WO2023229164A1

WO2023229164A1 - Wearable robot having improved leg-wearing structure

Info

Publication number: WO2023229164A1
Application number: PCT/KR2023/003192
Authority: WO
Inventors: 한창수; 백승준; 이병규; 김지후; 이우석
Original assignee: 주식회사 헥사휴먼케어
Priority date: 2022-05-27
Filing date: 2023-03-08
Publication date: 2023-11-30
Also published as: KR20230165597A

Abstract

A wearable robot having an improved leg-wearing structure according to an embodiment of the present invention comprises: a robot body worn on a user's body to assist the user's walking movements; a leg-interworking member having an upper end rotatably connected to the robot body, and having a lower end elongated toward the user's legs; a first wearing member having one end rotatably connected to one side of the lower end of the leg-interworking member, the first wearing member being worn on the user's leg front portion when the user walks; a second wearing member having one end rotatably connected to the other side of the lower end of the leg-interworking member, the second wearing member being worn on the user's leg rear portion when the user walks; and fixing members provided on the first and second wearing members so as to fix the first and second wearing members to the user's legs. The first and second wearing members may be provided on the lower end of the leg-interworking member to be able to interwork so as to rotate same in opposite directions around the user's legs.

Description

Wearable robot with improved leg wearing structure

The present invention relates to a wearable robot with an improved leg-wearing structure, and more specifically, to a leg-wearing structure that can smoothly assist the user's walking and can stably measure the user's leg strength when assisting the user's walking. This is about an improved wearable robot.

In general, a wearable robot is a type of robot that is mounted on the user's body, and performs a function of assisting or supporting force by detecting the user's intention in the process of performing various movements.

The wearable robots described above can be used to assist the activities of users such as the elderly or the disabled, assist in handling heavy objects in industrial sites, or transport or scout heavy objects in the military field.

Recent wearable robots are provided in the form of exoskeleton robots that are worn on the user's body, arms, or legs. An exoskeleton-type wearable robot assists the user in walking and amplifies its strength by mounting actuators on the robot's arms or legs. In other words, an exoskeleton-type wearable robot helps users overcome their physical limitations, maintain posture, and perform movements nimbly. In addition, exoskeleton-type wearable robots also play the role of preventing external shocks or forces that may cause problems.

In particular, the leg wearing structure of the wearable robot must be designed in a way that it can be worn stably on the user's leg. Recently, sensors have been added to the leg-wearing structure of wearable robots to measure the user's walking status in real time, and the user's walking status is confirmed and assisted in real time using the sensor's measurement values.

However, the leg-wearing structure of existing wearable robots has the disadvantage of being abnormally twisted or deviated from the correct position due to the large leg force applied in only one direction when the user walks. In addition, the leg force of the user is accurately transmitted to the sensor. It also has the disadvantage of not being able to accurately check the user's walking status.

To solve this problem, the leg wearing structure of the wearable robot can be structurally reinforced or the strength and thickness of the material can be increased, but this has the problem of increasing the manufacturing cost and weight of the wearable robot. In addition, the performance and number of sensors installed in the leg-wearing structure of the wearable robot can be improved, but this also has the problem of increasing the installation cost of the sensors.

Therefore, research has recently been continuously conducted to improve the leg wearing structure of wearable robots to ensure wearability and structural stability of the legs when the user walks while easily securing leg force measurement efficiency. Related prior art documents include Korea Patent Publication No. 10-2012-0053894 (Title of the invention: Wearable robot structure, Publication date: 2012.05.29), and Korean Patent No. 10-2119536 (Title of the invention: Wearable robot structure) Robot and its control method, registration date: 2020.06.01).

An embodiment of the present invention is a wearable robot with an improved leg-wearing structure that can be easily and conveniently worn on the user's leg and can secure structural stability by preventing structural deformation due to leg force applied when the user walks. provides.

In addition, an embodiment of the present invention provides a wearable robot with an improved leg wearing structure that can stably measure the user's leg strength when walking and can accurately measure the user's leg strength to optimally assist the user's walking. to provide.

According to one embodiment of the present invention, a robot body worn on the user's body to assist the user's walking motion, a leg whose upper end is rotatably connected to the robot body and whose lower end extends long toward the user's legs An interlocking member, a first wearing member rotatably connected to one end of the lower end of the leg interlocking member and worn on the front part of the user's leg when the user walks, one end rotatable to the other lower end of the leg interlocking member A second wearing member is connected and worn on the rear part of the user's legs when the user walks, and the first wearing member and the second wearing member are configured to fix the first wearing member and the second wearing member to the user's legs. A wearable robot with an improved leg wearing structure including a fixing member provided on the wearing member is provided.

The first wearing member and the second wearing member may be provided to be interlockable at the lower end of the leg interlocking member so as to rotate in opposite directions about the user's leg.

Preferably, one end of the first wearing member and the second wearing member may be interlockably connected to each other through a gear structure to rotate the first wearing member and the second wearing member in opposite directions. As a result, the first wearing member and the second wearing member may be rotated in a direction in which they spread apart or come together about the lower end of the leg interlocking member.

Here, the first wearing member includes a first shaft connection portion rotatably connected to one side of the lower end of the leg interlocking member, a first wearing portion extending long from the first shaft connection portion and formed in a shape to surround the front portion of the leg, and It may include a first gear unit provided on the outer periphery of the first shaft connection part.

In addition, the second wearing member includes a second shaft connection portion rotatably connected to the other lower end of the leg interlocking member, a second wearing portion extending long from the second shaft connection portion and formed in a shape to surround the rear portion of the leg, and It is provided on the outer periphery of the second shaft connection part and may include a second gear part coupled to the first gear part.

Meanwhile, the fixing member is a binding belt provided in a form capable of binding the first wearing part and the second wearing part to fix the first wearing part and the second wearing part while worn on the user's leg. can be provided.

Preferably, the wearable robot with an improved leg wearing structure according to an embodiment of the present invention is disposed on the inner side of the first wearing member to measure the force of the user's leg applied forward to the first wearing member. It may further include a first force measurement sensor, and a second force measurement sensor disposed on the inner surface of the second wearing member to measure the force of the user's leg applied backward to the second wearing member.

Sensor installation surfaces for attaching the first force measurement sensor or the second force measurement sensor may be formed on inner surfaces of the first wearing member and the second wearing member to face each other. At this time, the sensor installation surface may be provided in a flat shape with respect to the user's legs.

Preferably, the wearable robot with an improved leg wearing structure according to an embodiment of the present invention may further include a sensor wire portion electrically connected to the first force measurement sensor and the second force measurement sensor.

A pocket portion for receiving the sensor wire portion may be provided on either the inner surface of the first wearing part and the second wearing part or the inner surface of the fixing member.

According to another embodiment of the present invention, a robot body worn on the user's body to assist the user's walking motion, a leg with an upper end rotatably connected to the robot body and a lower end extending long toward the user's legs. An interlocking member, a first wearing member rotatably connected to one end of the lower end of the leg interlocking member and worn on the front part of the user's leg when the user walks, one end rotatable to the other lower end of the leg interlocking member A second wearing member is connected and worn on the rear part of the user's leg when the user walks, and the first wearing member and the second wearing member are worn to fix the first wearing member and the second wearing member to the user's leg. A fixing member provided on the member, a first force measurement sensor disposed on the inner surface of the first wearing member to measure the force of the user's leg applied forward to the first wearing member, and rearward to the second wearing member. Provided is a wearable robot with an improved leg wearing structure including a second force measurement sensor disposed on the inner surface of the second wearing member to measure the force applied to the user's leg.

Here, sensor installation surfaces for attaching the first force measurement sensor or the second force measurement sensor may be formed on the inner surfaces of the first wearing member and the second wearing member to face each other. At this time, the sensor installation surface may be provided in a flat shape with respect to the user's legs.

In addition, the wearable robot with an improved leg-wearing structure according to an embodiment of the present invention may further include a sensor wire portion electrically connected to the first force measurement sensor and the second force measurement sensor. At this time, a pocket portion for receiving the sensor wire portion may be provided on either the inner surface of the first wearing part and the second wearing part or the inner surface of the fixing member.

A wearable robot with an improved leg wearing structure according to an embodiment of the present invention provides a first wearing member and a second wearing member to be interlockable at the lower end of the leg interlocking member, so that the front part of the user's leg and the rear part of the leg are connected when the user walks. They are worn respectively, but are provided in a structure that rotates in opposite directions around the user's legs, so it is a simple method of opening the first and second wearing members in opposite directions, inserting the user's legs, and then retracting them in the opposite direction. It can be easily worn on the user's leg. At this time, when the first wearing member and the second wearing member worn on the user's legs are fixed with a fixing member and the leg force for the user's walking acts on the first wearing member or the second wearing member, the first wearing member Since the first and second wearing members are supported by a fixing member from being opened in opposite directions by the leg force, abnormal structural deformation is prevented in advance by rotating the first and second wearing members in the direction of action of the leg force. can do.

In addition, the wearable robot with an improved leg wearing structure according to an embodiment of the present invention has one end of the first wearing member and the second wearing member rotatably connected to the lower end of the leg linking member to be interlocked with each other through a gear structure. Since it is a connected structure, it is possible to easily implement a structure that rotates the first and second wearing members in a direction that spreads or brings them together through a simple structural change that connects one end of the first and second wearing members with a gear structure. .

In addition, the wearable robot with an improved leg wearing structure according to an embodiment of the present invention installs first and second force measurement sensors on the first and second sensor installation surfaces formed on the inner surfaces of the first and second wearing members, respectively. Because of the installed structure, the first and second force measurement sensors can be installed on the first and second sensor installation surfaces of a flat structure to stably adhere to the user's legs, and when the user walks, the first and second force measurement sensors can be connected to the user's legs and the first and second force measurement sensors. Problems with gaps occurring between measurement sensors can be prevented in advance.

In addition, the wearable robot with an improved leg wearing structure according to an embodiment of the present invention further includes a sensor wire portion electrically connected to the first and second force measurement sensors installed on the first wearing member and the second wearing member, Since the wire part is arranged inside the pocket provided on the inner surface of either the first or second wearing member or the fixing member, the sensor wire part is not exposed to the outside and can be protected by the pocket part, so the sensor wire part is not exposed to the outside. Damage caused by impact and friction can be prevented in advance.

Figure 1 is a diagram schematically showing a wearable robot with an improved leg-wearing structure according to an embodiment of the present invention.

FIG. 2 is a diagram showing a leg wearing module of the wearable robot shown in FIG. 1.

Figures 3 and 4 are views showing main parts of the leg wearing module shown in Figure 2 as seen from different directions.

Figure 5 is a diagram showing the operating state of the leg wearing module shown in Figures 3 and 4.

Figure 6 is a perspective view showing the first and second wearing members shown in Figure 5.

FIG. 7 is a diagram showing a cross section along line A-A shown in FIG. 2.

FIG. 8 is a diagram showing an operating state when leg force is applied to the leg wearing module shown in FIG. 2.

FIG. 9 is a diagram showing an operating state when leg force is applied to the leg wearing module in which the first and second gear units shown in FIG. 2 are omitted.

Hereinafter, embodiments according to the present invention will be described in detail with reference to the attached drawings. However, the present invention is not limited or limited by the examples. The same reference numerals in each drawing indicate the same members.

FIG. 1 is a diagram schematically showing a wearable robot 100 with an improved leg wearing structure according to an embodiment of the present invention, and FIG. 2 is a diagram showing the leg wearing module 200 of the wearable robot 100 shown in FIG. 1. , and FIGS. 3 and 4 are views showing main parts of the leg wearing module 200 shown in FIG. 2 viewed from different directions. Figure 5 is a diagram showing the operating state of the leg wearing module 200 shown in Figures 3 and 4, and Figure 6 is a perspective view showing the first and second wearing

members

130 and 140 shown in Figure 5. 7 is a diagram showing a cross section along line A-A shown in FIG. 2. FIG. 8 is a diagram showing an operating state when leg force is applied to the leg wearing module 200 shown in FIG. 2, and FIG. 9 shows the first and

second gear units

136 and 146 shown in FIG. 2 omitted. This is a diagram showing the operating state when a leg force (F) is applied to the leg wearing module 200.

Referring to FIGS. 1 to 4 , a wearable robot 100 with an improved leg-wearing structure according to an embodiment of the present invention may include a robot body 110 and a leg-wearing module 200.

The wearable robot 100 of this embodiment may be manufactured with an exoskeleton-type robot structure and may be worn on the body and legs of the user (H) to assist the user's (H) walking motion. In particular, the wearable robot 100 of this embodiment can actively assist the user H in walking by using power.

In addition, in the wearable robot 100 of this embodiment, for convenience of explanation, the leg wearing module 200 is described as being worn on the thigh of the user (H), but it is not limited to this and is worn on the calf of the user (H) It is also possible to wear it on both the thigh and calf of the user (H).

Additionally, in the wearable robot 100 of this embodiment, the upper end of the leg wearing module 200 may be rotatably connected to the left and right sides of the robot body 110, respectively. The leg-wearing module 200 as described above may repeatedly rotate in the front-back direction around the connection portion with the robot body 110 when the user H walks.

Referring to FIG. 1, the robot body 110 of this embodiment can be worn on the body of the user (H) in order to assist the user's (H) walking motion. That is, the robot body 110 may be provided as a belt structure worn on the user H's waist and hip joints, or may be provided as a suspender structure worn on the user H's shoulders. Hereinafter, in this embodiment, the robot body 110 will be described as having a belt structure.

For example, the robot body 110 is disposed on a belt-structured body wearing part 112 that is worn on the user H's waist and hip joints, and on both sides of the body wearing part 112, so that the user can wear the legs. It may include a walking aid 114 connected to the module.

The walking aid 114 as described above may be formed to rotatably support the upper end of the leg wearing module 200. In particular, the walking aid 114 of this embodiment may be provided with a power supply unit (not shown) to provide power to the leg wearing module 200 as needed. Therefore, the walking aid 114 can also actively assist the user H in walking by using the power of the power provider.

Referring to Figures 1 and 2, the leg wearing module 200 of this embodiment is a module worn on the legs of the user (H), and when the user (H) walks, it moves together with the legs of the user (H) in the forward and backward directions (D1). , D2) can be repeatedly reciprocated. At this time, the leg wearing module 200 of this embodiment will be provided as a right leg module 210 worn on the right leg of the user (H), and a left leg module 220 worn on the left leg of the user (H). You can.

The leg wearing module 200 as described above can be rotated around the connection portion with the walking aid 114. Here, the leg wearing module 200 receives the power of the walking aid 114 to support the leg strength of the user (H), or uses the

force measurement sensors

160 and 170 installed in the leg wearing module 200. Thus, when the user (H) walks, the leg force (F) applied by the user (H) to the leg wearing module 200 can be accurately measured. By creating a database of the leg strength (F) of the user (H) measured by the force measurement sensors (160, 170), the walking state of the user (H) is analyzed or a method for assisting the user (H) in walking is derived. You can utilize it.

For example, the leg wearing module 200 of this embodiment may include a leg interlocking member 120, a first wearing member 130, a second wearing member 140, and a fixing member 150.

At this time, the leg interlocking member 120, the first wearing member 130, and the second wearing member 140 may be formed of a hard, high-strength material, and the fixing member 150 may be made of a flexible material with very little or no elastic force. can be formed. However, it is not limited to this, and the leg interlocking member 120, the first wearing member 130, the second wearing member 140, and the fixing member 150 can be manufactured from various materials.

Referring to FIGS. 1 to 6 , the leg interlocking member 120 of this embodiment may be provided in a rod shape extending long downward from the walking aid 114 of the robot body 110. The leg interlocking member 120 as described above may be interlocked with the legs of the user (H) when the user (H) walks.

Here, the upper end of the leg interlocking member 120 may be rotatably connected to the walking aid 114 of the robot body 110, and the lower end of the leg interlocking member 120 may be elongated toward the thigh of the leg of the user (H). It may be extended.

Meanwhile, at the lower end of the leg interlocking member 120, the upper support 122 may be connected in a horizontal direction, and the lower support 124 may be parallel to the upper support 122 at a position spaced apart from the lower side of the upper support 122. It may be arranged in a similar manner, and both ends of the first and

second rotation shafts

126 and 128 may be connected to the upper support 122 and the lower support 124, respectively.

The first rotation axis 126 and the second rotation axis 128 are arranged in the longitudinal direction of the leg interlocking member 120 between the upper support 122 and the lower support 124, and are arranged parallel to each other at spaced apart positions. You can. The first axis connection portion 132 of the first wearing member 130, which will be described later, may be rotatably connected to the first rotation axis 126, and the second axis connection portion 132 of the second wearing member 140, which will be described later, may be rotatably connected to the second rotation axis 128. The two-axis connection part 142 may be rotatably connected.

2 to 6, the first wearing member 130 of this embodiment is a member worn on the front part of the leg (H1) of the user (H) when the user (H) walks, and the leg interlocking member (120) ) can be rotatably connected to one side of the lower part. For example, one end of the first wearing member 130 may be rotatably connected to the first rotation shaft 126 provided at the lower end of the leg interlocking member 120.

The first wearing member 130 as described above has a structure that rotates in the opposite direction to the second wearing member 140 around the legs of the user (H) and may be provided at the lower end of the leg interlocking member 120. . For this purpose, in this embodiment, one end of the first wearing member 130 is described as being interlockably connected to one end of the second wearing member 140 with a gear structure, but this is not limited to this and the wearable robot 100 is not limited to this. Various structures may be applied depending on the design conditions and circumstances for the leg wearing structure. That is, one end of the first wearing member 130 and the second wearing member 140 may be interlockably connected by an interlocking belt, an interlocking wire, an interlocking link, or the like.

As shown in FIGS. 2 to 6, the first wearing member 130 includes a first shaft connection portion 132 rotatably connected to a first rotation shaft 126 provided on one side of the lower end of the leg interlocking member 120, A first wearing portion 134 that extends long from the first shaft connection portion 132 and is formed in a shape that surrounds the leg front portion H1, and a first gear portion 136 provided on the outer periphery of the first shaft connection portion 132. It can be included.

A shaft hole may be formed in the center of the first shaft connection portion 132 through which the first rotation shaft 126 is disposed. The first shaft connection portion 132 as described above may be provided as a circular pipe structure surrounding the outer circumference of the first rotation shaft 126.

The first wearing portion 134 is bent in an arc shape and extends along the front portion of the leg (H1) of the user (H) from the first shaft connection portion (132) to surround the front portion (H1) of the leg (H1) of the user (H). You can. The first wearing portion 134 is integrally connected to the first shaft connection portion 132 and can be rotated together with the first shaft connection portion 132. That is, the first wearing portion 134 may be placed in close contact with the front part (H1) of the leg of the user (H) when the user (H) walks, and the leg of the user (H) when the user (H) ends walking. It can be rotated and moved to a position spaced forward from the front part (H1). A first belt fitting hole 135 may be formed in the first wearing portion 134 as described above into which the binding belt 152 of the fixing member 150, which will be described later, is inserted.

The first gear unit 136 may be provided in the shape of a spur gear along the circumference of the outer peripheral surface of the first shaft connection unit 132. The first gear unit 136 as described above may be formed in a helical gear shape or a screw gear shape rather than a spur gear shape, but in this embodiment, the first gear unit 136 is described as being provided in a spur gear shape. .

Referring to FIGS. 2 to 6, the second wearing member 140 of this embodiment is a member worn on the rear portion of the leg (H2) of the user (H) when the user (H) walks, and the leg interlocking member (120) It can be rotatably connected to the other side of the lower end. For example, one end of the second wearing member 140 may be rotatably connected to the second rotation shaft 128 provided at the lower end of the leg interlocking member 120.

The second wearing member 140 as described above has a structure that rotates in the opposite direction to the first wearing member 130 around the legs of the user (H) and may be provided at the lower end of the leg interlocking member 120. . To this end, in this embodiment, one end of the second wearing member 140 may be interlockably connected to one end of the first wearing member 130 through a gear structure.

As shown in FIGS. 2 to 6, the second wearing member 140 includes a second shaft connection portion 142 rotatably connected to a second rotation shaft 128 provided on the other side of the lower end of the leg interlocking member 120, It includes a second wearing portion 144 that extends long from the second shaft connection portion 142 and is formed in a shape that surrounds the rear portion of the leg (H2), and a second gear portion 146 provided on the outer periphery of the second shaft connection portion 142. can do.

A shaft hole may be formed in the center of the second shaft connection portion 142 through which the second rotation shaft 128 is disposed. The second shaft connection portion 142 as described above may be provided as a circular pipe structure surrounding the outer circumference of the second rotation shaft 128.

The second wearing portion 144 may extend in a curved arc shape along the rear portion of the leg (H2) of the user (H) from the second shaft connection portion 142 to surround the rear portion (H2) of the leg of the user (H). . The second wearing portion 144 is integrally connected to the second shaft connection portion 142 and can be rotated together with the second shaft connection portion 142. That is, the second wearing part 144 may be placed in close contact with the rear part of the leg (H2) of the user (H) when the user (H) walks, and the rear part of the leg (H2) of the user (H) when the user (H) ends walking. It can be rotated to a position spaced rearward from (H2). A second belt fitting hole 145 may be formed in the second wearing portion 144 as described above into which the binding belt 152 of the fixing member 150, which will be described later, is inserted.

The second gear unit 146 may be provided in the shape of a spur gear along the circumference of the outer peripheral surface of the second shaft connection unit 142. The second gear unit 146 as described above may be formed in a helical gear shape or a screw gear shape rather than a spur gear shape, but in this embodiment, it is provided in a spur gear shape that meshes with the first gear unit 136. Explain.

Meanwhile, the first wearing member 130 and the second wearing member 140 of the present embodiment can be designed and manufactured to have the same structure, thereby enabling common use of parts. Accordingly, the first wearing member 130 and the second wearing member 140 may be determined depending on which axis among the first rotation axis 126 and the second rotation axis 128 of the leg interlocking member 120 is assembled.

As shown in FIG. 5, the first wearing member 130 and the second wearing member 140 are rotated in opposite directions around the legs of the user (H), and the first gear unit 136 ) and the second gear unit 146 may be rotatably connected to the first rotation shaft 126 and the second rotation shaft 128 in the form of engagement. Accordingly, the first wearing member 130 and the second wearing member 140 can be simultaneously rotated in a direction in which they spread apart or come together around the lower end of the leg interlocking member 120, and accordingly, the user H's It can be worn very easily and conveniently on the leg.

That is, the first wearing member 130 is rotated in the first direction (R1) moving forward from the front part of the leg (H1), and the second wearing member 140 is moved backward from the rear part of the leg (H2). When rotated in two directions (R2), the first wearing member 130 and the second wearing member 140 may be operated in an open mode. In the open mode, the user's (H) legs can be easily inserted or removed between the first wearing member 130 and the second wearing member 140, thereby increasing the convenience of wearing the wearable robot 100.

In addition, the first wearing member 130 is rotated in the second direction R2 moving toward the front part of the leg H1, and the second wearing member 140 is rotated in the second direction moving towards the rear part H2 of the leg. When rotated to (R2), the first wearing member 130 and the second wearing member 140 may be operated in a retracting mode in which they are retracted. In the pucker mode, the first wearing member 130 and the second wearing member 140 can be brought into close contact with the legs of the user (H), so the first wearing member 130 and the second wearing member 140 can be worn by the user (H). H)’s legs can be supported stably.

Referring to Figures 2 and 7, the fixing member 150 of this embodiment is a member that fixes the first wearing member 130 and the second wearing member 140 to the legs of the user (H). It may be provided on the member 130 and the second wearing member 140. Hereinafter, in this embodiment, the fixing member 150 is described as a belt member that fixes the first wearing part 134 and the second wearing part 144 while worn on the legs of the user H, but is limited to this. This does not mean that the leg-wearing structure of the wearable robot 100 may be modified in various ways depending on the design conditions and circumstances.

For example, the fixing member 150 includes a binding belt 152 provided in a form capable of binding to the first wearing part 134 and the second wearing part 144, and the inner surface of the binding belt 152 as described later. It may include a pocket portion 154 provided in a pocket shape to accommodate the sensor wire portion 180.

Here, the binding belt 152 is made of a material with little elasticity and excellent strength, and has a first belt fitting hole 135 of the first wearing part 134 and a second belt fitting hole of the second wearing part 144. It may be placed on the first wearing member 130 and the second wearing member 140 in the form of being inserted into (145). Velcro for binding may be applied to the binding belt 152. Accordingly, the user H can easily fasten or release the binding belt 152.

In addition, the pocket portion 154 may be formed in a pocket structure to accommodate the sensor wire portion 180 through the inner surface of the binding belt 152. Accordingly, the pocket portion 154 can minimize exposure of the sensor wire portion 180 to the outside, thereby minimizing external shock and friction applied to the sensor wire portion 180. Damage and disconnection can be prevented in advance.

Unlike the above, the pocket portion 154 may be formed on the inner side of the first wearing member 130 and the second wearing member 140 rather than on the inner side of the binding belt 152. However, in this embodiment, since the material of the first wearing member 130 and the second wearing member 140 is described as being a hard, high-strength material such as metal, the flexible binding belt 152 is made into a double structure for binding. It is more preferable to form the pocket portion 154 on the inner surface of the belt 152.

2 to 6, the leg wearing module 200 of this embodiment may further include a first force measurement sensor 160, a second force measurement sensor 170, and a sensor wire unit 180. there is.

That is, when the user (H) wearing the wearable robot 100 walks, the first force measurement sensor 160 and the second force measurement sensor 170 are connected to the first wearing member 130 and the second wearing member ( 140), the leg force (F) exerted by the leg of the user (H) on the leg wearing module 200 can be measured. In this embodiment, the walking state of the user (H) can be determined in real time using the measurement results measured by the first force measurement sensor 160 and the second force measurement sensor 170, and further, the user (H) Functions to assist walking can be appropriately performed.

The first force measurement sensor 160 may be disposed on the inner surface of the first wearing member 130. The first force measurement sensor 160 as described above can measure the leg force F of the user H applied forward to the first wearing portion 134 of the first wearing member 130. Meanwhile, a first sensor installation surface 162 for attaching the first force measurement sensor 160 may be formed on the inner surface of the first wearing portion 134 of the first wearing member 130. At this time, the first sensor installation surface 162 may be provided in a flat shape with respect to the front part H1 of the leg of the user H.

The second force measurement sensor 170 may be disposed on the inner surface of the second wearing member 140. The second force measurement sensor 170 as described above can measure the leg force F of the user H applied backward to the second wearing portion 144 of the second wearing member 140. Meanwhile, a second sensor installation surface 172 for attaching the second force measurement sensor 170 may be formed on the inner surface of the second wearing portion 144 of the second wearing member 140. At this time, the second sensor installation surface 172 may be provided in a flat shape with respect to the rear portion (H2) of the leg of the user (H).

As described above, the first force measurement sensor 160 and the second force measurement sensor 170 may be disposed on the first sensor installation surface 162 and the second sensor installation surface 172 of a flat structure, and The sensor installation surface 162 and the second sensor installation surface 172 may be formed on the inner surfaces of the first wearing member 130 and the second wearing member 140 to face each other. Therefore, in this embodiment, the first force measurement sensor 160 and the second force measurement sensor 170 can be stably brought into close contact with the front part H1 and the rear part H2 of the leg of the user H, During the user's (H) walking process, an air gap occurs between the first force measurement sensor 160 and the front part of the leg (H1), or an air gap occurs between the second force measurement sensor 170 and the rear part of the leg (H2). Problems can be prevented in advance. In addition, the first force measurement sensor 160 and the second force measurement sensor 170 form the first sensor installation surface 162 and the second sensor installation surface 172 into a flat structure, thereby forming a first sensor installation surface ( 162) and the second sensor installation surface 172 can be attached and fixed more stably than in a non-flat structure.

The sensor wire portion 180 is a member electrically connected to the first force measurement sensor 160 and the second force measurement sensor 170, and is located on the inner surface of the first wearing member 130 and the second wearing member 140. It may be electrically connected to the first force measurement sensor 160 and the second force measurement sensor 170. That is, the sensor wire unit 180 supplies external electricity to the first force measurement sensor 160 and the second force measurement sensor 170, or supplies external electricity to the first force measurement sensor 160 and the second force measurement sensor 170. It can perform the function of transmitting measured values to the outside.

Here, one end of the sensor wire 180 may be electrically connected to the first force measurement sensor 160, and the other end of the sensor wire 180 may be electrically connected to the second force measurement sensor 170. .

Additionally, the portion excluding one end and the other end of the sensor wire portion 180 can be stably accommodated inside the pocket portion 154 provided on the inner surface of the binding belt 152. As a result, it is possible to prevent the sensor wire unit 180 from being damaged or disconnected when the user H walks.

Meanwhile, Figures 8 and 9 show the operating states of the first wearing member 130 and the second wearing member 140 when the user (H) walks with respect to the wearable robot 100 according to an embodiment of the present invention. It is done. At this time, FIG. 8 shows the operating states of the first wearing member 130 and the second wearing member 140 applied to the wearable robot 100 of this embodiment, and FIG. 9 shows the operating state of the first wearing member 130 and the second wearing member 140 applied to the wearable robot 100 of this embodiment. It shows the operating states of the first and second wearing

members

130 and 140 that occur when the first and

second gear parts

136 and 146 are omitted.

As shown in FIG. 8, when the front part of the leg (H1) of the user (H) applies the leg force (F) forward to the first wearing member (130), the first wearing member (130) moves in the first direction. It tries to rotate in (R1), and the second wearing member 140 tries to rotate in the second direction (R2) by the interlocking action of the first gear portion 136 and the second gear portion 146.

However, since the first wearing member 130 and the second wearing member 140 are fixed by binding with the binding belt 152, the first wearing member 130 and the second wearing member 140 are opened in an open mode. You can maintain the initial posture without losing. Therefore, in this embodiment, when the user (H) walks, the first wearing member 130 and the second wearing member 140 are moved out of their normal positions due to the leg force (F) of the user (H) or the leg wearing module ( 200) Structural deformation, such as twisting of the structure, can be prevented in advance.

As shown in FIG. 9, when the front part of the leg (H1) of the user (H) applies the leg force (F) forward to the first wearing member (130), the first wearing member (130) moves in the first direction. When trying to rotate in (R1), the second wearing member 140 is not connected by the first gear unit 136 and the second gear unit 146, so it is rotated in the first direction (R1) by the binding belt 152. ) to rotate.

That is, the first wearing member 130 and the second wearing member 140 are centered around the leg interlocking member 120 along the direction in which the leg force (F) of the user (H) is applied when the user (H) walks. Rotation or twisting may cause structural deformation, which may make the user (H)'s walking uncomfortable, and the measurement results measured by the first force measurement sensor 160 and the second force measurement sensor 170 may also have errors. may occur.

In conclusion, in this embodiment, due to the gear connection structure of the first gear unit 136 and the second gear unit 146, the first wearing member 130 and the second wearing member 140 are interlocked in opposite directions. Because of this structure, the leg wearing structure of the wearable robot 100 can be improved to improve walking stability, fit, and measurement accuracy of leg force (F).

As described above, the embodiments of the present invention have been described with specific details such as specific components and limited examples and drawings, but this is only provided to facilitate a more general understanding of the present invention, and the present invention is limited to the above embodiments. This does not mean that various modifications and variations can be made from this description by those skilled in the art. Accordingly, the spirit of the present invention should not be limited to the described embodiments, and all claims that are equivalent or equivalent to the claims as well as the following claims fall within the scope of the present invention.

Included in the text.

Claims

a robot body worn on the user's body to assist the user's walking motion;

a leg interlocking member whose upper end is rotatably connected to the robot body and whose lower end extends long toward the user's legs;

a first wearing member rotatably connected to one end of the lower end of the leg interlocking member and worn on the front part of the user's leg when the user walks;

a second wearing member, one end of which is rotatably connected to the other lower end of the leg interlocking member, and worn on the back of the user's leg when the user walks; and

It includes a fixing member provided on the first wearing member and the second wearing member to fix the first wearing member and the second wearing member to the user's leg,

A wearable robot with an improved leg wearing structure, wherein the first wearing member and the second wearing member are interlocked at the lower end of the leg linking member so as to rotate in opposite directions about the user's leg. .
According to paragraph 1,

One end of the first wearing member and the second wearing member are interlockably connected to each other through a gear structure so as to rotate the first wearing member and the second wearing member in opposite directions,

A wearable robot with an improved leg-wearing structure, wherein the first wearing member and the second wearing member are rotated in a direction in which the first wearing member and the second wearing member are spread apart or brought together about the lower end of the leg interlocking member.
According to paragraph 2,

The first wearing member includes a first shaft connection portion rotatably connected to one side of the lower end of the leg interlocking member; a first wearing portion extending long from the first shaft connection portion and formed in a shape to surround the front portion of the leg; And a first gear portion provided on the outer periphery of the first shaft connection portion,

The second wearing member includes a second shaft connection portion rotatably connected to the other lower end of the leg interlocking member; a second wearing portion extending long from the second shaft connection portion and formed in a shape to surround the rear portion of the leg; and a second gear part provided on the outer periphery of the second shaft connection part and coupled to the first gear part. A wearable robot with an improved leg wearing structure comprising a.
According to paragraph 3,

The fixing member is,

The leg is provided with a binding belt that can be fastened to the first wearing part and the second wearing part to fix the first wearing part and the second wearing part while worn on the user's leg. Wearable robot with improved wearing structure.
According to paragraph 1,

a first force measurement sensor disposed on the inner surface of the first wearing member to measure a force of the user's leg applied forward to the first wearing member; and

a second force measurement sensor disposed on the inner surface of the second wearing member to measure a force of the user's leg applied backward to the second wearing member;

A wearable robot with an improved leg-wearing structure further comprising:
According to clause 5,

On the inner surfaces of the first wearing member and the second wearing member, sensor installation surfaces for attaching the first force measurement sensor or the second force measurement sensor are formed to face each other,

A wearable robot with an improved leg wearing structure, wherein the sensor installation surface is provided in a flat shape with respect to the user's legs.
According to clause 5,

It further includes a sensor wire portion electrically connected to the first force measurement sensor and the second force measurement sensor,

A wearable robot with an improved leg-wearing structure, characterized in that a pocket portion for receiving the sensor wire portion is provided on either the inner surface of the first wearing part and the second wearing part or the inner surface of the fixing member.
a robot body worn on the user's body to assist the user's walking motion;

a leg interlocking member whose upper end is rotatably connected to the robot body and whose lower end extends long toward the user's legs;

a first wearing member rotatably connected to one end of the lower end of the leg interlocking member and worn on the front part of the user's leg when the user walks;

a second wearing member, one end of which is rotatably connected to the other lower end of the leg interlocking member, and worn on the back of the user's leg when the user walks;

fixing members provided on the first wearing member and the second wearing member to secure the first wearing member and the second wearing member to the user's legs;

a first force measurement sensor disposed on the inner surface of the first wearing member to measure a force of the user's leg applied forward to the first wearing member; and

It includes a second force measurement sensor disposed on the inner surface of the second wearing member to measure the force of the user's leg applied backward to the second wearing member,

On the inner surfaces of the first wearing member and the second wearing member, sensor installation surfaces for attaching the first force measurement sensor or the second force measurement sensor are formed to face each other, and the sensor installation surfaces are formed to face the user. A wearable robot with an improved leg wearing structure, characterized in that the legs are provided in a flat shape.
According to clause 8,

It further includes a sensor wire portion electrically connected to the first force measurement sensor and the second force measurement sensor,

A wearable robot with an improved leg-wearing structure, characterized in that a pocket portion for receiving the sensor wire portion is provided on either the inner surface of the first wearing part and the second wearing part or the inner surface of the fixing member.