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Method for controlling wearable robot

A robot and wearable technology, applied in the direction of robots, program-controlled manipulators, manipulators, etc., can solve the problems of users feeling uncomfortable and achieve the effect of suppressing swing

Active Publication Date: 2016-06-08
TOYOTA JIDOSHA KK
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

like Figure 7 As shown, at the boundary between the inside and outside of the allowable angle range, such an operation is repeated, thereby causing so-called swinging (oscillating), which makes the user feel uncomfortable.

Method used

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  • Method for controlling wearable robot
  • Method for controlling wearable robot
  • Method for controlling wearable robot

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Experimental program
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Effect test

no. 1 approach

[0022] First, the basic configuration of the wearable robot according to the present embodiment will be described. figure 1 It is a view schematically showing a state in which the wearable robot according to this embodiment is attached to the user's knee.

[0023] Due to figure 1 The basic configuration of the wearable robot 1 shown in is similar to that of a conventional wearable robot, so it will be briefly explained. The wearable robot 1 includes a first link 2 fixed to the user's thigh by a fixing strap 2a and a second link 3 fixed to the user's calf by a fixing strap 3a, the first link 2 and The second link 3 rotates relative to each other around the axis extending in the horizontal direction of the wearable robot 1 due to the driving force of the joint portion (robot joint) 4, thereby assisting the movement of the user's knee.

[0024] Next, the control system of the wearable robot according to this embodiment will be described. figure 2 It is a block diagram showing the c...

no. 2 approach

[0048] The wearable robot according to this embodiment controls the motor 6 by the control torque value calculated in the angle limit control calculation unit 14 when controlling the angle limit, wherein the control torque value calculated in the angle limit control calculation unit 14 is not used This is added to the control torque value calculated in the assist amount calculation unit 13. Image 6 It is a block diagram showing the control system of the wearable robot according to this embodiment. Since the configuration of the wearable robot 21 according to this embodiment is substantially similar to the configuration of the wearable robot 1 according to the first embodiment, repeated description will be omitted, and the configuration in this embodiment is similar to that of the first embodiment. The same elements are designated by the same reference numerals as those of the first embodiment.

[0049] Such as Image 6 As shown, the calculation unit 23 of the control device 22...

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Abstract

The method for controlling the wearable robot according to one aspect of the present invention is attached to a joint part of the user, the robot joint being controlled in such a way that, when an angle [theta]1 of the robot joint (joint part 4) exceeds a predetermined allowable angle range R, the angle [theta]1 of the robot joint is made to go back within the allowable angle range R. When the robot joint is controlled to make the angle [theta]1 of the robot joint back within the allowable angle range R and the angle [theta]1 of the robot joint reaches a predetermined angle [theta]2, torque is generated in the robot joint to keep the angle [theta]2 of the robot joint at the predetermined angle [theta]1 for a predetermined period of time T.

Description

[0001] Cross references to related applications [0002] This application is based on Japanese Patent Application No. 2014-243540 filed on December 1, 2014 and claims the priority of the application, and the disclosure of the application is incorporated herein by reference in its entirety. Technical field [0003] The present invention relates to a method for controlling a wearable robot, and more particularly, to a method for controlling a wearable robot attached to a joint of a user. Background technique [0004] In recent years, wearable robots attached to the joints of the user, such as the waist or knees, have been developed, and trials related to their applications have been conducted at work sites or rehabilitation sites. In such a wearable robot, it is necessary to control the joints of the robot so that the angle of the joint of the user is within a given allowable angle range. [0005] For example, Japanese Unexamined Patent Application Publication No. 2013-138793 discloses...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): B25J13/00B25J9/22B25J17/00
CPCB25J9/0006A61H1/024A61H3/00A61H2201/1215A61H2201/164A61H2201/165A61H2201/5061A61H2201/5097Y10S901/28Y10S901/46
Inventor 菅田光留
Owner TOYOTA JIDOSHA KK
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