WO2021002663A1 - Système de robot pour automatisation de marche - Google Patents

Système de robot pour automatisation de marche Download PDF

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Publication number
WO2021002663A1
WO2021002663A1 PCT/KR2020/008566 KR2020008566W WO2021002663A1 WO 2021002663 A1 WO2021002663 A1 WO 2021002663A1 KR 2020008566 W KR2020008566 W KR 2020008566W WO 2021002663 A1 WO2021002663 A1 WO 2021002663A1
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WIPO (PCT)
Prior art keywords
robot
walking
motion
wearing
training
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PCT/KR2020/008566
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English (en)
Korean (ko)
Inventor
김호준
박정규
지영훈
조정호
박수현
최동은
안철웅
한창수
Original Assignee
주식회사 헥사휴먼케어
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Priority to CN202080007719.1A priority Critical patent/CN113226489B/zh
Publication of WO2021002663A1 publication Critical patent/WO2021002663A1/fr

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    • A63B22/02—Exercising apparatus specially adapted for conditioning the cardio-vascular system, for training agility or co-ordination of movements with movable endless bands, e.g. treadmills
    • A63B22/0235—Exercising apparatus specially adapted for conditioning the cardio-vascular system, for training agility or co-ordination of movements with movable endless bands, e.g. treadmills driven by a motor
    • A63B22/0242—Exercising apparatus specially adapted for conditioning the cardio-vascular system, for training agility or co-ordination of movements with movable endless bands, e.g. treadmills driven by a motor with speed variation
    • A63B22/025—Exercising apparatus specially adapted for conditioning the cardio-vascular system, for training agility or co-ordination of movements with movable endless bands, e.g. treadmills driven by a motor with speed variation electrically, e.g. D.C. motors with variable speed control
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    • A61H1/0237—Stretching or bending or torsioning apparatus for exercising for the lower limbs
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Definitions

  • the present invention relates to a robot system for gait rehabilitation training, and in particular, to a gait automation robot system capable of reducing a space required for system operation while greatly improving accessibility to a wearable robot and operability for equipment setting.
  • an automated walking robot system provides comprehensive support for walking training of walking trainers by combining a wearable robot, a body weight support (BWS), a treadmill, and a display.
  • BWS body weight support
  • the wearing robot generates a walking motion with actuator power while providing mountability to the walking trainer with a detachable/installation function, and the BWS adjusts the training intensity by varying the burden load received by the walking trainer, and the tread
  • the mill generates a walking speed according to the walking motion of the wearing robot, and the display provides a visual screen during training.
  • the walking automation robot system effectively obtains a biped walking posture experience that is useful for walking training through brain plasticity by combining a wearable robot and a BWS.
  • the existing walking automation robot system includes the following improvements.
  • the existing automated walking robot system not only causes inconvenience to the walking trainer due to the long movement line that approaches the worn robot from the treadmill, but also requires the movement of the wearing robot for the walking trainer for the operation of the wear, so the system operator (e.g., rehabilitation therapist) ) Is demanding excessive manual operation.
  • the existing automated walking robot system needs a large space for the movement of the wearing robot tailored to the walking trainer, so it is inevitable to be installed in buildings such as hospitals where it is difficult to secure space.
  • Hocoma's Lokomat TM or P&S Mechanics' WalkBot TM is a walking automation robot system that is difficult to install due to the excessive inconvenience of walking trainers and system operators (e.g., rehabilitation therapists) and the space that requires movement of the wearing robot. Represent.
  • the present invention in consideration of the above points greatly improves the accessibility of the wearable robot and the operability of equipment setting while lowering the spatial occupancy of the system by concentrating the BWS/treadmill/display.
  • a walking automation robot system that can provide big data and AI (Artificial Intelligence) utilization later by stabilizing the movement of the wearing robot using effects, setting the hip joint position by adjusting the height of the wearing robot, and learning training information and effects using various sensors. There is a purpose in providing.
  • the walking automation robot system of the present invention for achieving the above object includes: a walking automation robot system, a wearable robot that has joint links left and right, and generates a walking motion; A setting system for supporting the wearing robot so that the joint link is positioned toward the entrance of the treadmill that reproduces the walking speed; A training system that assists in walking motion through up/down/left/right movement so that the walking motion is continued; An additional system is included that detects and stores the walking motion as walking training data and accumulates it as training information.
  • the wearing robot is characterized in that it has a hip joint and a knee joint joint in the joint link.
  • the setting system and the training system are located opposite the inlet of the treadmill.
  • the setting system includes a robot height adjuster connected to a motion supporter frame to adjust the vertical height of the wearing robot, and the robot height adjuster converts the rotational force of the motor into a linear movement force of the ball screw rod. Lift the 1-axis frame bracket of the motion supporter frame up.
  • the setting system includes a robot withdrawal adjuster connected to the training system via the motion supporter frame to adjust the withdrawal length of the wearing robot, and the robot withdrawal adjuster is a guider block of the training system It is moved along the robot withdrawal guide of the motion supporter frame to adjust the withdrawal length of the wearing robot.
  • the training system includes a BWS that compensates for the additional weight of the harness on the harness by a weight balance effect using a combination of a winch and a weight, and the walking by vertical motion using a counter balance effect of a uniaxial elastic member made of a spring. It includes a two-axis motion supporter for assisting the walking motion through a left-right motion using the RWS for motion assistance and a left-right translational movement of a two-axis elastic member made of a spring.
  • the additional system includes a P-bar located on both sides of the treadmill in front of the wearing robot, a robot controller located in one side of the treadmill in front of the wearing robot, and in the front of the wearing robot. And a display positioned out of the treadmill and a camera positioned out of the treadmill in front of the wearing robot.
  • the P-bar is provided as a load supporting means, and includes a force sensor so that the strength of the load is detected.
  • the robot controller includes the display, the treadmill, the camera, the walking motion of the wearing robot, the robot height adjuster of the setting system, and the BWS of the training system so that the walking training data is detected and stored.
  • Control the winch applied to The remote controller controls operation of the display, operation of the treadmill, operation of the camera, operation of the actuator of the wearing robot, operation of the motor of the robot height adjuster, and operation of the winch of the BWS with a wired or wireless operation signal.
  • the automated walking robot system of the present invention implements the following actions and effects.
  • the RWS Robot Weight Support
  • the RWS Robot Weight Support
  • the 2-axis motion supporter which generates the spring translation effect for the left and right movement of the walking motion, is linked to the wearing robot, thereby stabilizing the movement of the center of gravity of the wearing robot and improving the stability of the left and right movement of the trainee by the fixed wearing robot. Let me do it.
  • the height adjuster in which the height is adjusted is linked to the wearing robot, thereby facilitating the setting of the hip joint position of the wearing robot.
  • FIG. 1 is an example in which the walking automation robot system according to the present invention is composed of a setting system, a training system, and an additional system
  • FIG. 2 is a configuration diagram of a robot height adjuster constituting the setting system according to the present invention
  • FIG. 3 is the present invention
  • Figure 4 is a configuration and operation state of the robot withdrawal adjuster constituting the setting system according to the present invention
  • FIG. 1 is an example in which the walking automation robot system according to the present invention is composed of a setting system, a training system, and an additional system
  • FIG. 2 is a configuration diagram of a robot height adjuster constituting the setting system according to the present invention
  • FIG. 3 is the present invention
  • It is an example of the hip joint position setting of the wearing robot through the robot height adjuster according to
  • FIG. 7 is an example of a layout of an RWS according to the present invention
  • FIG. 8 is an operation state of the BWS according to the present invention
  • FIG. 9 is a state of implementing vertical/left and right movements of the RWS and the two-axis motion supporter according to the present invention.
  • the walking automation robot system 1000 includes a robot height adjuster (1-6)/robot withdrawal adjuster (1-8) as a setting system with a wearable robot (1-1) as a center, and a BWS (Body Weight Support) (1) / RWS (Robot Weight Support) (130) and 2-axis motion supporter (140), consisting of a two-degree of freedom manual mechanism device 120 as a training system, P-bar (1-2) / robot Controller (1-3) / display (1-4) / treadmill (1-5) / remote control (1-7) / camera (1-9) / user interface (2000) as an additional system .
  • a robot height adjuster (1-6)/robot withdrawal adjuster (1-8) as a setting system with a wearable robot (1-1) as a center
  • BWS Body Weight Support
  • RWS Robot Weight Support
  • 2-axis motion supporter consisting of a two-degree of freedom manual mechanism device 120 as a training system
  • the walking automation robot system 1000 is composed of a front robot mounting method arrangement in which the wearable robot 1-1 is aligned with the position of the trainee 100, so that the walking automation robot system 1000 is a rear robot mounting method arrangement. It is characterized by a walking automation robot system that eliminates all the shortcomings of Hocoma's Lokomat TM or P&S Mechanics' WalkBot TM , which have a central system configuration.
  • the wearing robot (1-1), the robot height adjuster (1-6), the robot withdrawal adjuster (1-8), the BWS (1), the RWS (130), the two-axis motion supporter (140) ), the P-bar (1-2), the robot controller (1-3), the display (1-4), the treadmill (1-5), the camera (1-9), etc. are located in the XYZ coordinate system
  • the direction in which the movement of the trainee 100 moves in the X direction is defined as the front of the wearing robot 1-1, while the opposite movement is defined as the rear of the wearing robot 1-1. That is, "front” means the direction that the trainee 100 wearing the wearing robot 1-1 looks at.
  • the wearing robot 1-1 has a front robot mounting method arrangement tailored to the position of the trainee 100, so that a system user (eg, a rehabilitation therapist) can manually manipulate the robot wearing operation of the trainee 100. Allows this to be minimized.
  • a system user eg, a rehabilitation therapist
  • the wearing robot 1-1 is located in front of the treadmill 1-5 (that is, the X direction of the XYZ coordinates that enter and move), and the left/right RWS 130A, 130B of the RWS 130 ) And a joint link 3 connected to each of the connected support links 2, a hip joint 3A and a knee joint 3B that divide the joint link 3 into a hip joint and a knee joint.
  • each of the hip joint 3A and the knee joint 3B is provided with an actuator operated by a remote control 1-7 for generating a walking motion, and in particular, feedback for walking training of the Trainee 100 ( feedback) can be provided with a torque sensor or encoder to be used as data.
  • the setting system enables a system user (eg, a rehabilitation therapist) to minimize a manual operation for the movement of the wearing robot 1-1 required for the trainee 100.
  • a system user eg, a rehabilitation therapist
  • the setting system uses the robot height adjuster 1-6 to adjust the vertical height of the wearing robot 1-1 to fit the hip joint of the trainee 100, and the robot withdrawal adjuster 1-8 ), the horizontal length of the wearing robot 1-1 can be adjusted according to the position of the trainee 100.
  • the training system enables a system user (eg, a rehabilitation therapist) to perform gait training in a state that maximizes the gait motion stability of the wearing robot 1-1 required for gait training of the trainee 100.
  • a system user eg, a rehabilitation therapist
  • the training system can adjust the walking training intensity for the trainee 100 with a weight balance effect for about 0 to 80 kg of the BWS 1, and for the vertical movement of the RWS 130
  • the robot weight is not applied to the trainee 100 due to the counter-balancing effect, and the translational movement for the left and right movement of the two-axis motion supporter 140 provides stability of the center of gravity movement to the trainee 100. .
  • the additional system detects the gait training process and effect accumulated as walking training information of the trainee 100 to a system user (e.g., a rehabilitation therapist) as data, and accumulates the detection data to obtain big data and AI (Artificial AI). Intelligence).
  • a system user e.g., a rehabilitation therapist
  • AI Artificial AI
  • the additional system uses a P-bar (1-2), a display (1-4), a treadmill (1-5), and a camera (1-9) as a trainer system, and a robot controller (1-3). And the remote control 1-7 and the user interface 2000 are divided into user systems.
  • the P-bar (1-2) is composed of a support frame (5) that can be held by hand and functions as a safety rod.
  • the display 1-4 reproduces a screen under the control of the robot controller 1-3 using a monitor or TV.
  • the treadmill 1-5 is driven by the control of the robot controller 1-3 or independently driven to generate various walking speeds.
  • the camera 1-9 checks/records/stores the state during gait training, and provides it to the robot controller 1-3.
  • the P-bar (1-2) is provided with a force sensor (7)
  • the support frame (5) of the force sensor (7) is a single-axis mounting frame (150-1) ( 2) by being positioned at the end portion fixed to the trainee 100 detects the pressure pressing the load bar 5 during gait training, and transmits it to the robot controller 1-3.
  • a pressure sensor including a load cell is applied to the force sensor 7.
  • the robot controller 1-3 is composed of a micro controller unit or a computer.
  • the user interface 3000 sets and changes information (eg, a body dimension value) of the trainee 100 as an input value and provides it to the robot controller 1-3.
  • the remote control 1-7 generates an operation signal by wired or wireless (eg, Bluetooth).
  • the robot controller 1-3 is used to adjust the wire tension of the BWS (1), reproduce the difference in walking speed of the trade mill (1-5), control the screen playback, control the actuator, control the height of the wearing robot and adjust the length of withdrawal, etc.
  • a logic or program for the control is mounted, a matching map for each control target is provided, and information (eg, a body size value) of the trainee 100 is stored.
  • the remote control (1-7) is a winch control of the BWS (1), walking pattern change by the actuator control of the wearing robot (1-1), screen playback of the display (1-4), treadmill (1-5) Adjust the walking speed of the robot and the height of the robot height adjuster (1-6).
  • FIGS. 2 to 4 show detailed configurations of the robot height adjuster 1-6 and the robot withdrawal adjuster 1-8 constituting the setting system.
  • the robot height adjuster (1-6) is in motion so that the wearing robot (1-1) forms the hip joint position (H) of the wearing robot in an initial state. It is connected to the one-axis mounting frame 150-1 of the supporter frame 150 and the one-axis frame bracket 153. Through this, the robot height adjuster (1-6) raises or lowers the overall height of the wearing robot (1-1) so that the wearing robot (1-1) moves to the hip joint regardless of the body size of the trainee (100).
  • the hip joint (3A) can be positioned.
  • the robot height adjuster (1-6) includes a motor (7), a belt (7A), a ball screw rod (8), a pair of guide rods (8A, 8B), an adjuster frame (9) and an indicator (9). It consists of -1).
  • the motor 7 generates rotational power
  • the belt 7A transmits the rotational force of the motor 7 to the ball screw rod 8.
  • the ball screw rod 8 converts the rotational force into a linear movement, and raises or lowers the one-axis frame bracket 153 through the upward or downward movement of the linear movement, thereby providing the one-axis mounting frame 150-1. Make the wearing robot (1-1) rise/fall.
  • the pair of guide rods 8A and 8B is composed of a left guide rod 8A and a right guide rod 8B positioned on both sides of the ball screw rod 8, and a single-axis mounting frame 150-1 ) And stably supports the lifting/lowering movement of the 1-axis mounting frame 150-1.
  • the adjuster frame 9 provides a space in which the motor 7, the belt 7A, the ball screw rod 8, a pair of guide rods 8A, 8B, and the indicator 9-1 are assembled and combined. And, the indicator 9-1 displays the change in the rising/falling distance of the ball screw rod 8 with LED lighting.
  • the operation of the robot height adjuster 1-6 raises the one-axis mounting frame 150-1 of the motion supporter frame 150 to the wearing robot adjustment height K (see Fig. 3), and the one-axis mounting The frame 150-1 lifts the wearing robot 1-1 upward so that the hip joint 3A of the wearing robot 1-1 is in the range of the hip joint of the wearing robot at the hip joint position H of the wearing robot (see Fig. 2). h) (see Fig. 3) can go up.
  • the wearing robot 1-1 can always accurately set the hip joint position even in the difference in body size of the trainee 100 by setting the hip joint range h (see FIG. 3) as the hip joint setting distance.
  • the robot withdrawal controller 1-8 includes a robot locker 4, a robot withdrawal guider 151 and a guider block 152. Through this, the robot withdrawal controller 1-8 unlocks the robot locker 4 by connecting the left/right RWS (130A, 130B) and the 1-axis mounting frame 150-1 of the motion supporter frame 150. After pulling the wearing robot (1-1) can be arranged forward toward the tray (100).
  • the robot locker 4 moves the left RWS 130A and/or the right RWS 130B through the 1-axis mounting frame 150-1 of the motion supporter frame 150 by applying a rod or hook.
  • the robot withdrawal guider 151 is formed of a rectangular frame having an empty space and is provided in the 1-axis mounting frame 150-1 in the longitudinal direction.
  • the guider block 152 protrudes from the left RWS 130A and/or the right RWS 130B and is coupled to the rectangular frame in the rectangular frame space of the robot withdrawal guide 151.
  • the robot withdrawal controller 1-8 pulls the wearing robot 1-1 or the left RWS 130A and/or the right RWS 130B,
  • the guider block 152 is pulled out along the robot withdrawal guider 151 by the pulling force.
  • the wearing robot 1-1 is arranged forward toward the trainee 100, and thereafter, the wearing robot 1-1 returns to the initial position by a push motion of the system user.
  • FIGS. 5 to 7 show detailed configurations of the RWS 130 and the 2-axis motion supporter 140 of the BWS 1 and the two-degree of freedom manual mechanism device 120.
  • the BWS (1) is composed of a support frame (10-1), a winch compensation traction device (10-2) and a harness (Harness) 50.
  • the BWS (1) has a compensation load range of about 0 to 80 kg for the additional weight of the harness applied to the harness 50 due to the Traine 100 (eg, a walking trainer), and a winch compensation traction device With the weight balance effect of (10-2), it is possible to adjust the walking training intensity by adjusting the burden load received by the trainee 100 to about 60% of the compensation load range.
  • the support frame 10-1 has a truss structure, and includes a wire roller 10A on which the winch wire 21-1 is hung.
  • the harness 50 is connected to the harness connection end 21-1A of the winch wire 21-1 exposed from the support frame 10-1, and includes a wearing sheet that the trainee 100 can wear.
  • the winch compensation traction device 10-2 uses the weight balance effect of the weight 27 with a compensation load range of about 0 to 80 kg for the additional weight of the harness received by the winch wire 21-1. It compensates for the load, removes the manual operation for changing/fixing the weight (27) for gait training intensity control, and expands to the big data and AI (Artificial Intelligence) domains, with personal data for analysis/improvement of training performance. Can be accumulated.
  • AI Artificial Intelligence
  • the winch compensation traction device 10-2 includes a self-weight compensation winch 20, a winch motion guide 30, and a winch sensor 40.
  • the self-weight compensation winch 20 is an electric winch 21 that unwinds or winds the winch wire 21-1, and the winch 21 moves in a reverse direction through the winch balancer wire 23-1.
  • the winch balancer (23) that offsets the total weight (weight) of the winch structure, and the winch (21) with a weight connecting rod (29), the trainee (100) is )
  • the trainee (100) is ) To compensate for the additional weight of the harness applied to the harness 50 by means of a weight balance effect.
  • the winch motion guide 30 is equipped with a main post 31 and a winch 21 in pairs to stably guide the upward movement of the winch 21 linked to the winch wire 21-1.
  • the winch plate 33 that moves up and down together with the main post 31, the sensor plate 35 fixed to the support frame 10-1, and a sub post that stably guides the upward movement of the winch balancer 23. 37
  • the sub-post 37 is composed of a side plate 39 having a fixed post bracket (37-1).
  • the winch sensor 40 is provided on the sensor plate 35 and acts as a stopper for the upward movement of the main post 31, while limiting the upward movement state of the winch 21. -1), a position sensor 40-2 at the bottom of the winch that is provided on the sensor plate 35 and acts as a stopper against the downward movement of the main post 31 and limits the downward movement of the winch 21, infrared rays It is composed of a sensor 45 and a reflector 47, and is composed of a weight detection sensor 40-3 that detects a change in distance according to the increase in the quantity of the weight 27.
  • each of the upper winch position sensor 40-1 and the lower winch position sensor 40-2 is constituted by a position sensor target 41 and a photo sensor 43.
  • the position sensor target 41 forms a straight line in the form of a rod bar, and the photo sensor 43 emits light in a vertical movement path of the position sensor target 41.
  • the position sensor target 41 is fixed to the winch plate 33 and moves together with the winch plate 33 while the photo sensor 43 is fixed to the sensor plate 35.
  • the position sensor target 41 rises up and reaches the setting winch position (b) (eg, the upper winch position sensor 40-1) or goes down to reach the training winch position (c) (eg, the bottom of the winch Position sensor (40-2)), and the photo sensor 43 reaches the setting winch position (b) (e.g., the upper position of the winch (40-1)) or reaches the training winch position (c) ( Yes, the position sensor target 41 is in a state where the light is not blocked by the position sensor target 41 until the position sensor at the bottom of the winch (40-2), and the light is moved upward to reach the setting winch position (b).
  • the system user e.g., rehabilitation therapist
  • the position sensor target 41 may be set to operate in reverse, as configured to block light from the photo sensor 43 at the initial winch position (a).
  • the RWS 130 is connected to the robot withdrawal controller 1-8 (see FIG. 4) and the wearing robot 1-1 Adjusts the withdrawal position of, and the 2-axis motion supporter 140 generates stability of the center of gravity movement by translating left and right in the opposite direction of the left and right movement of the wearing robot 1-1.
  • the RWS (130) is coupled to the one-axis mounting frame (150-1) to provide a space for assembly of parts, while being vertically mounted on the fixing bracket (131) and fixing bracket (131) formed in a “c” shape to move up and down.
  • a pair of vertical guide rods 133 made of a pair of first and second rods 133a, 133b, and a vertical guide rod 133 are wrapped to provide an elastic repulsive force according to vertical motion.
  • a uniaxial elastic member 135 made of the first and second elastic members 135a and 135b, and a vertical movement block 137 that enables uniaxial motion for the wearing robot 1-1 connected by the support link 2 Consists of
  • the RWS 130 has a counter balance effect on the vertical movement by using the fixing bracket 131, the vertical guide rod 133, the uniaxial elastic member 135, and the vertical movement block 137 as the same components. It is divided into a left RWS (130A) and a right RWS (130B) that generate a balancing effect.
  • the RWS 130 uses a counter-balancing effect while linking the vertical motion provided by the 1-axis motion with the walking motion of the wearing robot 1-1 connected via the support link 2 Robot weight compensation prevents the weight of the robot from acting as a load.
  • the two-axis motion supporter 140 is a two-axis elastic member that is coupled to the horizontal guide rod 141 and the horizontal guide rod 141 coupled to the two-axis mounting frame 150-2 to generate a horizontal translation movement ( 143), while supporting one side of the biaxial elastic member 143, the horizontal moving block 145 moving in the left and right movement direction by coupling with the horizontal guide rod 141, while supporting the other side of the biaxial elastic member 143
  • It is connected to the body adjuster 147 and body adjuster 147 that move in the left and right movement direction by coupling with the guide rod 141, and when moving left and right, it contacts the support link 2 of the wearing robot (1-1) to prevent movement.
  • It consists of a limiting stopper 148 and an auxiliary spring 149 that provides a spring reaction force to the body adjuster 147.
  • the "" of the left horizontal motion supporter 140A “The shape of the body adjuster 147 and the right horizontal motion supporter 140B” “The shape body adjusters 147 face each other so that “ ”The shape occupies the inner space of the wearing robot 1-1 and absorbs the difference in size of the trainee 100 in the inner space of the wearing robot 1-1.
  • the two-axis motion supporter 140 includes a horizontal guide rod 141 and a two-axis elastic member 143, a left and right movement block 145, a body adjuster 147, a stopper 148, and an auxiliary spring 149. It is divided into a left horizontal motion supporter 140A and a right horizontal motion supporter 140B using the same components.
  • the 2-axis motion supporter 140 generates a translational motion that assists the left and right movement of the walking motion in the opposite direction in the inner space of the wearing robot 1-1, thereby generating the weight of the trainee caused by unstable horizontal movement. It stabilizes central movement, and provides voluntary gait training and high gait training effect by stable center of gravity movement of the wearing robot (1-1).
  • the operation of the operation-oriented walking automation robot system 1000 of FIG. 1 is a user interface 2000 of a system user (eg, a rehabilitation therapist) for the wearing robot 1-1 and a robot controller 1-3.
  • Enter information eg, body size value
  • the robot length adjuster (1-8) following the release of the robot height adjuster (1-6) and the robot locker (4)
  • system operation procedure is only an example, and the procedure may be omitted or the order may be changed according to a system user (eg, a rehabilitation therapist) or a system setting state.
  • the winch (21) of the winch compensation traction device (10-2) is not made the initial winch position (a) is a winch ( 21) is lowered to the maximum, while the winch balancer 23 is raised to the maximum, and the reflector 47 is in a state in which the unit weight combination of the weight 27 is fixed.
  • the information of the infrared sensor 45 measuring the distance of the reflector 47 is stored in the weight data map of the data processor 49 as the training intensity information of the trainee.
  • the setting winch position (b) in which the winch 21 of the winch compensation traction device 10-2 is operated is the trayny 100 ) Of the winch wire (21-1) connected to the harness (50), the winch (21) is raised to the maximum by the distance between the winch plate (33) and the sensor plate (35), while the winch balancer (23) ) Goes down to the maximum.
  • the training winch position (c) at which the winch compensation traction device (10-2) stops after the operation of the winch (21) is The walking motion of the trainee 100 is made while the foot is in contact with the floor by the weight balance effect through the compensation of the trainee weight of (27).
  • the winch 21 moves up and down with the main post 31 responding to the walking motion of the trainee 100 using the training winch position (c) as the vertical movement area from the initial winch position (a), while the winch balance
  • the standing 23 offsets the weight of the winch structure including the winch 21 that can be applied to the trainee 100 by moving in the opposite direction of the winch 21.
  • the left / right RWS (130A, 130B) of the RWS (130) provides a counter-balancing effect (Counter-Balancing Effect) for the working robot (1-1) and a counter-force minimization effect according to the vertical motion.
  • the left/right horizontal motion supporters 140A and 140B of the two-axis motion supporter 140 perform a translational movement for the robot 1-1 to stabilize the center of gravity movement and adjust the body size of the trainee. to provide.
  • the counter balance action is implemented by buffering/absorbing the weight exerted by the wearing robot 1-1 by the uniaxial elastic member 135 of the left/right RWS 130A and 130B with an elastic force.
  • the reverse force generation minimization action is the first and second elastic members 135a, 135b constituting the uniaxial elastic member 135 when the left/right RWS 130A, 130B follow the vertical movement of the wearing robot 1-1.
  • the translational movement is implemented by a change in compression/tension of the biaxial elastic member 143 that causes the left and right movement in the opposite direction to the horizontal movement of the wearing robot 1-1.
  • the size adjustment of the left and right horizontal motion supporters 140A, 140B ”It is implemented by spreading or narrowing the shape, and the increase or decrease of the spacing of the left and right horizontal motion supporters 140A and 140B is absorbed by the change in compression/tension of the biaxial elastic member 143.
  • the walking automation robot system 1000 generates a walking motion by placing it in the front position of the treadmill 1-5 that reproduces the walking speed, and Wearing robot (1-1) with the overall length as the robot boarding movement line, BWS (BWS) that performs weight compensation by adjusting the force balance between the harness 50 and the weight 23 placed on the side of the wearing robot (1-1).
  • BWS BWS
  • a 2-degree of freedom manual mechanism device 120 that is placed behind the wearing robot 1-1 and performs translational movement of up/down/left/right movement and counter balance for the walking motion Improvement of the user's side is achieved by improving the space utilization of the building by shortening and reducing the system occupied space, and in particular, automation of robot length/height/width adjustment for body shape fit while using camera/torque sensor/force sensor to determine training effect The system is improved together.

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Abstract

La présente invention concerne un système de robot pour une automatisation de marche (1000) comprenant : un robot pouvant être porté (1-1) qui génère un mouvement de marche à l'avant d'un tapis de course (1-5) qui reproduit une vitesse de marche, et dont la longueur totale du tapis de course (1-5) constitue un trajet d'embarquement de robot; un BWS (1) qui est placé sur un côté du robot pouvant être porté (1-1) et compensant le poids par le réglage de l'équilibre des forces entre un harnais (50) et un poids d'équilibre (23); un dispositif de mécanisme manuel à deux degrés de liberté (120) qui est placé sur le dos du robot pouvant être porté (1-1) pour réaliser un mouvement de translation et contrebalancer les mouvements vers le haut/vers le bas/vers la gauche/vers la droite par rapport au mouvement de marche. Grâce à ces caractéristiques, une amélioration est obtenue du point de vue de l'utilisateur en raccourcissant la distance de déplacement de la trajectoire d'embarquement de robot et en améliorant l'utilisation de l'espace d'un bâtiment en prenant moins d'espace pour le système. En particulier, l'amélioration du système est obtenue en réglant automatiquement la longueur/hauteur/largeur du robot pour qu'elle soit appropriée pour une forme de corps tout en utilisant un appareil-photo, un capteur de couple et un capteur de force pour déterminer l'effet d'entraînement.
PCT/KR2020/008566 2019-07-01 2020-07-01 Système de robot pour automatisation de marche WO2021002663A1 (fr)

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