close contact with the user H's hip, knee, ankle, and ankle, respectively, and are individually detachable. In addition, the hip, knee, ankle, and foot-assist 11, 12, 13, and 14 may be provided with at least one wearing means such as a belt having a kind of elasticity.

Meanwhile, the shape, thickness, and number of the hip, knee, ankle, and foot-assist 11, 12, 13, and 14 are not limited to those illustrated in FIGS. 1 and 2 .

The connecting part 20 connects at least two or more of the plurality of assists 11, 12, 13, and 14 of the wearing part 10 in a mutually detachable manner. This connection part 20 is provided by at least one of a bolt fastening method, a slide button method, or a toggle method. That is, any one of various connection methods capable of interconnecting two different members is applied to the connection unit 20 . Here, since the bolt fastening method, the slide button method, or the toggle method can be understood from known technologies, a detailed description thereof will be omitted.

For reference, the main feature of the connection unit 20 is a configuration that connects a plurality of assists 11, 12, 13, and 14 to each other in a detachable manner. Therefore, the connection unit 20 is adopted by any one of the above-described bolt fastening method, slide button method, or toggle method so that the user can easily connect or separate the plurality of assists 11, 12, 13, and 14. .

Referring to FIGS. 3 to 5 , a state in which a plurality of assists 11, 12, 13, and 14 are connected using the connection unit 20 is schematically illustrated.

Referring to FIG. 3 , a hip-knee-orthosis (HKO) is shown in which a hip-assist 11 and a knee-assist 12 are interconnected by a connecting portion 20, and in FIG. 4, the knee-assist 12, KAFO (Knee-Ankle-Foot Orthosis) in which the ankle-assist 13 and the foot-assist 14 are interconnected by a connecting portion 20 is shown. Also, referring to FIG. 5 , a state in which the hip-assist 11 , the knee-assist 12 , and the ankle-assist 13 are interconnected by the connection part 20 is shown. For reference, as shown in FIGS. 1 and 2, the hip-assist 11, the knee-assist 12, the ankle-assist 13, and the foot-assist 14 are all connected by the connection part 20 (HKAFO) -Knee-Ankle-Foot Orthosis) is also possible.

As described above, the plurality of assists 11, 12, 13, and 14 of the wearing part 10 are AFO (Ankle-Foot Orthosis) in which the ankle and foot-assist 13, 14 are interconnected. Knee-Ankle-Foot Module, Hip and Knee-Assist (11) which is Knee-Ankle-Foot Orthosis (KAFO) with interconnected Knee, Ankle and Foot-Assist (12) (13) (14) 12) Hip-Knee Module, Hip-Assist (11), which is HKO (Hip-Knee-Orthosis) interconnected Hip Module and Hip, Knee, Ankle, and Foot-Assist (11), which is HA (Hip Assist) provided alone (12) (13) (14) can be provided as a hip-knee-ankle-foot module that is HKAFO (Hip-Knee-Ankle-Foot Orthosis) connected. In summary, in the wearable part 10, the plurality of assists 11, 12, 13, and 14 are interconnected and separated by the connection part 20, so that the ankle-foot module, knee-foot module, and It can be provided as at least one of an ankle-foot module, a hip-knee module, a hip module, and a hip-knee-ankle-foot module.

In this way, the wearable part 10 is provided with a plurality of assists 11, 12, 13, and 14, and the plurality of assists 11, 12, 13, and 14 are connected in various forms according to use requirements. can As a result, the modular exoskeleton robot 1 can be modified in various forms so as to be suitable for lower extremity walking assistance or rehabilitation treatment.

The main controller 30 is provided in any one of the plurality of assists 11, 12, 13, and 14, and controls the plurality of assists 11, 12, 13, and 14 in an integrated manner. As shown in FIG. 2 , such a main controller 30 may be provided in the hip-assist 11 . However, it is not necessarily limited thereto, and may be provided in any one of the knee-assist 12, the ankle-assist 13, and the foot-assist 14.

Meanwhile, the main control unit 30 may include at least one of an upper control unit, a battery unit, a wireless communication unit, a wired communication unit, a sensing unit, and a power supply unit. Therefore, the main control unit 30 can detect a change in muscle strength while the user is wearing the wearable unit 10 and transmit/receive a control signal to the sub-control unit 40 to be described later through a wired/wireless communication means. there is. In this embodiment, it is illustrated that a control signal is transmitted and received to a sub controller 40 to be described later through a main signal line 31 as shown in FIG. 2 .

At least one sub-controller 40 is provided to independently control the remaining assists for which the main control unit 30 is not provided among the plurality of assists 11, 12, 13, and 14, respectively. These sub-controllers 40 may be electrically connected to the main control unit 30 for integrated control, or may be provided as independent driving control means. To this end, the sub control unit 40 may include at least one of a sub control unit, a wireless communication unit, a wired communication unit, and a sensing unit, similarly to the main control unit 30 . In addition, although not shown in detail, the sub-controller 40 includes at least one of a driving means, a driving source, a deceleration means, and an encoder, so that independent driving is possible.

Meanwhile, in this embodiment, as shown in FIGS. 1 and 2 , the main control unit 30 is provided on the hip-assist 11, and the sub-control unit 40 is the knee, ankle, and foot-assist 12, 13 ) It is exemplified as being provided in the connection part 20 for interconnecting (14). The installation position, number, etc. of these sub-controllers 40 are not limited to the illustrated example, and various modifications are possible.

In addition, as shown in FIG. 2 , the main control unit 30 is electrically connected to a neighboring sub control unit 40 through a main signal line 31, and the sub control unit 40 is connected to the neighboring sub control unit 40. It is exemplified as being electrically connected to each other through the sub signal line 41. However, it is not limited to the illustrated example, and various modifications are possible, such as connecting the main and sub controllers 30 and 40 wirelessly to each other.

As described above, the main controller 30 is provided in the hip-assist 11, which is any one of the plurality of assists 11, 12, 13, and 14, to provide an integrated control signal for the modular exoskeleton robot 1. and the sub controller 40 controls the plurality of assists 11, 12, 13, and 14 individually. As a result, the plurality of assists 11, 12, 13, and 14 can be integrated or individually driven.

More specifically, the main controller 30 is equipped with a controller for main walking assistance and rehabilitation treatment of the modular exoskeleton robot 1 . For reference, the sensing means of the sub-controller 40 provided in each of the plurality of assists 11, 12, 13, and 14 is capable of wired/wireless communication with the main controller 30, which is a higher-level controller. / The sensor signal of the sub controller 40, which is a lower controller, is transmitted to the main controller 30, which is a higher controller, using wireless communication.

When the main and sub-controllers 30 and 40 are interconnected, integrated driving control is performed by the main controller 30, which is a higher-order controller. For example, when the hip, knee, ankle, and foot-assist 11, 12, 13, and 14 are all connected to HKAFO, the hip joint sensor, the knee joint sensor, and the ankle joint sensor provided in the plurality of sub-controllers 40 are combined to Driving is operated in the main controller 30 provided in the hip-assist 11. In addition, when the knee, ankle, and foot-assist 12, 13, 14 are connected to KAFO, the knee joint controller, that is, the knee joint, based on the knee joint and ankle joint sensors provided in the sub control unit 40 The drive is operated independently in the provided sub-controller 40.

In addition, in the AFO to which the ankle and foot-assists 13 and 14 are connected, independent drive using the ankle joint sensor (not shown) of the sub control unit 40 provided in the connection unit 20 located at the ankle of the user H can operate. In addition, the HA and HKO can operate the main control unit 30 provided in the HA as a driving module controller. Here, app implementation and PC GUI implementation are possible for menu configuration, and wired or wireless connection is possible for data transmission.

The above control algorithm of the main and sub controllers 30 and 40 will be described in detail with reference to FIG. 6 .

The main control unit 30 estimates the torque using the body/leg dynamics 33 of the user H through the input sensor signal 32 (34). . In addition, the main control unit 30 provides the estimated torque to a torque controller 35 and commands the joint torque/position of each joint (36). At this time, the joint torque The /position is fed back (37) to the torque controller (35) together with the torque estimated in step 34.

The control algorithm of the sub controller 40 is similar to the control algorithm of the main controller 30 described above, so that independent driving is possible. More specifically, the sub controller 40 receives the sensor signal 42 and estimates the torque using the body/leg dynamics 43 of the user H (44). The sub control unit 40 provides the estimated torque to the torque controller 45 and commands the joint torque/position (46). At this time, the joint torque/position is fed back 47 to the torque controller 45 together with the torque estimated in step 44.

As described above, the joint torque based on the cognitive interaction between the user H and the modular exoskeleton robot 1, that is, the joint torque, is determined through independent module driving of the main and sub controllers 30 and 40. You can control it.

Referring to FIG. 7 , a control algorithm 100 in walking assistance mode using the modular exoskeleton robot 1 will be described.

Referring to FIG. 7 , a joint angle in walking assistance mode, that is, a joint angle q is measured (110). At this time, the joint angle q may be measured through sensing means provided in the main and sub controllers 30 and 40, respectively.

In step 120, the joint angle q measured in this way is compared with a value d representing a dead zone factor and an absolute value. If the absolute value of the joint angle q is greater than the blind spot factor value d, joint velocity and acceleration are measured (130). As a result, a transmission torque as shown in Equation 1 below is generated (140), and the walking assistance function is operated.

는 전달 토크이다. here,

is the transfer torque.

In addition, if the absolute value of the joint angle is smaller than the blind spot factor (d) in step 120, the transmission torque is generated as 0, and the walking assistance function is operated (125).

For reference, during the walking assistance function, support torque is generated in proportion to the operating speed, which is expressed in Equation 2 below.

At this time, torque is transmitted in the direction in which the thigh, tibia, and foot of the user H move, and weights for each predetermined factor for determining the walking assistance mode are applied.

Referring to FIG. 8 , a control algorithm 200 in a rehabilitation treatment mode using the modular exoskeleton robot 1 will be described.

First, in the rehabilitation treatment mode, a rehabilitation treatment operation is controlled in a state in which a user inputs and sets basic driving conditions for each joint, that is, a motion range, speed, and time.

In a state in which driving conditions according to basic joints are input, a joint angle, that is, a joint angle q is measured (210). The absolute value of the measured joint angle (q) is compared with the blind spot factor (d) (220), and if the absolute value of the joint angle (q) is greater than the blind spot factor (d), joint velocity and acceleration are measured. (230). Therefore, as in the walking assistance mode described with reference to FIG. 7 , transmission torque is generated using Equation 1 (240), and the rehabilitation treatment mode function is operated. Here, in the transfer torque generation step 240, support torque is generated in proportion to the operating speed.

When the transmission torque is generated (240), the rehabilitation treatment mode is operated. Here, torque for feedback on the user's gait is generated and input, compared with the used torque, and the corrected torque is transmitted as torque for each joint. At this time, the torque for feedback may be calculated using Equation 2 described above.

If the absolute value of the joint angle is smaller than the blind spot factor (d) in step 220, the rehabilitation treatment mode is operated by comparing the input torque and the output torque.

As described above, although it has been described with reference to the preferred embodiments of the present invention, those skilled in the art will variously modify and change the present invention within the scope not departing from the spirit and scope of the present invention described in the claims below. You will understand that it can be done.

1: exoskeleton robot H: user
10: wearing part 11: hip-assist
12: knee-assist 13: ankle-assist
14: foot-assist 20: connection
30: main control unit 31: main signal line
40: sub control unit 41: sub signal line

Claims (26)

a wearing unit including a plurality of assists worn on each body part of the user;
at least one connection part for detachably connecting at least two or more of the plurality of assists;
a main control unit provided in one of the plurality of assists and integrally controlling the plurality of assists; and
at least one sub-controller provided to independently control the remaining assists not provided by the main controller among the plurality of assists;
A modular exoskeleton robot for walking aids and rehabilitation devices comprising a. According to claim 1,
The plurality of assists are modular exoskeleton robots for walking assistance and rehabilitation devices provided to be worn on each joint of the user's upper limbs, lower limbs or whole body. According to claim 1,
The wearing part,
a hip-assist that is worn on the user's hip and assists in driving the hip joint;
a knee-assist that is worn on the user's knee and assists in driving the knee joint;
an ankle-assist worn on the user's ankle to assist in driving an ankle joint; and
a foot-assist worn on the user's foot to assist in driving the ankle joint;
including,
A modular exoskeleton robot for walking assistance and rehabilitation devices worn on the lower extremities of the user. According to claim 3,
The main control unit is provided in the hip-assist,
The sub-controller is a modular exoskeleton robot for a walking assistance and rehabilitation device, respectively provided in the at least one connecting part connecting the knee, ankle, and foot-assist. According to claim 3,
The hip-assist is worn by the user alone, or
The ankle and the foot-assist are connected to the connection part and worn by the user,
The knee, ankle, and foot-assist are connected to the connection part and worn by the user,
The hip and knee-assist are connected to the connection part and worn by the user,
A modular exoskeleton robot for a walking assistance and rehabilitation device in which the hip, knee, ankle, and foot-assist are connected to the connection part and worn by the user. According to claim 1,
The modular exoskeleton robot for walking assistance and rehabilitation devices, wherein the at least one connection part is provided by at least one of a bolt fastening method, a slide button method, and a toggle method. According to claim 1,
The main control unit includes at least one of an upper control unit, a battery unit, a wireless communication unit, a wired communication unit, a sensing unit, and a power supply unit, and is a module for walking assistance and rehabilitation devices that integrally drives and controls the plurality of assists. exoskeleton robot. According to claim 1,
The sub control unit includes at least one of a lower control means, a battery means, a wireless communication means, a wired communication means, a driving means, a driving source, a deceleration means, and an encoder,
A modular exoskeleton robot for a walking assistance and rehabilitation device that drives and controls the plurality of assists by connecting to the main control unit or independently drives and controls the plurality of assists. According to claim 1,
The main control unit,
When a sensor signal is input, torque is estimated using the user's body/leg dynamics;
Providing the estimated torque to a torque controller to command joint torque/position;
The joint torque/position is a modular exoskeleton robot for walking assistance and rehabilitation devices that is fed back to the torque controller together with the estimated torque. According to claim 1,
The sub-controller,
When a sensor signal is input, torque is estimated using the user's body/leg dynamics;
Providing the estimated torque to a torque controller to command joint torque/position;
The joint torque/position is a modular exoskeleton robot for walking assistance and rehabilitation devices that is fed back to the torque controller together with the estimated torque. According to claim 1,
The main and sub controllers, when the absolute value of the joint angle measured in the walking assistance mode is greater than the dead zone factor, measure joint velocity and acceleration and generate transmission torque by Equation 1 below,
[Equation 1]

here,

is the transfer torque.
A modular exoskeleton robot for a walking assistance and rehabilitation device that generates the transmitted torque as 0 when the absolute value of the joint angle is smaller than the blind spot factor and controls driving in the walking assistance mode. According to claim 11,
A support torque is generated by Equation 2 in proportion to the operating speed,
[Equation 2]

A modular exoskeleton robot for walking assistance and rehabilitation devices that transmits torque in the direction in which the user's thigh, tibia, and foot move, and applies a predetermined weight for each factor for determining the walking assistance mode. According to claim 1,
After the main and sub controllers preset driving conditions including the range of motion, speed and time for each joint of the user in the rehabilitation treatment mode,
When the absolute value of the measured joint angle is greater than the dead zone factor, the joint speed and acceleration are measured to generate a transmission torque by Equation 1 below,
[Equation 1]

here,

is the transfer torque.
A modular exoskeleton robot for walking assistance and rehabilitation devices that drives and controls the rehabilitation treatment mode by mutually comparing input torque and output torque when the absolute value of the joint angle is smaller than the blind spot factor. According to claim 13,
When the transmission torque is generated, torque for feedback on the user's gait is generated and input, compared with the used torque, and the corrected torque is transmitted as torque for each joint of the user, and the torque for feedback is calculated by modular exoskeleton robots for walking aids and rehabilitation devices. a wearing unit including a plurality of assists worn on a user's body;
at least one connection part for detachably connecting at least two or more of the plurality of assists;
a main controller for driving and controlling the plurality of assists in one of a walking assistance mode and a rehabilitation treatment mode; and
at least one sub-controller connected to at least one of the plurality of assists so as to be electrically connected to and controlled from the main control unit or to be driven independently;
A modular exoskeleton robot for walking aids and rehabilitation devices comprising a. According to claim 15,
The plurality of assists are provided to be worn on each joint of the user's upper limbs, lower limbs or whole body,
The main control unit is provided in any one of the plurality of assists,
The sub-controller is a modular exoskeleton robot for a walking assistance and rehabilitation device provided in the connection part for interconnecting the plurality of assists. According to claim 15,
The wearing part,
a hip-assist that is worn on the user's hip and assists in driving the hip joint;
a knee-assist that is worn on the user's knee and assists in driving the knee joint;
an ankle-assist worn on the user's ankle to assist in driving an ankle joint; and
a foot-assist worn on the user's foot to assist in driving the ankle joint;
including,
A modular exoskeleton robot for walking assistance and rehabilitation devices worn on the lower extremities of the user. According to claim 17,
The main control unit is provided in the hip-assist,
The sub-controller is a modular exoskeleton robot for a walking assistance and rehabilitation device, respectively provided in the at least one connecting part connecting the knee, ankle, and foot-assist. According to claim 17,
The hip-assist is worn by the user alone, or
The ankle and the foot-assist are connected to the connection part and worn by the user,
The knee, ankle, and foot-assist are connected to the connection part and worn by the user,
The hip and knee-assist are connected to the connection part and worn by the user,
A modular exoskeleton robot for a walking assistance and rehabilitation device in which the hip, knee, ankle, and foot-assist are connected to the connection part and worn by the user. According to claim 15,
The modular exoskeleton robot for walking assistance and rehabilitation devices, wherein the at least one connection part is provided by at least one of a bolt fastening method, a slide button method, and a toggle method. According to claim 15,
The main controller includes at least one of an upper control means, a battery means, a wireless communication means, a wired communication means, a sensing means, and a power supply means,
The sub-control unit includes at least one of a lower control means, a battery means, a wireless communication means, a wired communication means, a driving means, a driving source, a deceleration means, and an encoder. According to claim 15,
The main and sub control units,
When a sensor signal is input, torque is estimated using the user's body/leg dynamics;
Providing the estimated torque to a torque controller to command joint torque/position;
The joint torque/position is a modular exoskeleton robot for walking assistance and rehabilitation devices that is fed back to the torque controller together with the estimated torque. According to claim 15,
The main and sub controllers, when the absolute value of the joint angle measured in the walking assistance mode is greater than a dead zone factor, measure joint velocity and acceleration to generate transmission torque by Equation 1 below, ,
[Equation 1]

here,

is the transfer torque.
A modular exoskeleton robot for a walking assistance and rehabilitation device that generates the transmitted torque as 0 when the absolute value of the joint angle is smaller than the blind spot factor and controls driving in the walking assistance mode. According to claim 23,
A support torque is generated by Equation 2 in proportion to the operating speed,
[Equation 2]

A modular exoskeleton robot for walking assistance and rehabilitation devices that transmits torque in the direction in which the user's thigh, tibia, and foot move, and applies a predetermined weight for each factor for determining the walking assistance mode. According to claim 15,
After the main and sub controllers preset drive conditions including the range of motion, speed and time for each joint of the user in the rehabilitation treatment mode,
When the absolute value of the measured joint angle is greater than the dead zone factor, the joint speed and acceleration are measured to generate a transmission torque by Equation 1 below,
[Equation 1]

here,

is the transfer torque.
A modular exoskeleton robot for walking assistance and rehabilitation devices that drives and controls the rehabilitation treatment mode by mutually comparing input torque and output torque when the absolute value of the joint angle is smaller than the blind spot factor. According to claim 25,
When the transmission torque is generated, torque for feedback on the user's gait is generated and input, compared with the used torque, and the corrected torque is transmitted as torque for each joint of the user, and the torque for feedback is calculated by modular exoskeleton robots for walking aids and rehabilitation devices.

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