Walking assistance wearable robot and wearable robot system for estimating body capability of wearer and supporting

Abstract

The present invention relates to a wearable robot for assisting walking of a wearer, and more particularly, to a wearable robot for assisting walking of a wearer, comprising: a fixed part that can be attached to a body part of the wearer; and a drive part that can be attached to the fixed part; the drive unit calculates the degree of change in the state trajectory of the wearer and calculates an output torque on the basis of the degree of change in the state trajectory of the wearer, and calculates the output torque to a value equal to or less than a critical value for a predetermined time in a range equal to or less than a critical value including the point in time at which the sign of the calculated output torque changes, the predetermined time being 0.5-1 second.

Description

Technical Field

[0001] The present invention relates to a walking-assisting wearable robot and a wearable robot system for estimating the wearer's physical ability and supporting selective muscle strengthening exercises. Background Art

[0002] Wearable robots have been developed since the 1960s. These include wearable robots for muscle strengthening and protection for workers in high-load, high-risk jobs; wearable assistive devices for mobility assistance, rehabilitation, and posture correction for the elderly and patients; and upper and lower limb prostheses for the disabled to replace body functions.

[0003] Wearable robots began to be used in non-commercial fields such as military and disability welfare after the 1960s, and after 2010, the business scope expanded to the rehabilitation, industry, and health sectors as commercial fields.

[0004] Wearable robots need to be able to move while worn by a person. Heavy weight and bulk can not only hinder mobility but can also cause injury if improperly controlled. Therefore, despite the potential for weight and mobility issues, wearable robots are primarily being applied to large fields, such as assisting workers with high-load and high-risk tasks that humans cannot perform, or enabling those who cannot walk to walk.

[0005] Individuals vary significantly in their walking, balance, and muscle strength abilities due to aging. To maximize the effectiveness of wearable robotic devices for assisting and exercising, they must assess their physical abilities and tailor their designs accordingly.

[0006] However, existing physical function and walking ability assessments without a wearable device require separate measurement protocols and experts familiar with the protocols, making the measurement expensive and time-consuming. Furthermore, the measurement is difficult due to the potential for error.

[0007] Therefore, if a wearable device could be used to determine a wearer's physical ability without requiring a separate measurement of walking ability, it would not only facilitate the operation of group sports at varying levels but also allow for the development and automation of individually tailored exercise plans for individual exercisers. The following describes a wearable device and method for estimating a wearer's physical ability using a wearable walking robot employing a backdrivable actuator.

[0008] Furthermore, in work environments requiring walking assistance, many people perform complex actions that involve walking and performing other tasks simultaneously. For example, sanitation workers often perform long repetitive tasks, such as collecting trash while walking, or performing various other tasks while on the move, such as riding in a vehicle. Therefore, during actions that do not require walking assistance, the device torque must be disabled to avoid interfering with the operator's movements. Only during walking can the device torque be activated to provide walking assistance.

[0009] The prior art US Pat. No. 11,590,383 B2 includes a process of estimating the user's walking phase and pre-planning / determining the corresponding assist torque, identifying one or more walking segments corresponding to the selected lower body muscles in the walking phase, and finally applying a resistance impulse torque to the walking segment to hinder movement.

[0010] This approach, which includes both phase and segment recognition, reduces recognition accuracy during irregular walking, making it difficult to apply torque to the desired walking segments and thus achieving selective muscle strengthening. Furthermore, the pre-planned, sharp, waveform-like torque trajectory, which does not reflect the wearer's moment-to-moment movements in real time, can suddenly interfere with natural walking, hindering walking stability and comfort.

[0011] In particular, the pre-planned sharp waveform torque trajectory shape that does not reflect the wearer's moment-to-moment movements in real time may be dangerous for the elderly and those with weak walking abilities, making it difficult to apply high loads (for the purpose of improving exercise effects) in a safe manner.

[0012] In addition, the prior art only considers resistance in strengthening muscle strength, while the present invention may further include using auxiliary force to increase walking speed to strengthen the ankle muscle strength that is farther away from the hip.

[0013] Existing wearable walking-assistance robots typically employ a rigid frame structure around the waist and hip joints to stabilize the wearer's body. While this structure offers the advantage of improved stability when the user performs various exercises while wearing the robot, it also poses a problem of restricting the wearer's movements and causing inconvenience. In particular, the rigid frame surrounding the sides of the hip joint can interfere with the wearer's body shape and size, causing discomfort and increasing fatigue over extended periods of use.

[0014] Existing wearable robots have rigid frames that need to be adjusted to suit body shapes. Due to differences in body shape between users, the wearing experience often varies. These issues have significantly hindered the commercialization and popularization of wearable robots. To provide adaptability to various body shapes, additional structural and design changes are required.

[0015] This also leads to increased product weight and overall system complexity. To address this issue, some wearable robots attempt to improve wearer convenience by incorporating soft materials or flexible structures. However, since some rigid elements remain in the frame, they lack full flexibility for various user movements, limiting their ability to achieve a perfect fit tailored to their body shape.

[0016] In particular, since interference at the hip joint cannot be completely eliminated, achieving a natural assistive function tailored to the wearer's movements is difficult. Therefore, the present invention proposes a wearable robot that minimizes interference based on body shape or size by removing a rigid frame lateral to the hip joint and employing a flexible waist-worn portion, while effectively assisting the wearer's walking movements.

[0017] The focus of the present invention is to construct a soft waist-worn part so that the user can wear it comfortably regardless of body shape, and to optimize the connection structure between the waist-worn part and the drive part, thereby providing a natural auxiliary function during walking.

[0018] Based on the above technical background, the purpose of the present invention is to provide a soft and stable thigh wearable component that is designed to remain comfortable even for extended periods of time and can naturally follow the body's movements. The thigh wearable component of the present invention maximizes wearability through a lightweight structure and ergonomic design, and supports smooth sliding and rotational motion at the thigh frame joint, thereby improving the performance of the walking assist robot. Summary of the Invention

[0019] Technical problems to be solved

[0020] The present invention can provide a device, method and system that can estimate or evaluate the wearer's physical ability to achieve effective assistance from a wearable robot and maximize exercise effects.

[0021] The present invention can provide a personalized exercise plan based on the estimation result of the physical ability of the wearer using the wearable robot.

[0022] The present invention can quantify the physical ability of a wearable robot according to the device power to solve various problems of existing walking and physical ability evaluation methods, thereby providing a service for estimating physical ability through a more convenient method.

[0023] The purpose of the present invention is to use a wearable robot that can estimate the walking ability of the wearer during walking movement to generate and provide a graphical user interface that displays the wearer's real-time walking information, statistical information based on the accumulated walking information, and a walking analysis report based on the wearer's walking analysis information.

[0024] The present invention can estimate the walking ability of a wearable robot wearer based on a deep learning model, and provide at least one of a report based on the estimated walking ability and a personalized exercise plan.

[0025] Existing feedforward-based walking assistance technologies estimate the user's current walking phase and speed and pre-program the appropriate assist torque. Specifically, conventional technologies estimate the current walking phase based on the user's cyclical walking motion and then apply an assist force appropriate for that phase.

[0026] This access method works fine during periodic walking movements, but it is difficult to quickly respond to sudden changes in movement, resulting in user-device mismatch.

[0027] In addition, in the prior art, an additional biosignal sensor (EMG) can be used to pre-register the user's walking motion, but there are problems in that additional sensor signal processing is required and the sensor needs to be in contact with the user's skin.

[0028] Furthermore, irregular changes in walking patterns can be attributed to changes in the walking environment, such as rotation during walking and climbing stairs, climbing a slope, descending stairs, and descending a slope. Conventional methods have employed this approach by estimating the wearer's movements and walking environment and adjusting the pre-programmed assist torque accordingly. However, this approach relies on the ability to recognize the walking environment and is susceptible to complex walking environments and sudden changes in walking patterns.

[0029] For existing wearable walking assistance robots that rely on recognition of walking speed, cadence, and step count, updating the control rules can take at least one to two steps (approximately 0.5 seconds or more). Sometimes, workers stop walking and then make a sudden movement, which can cause inconsistencies between walking assistance and work movements.

[0030] Existing fitness exercises are difficult for the elderly to learn and require professional coaches to correct / help them to confirm the correct exercise posture. However, walking exercises do not require additional familiarity with exercise posture and can be performed simply and safely. However, the disadvantage of walking exercises is that it is difficult to provide a variety of exercise effects and a high exercise load. In addition, existing research results show that adding weight to the pelvis (waist) or ankles has no effect on walking (improvement) training. Therefore, it is difficult to improve walking posture and correct left / right balance when walking through existing walking exercises.

[0031] Therefore, if the lower body muscle strength can be (selectively) strengthened through walking movement, the disadvantages can be minimized while maintaining the advantages of walking movement. Therefore, the present invention aims to use a wearable robot to selectively strengthen the lower body muscle strength during walking movement.

[0032] The purpose of the present invention is to provide a wearable robot that can accommodate various body shapes and sizes and is easy for the wearer to put on and take off by themselves.

[0033] In addition, an object is to provide a wearable robot that is easy to carry when the wearable robot is not in use.

[0034] Because wearable robots need to cling to the user's body to assist in movement, their weight and bulk not only restrict the user's freedom of movement and create an inconvenient wearing experience, but also pose a risk of injury if improperly controlled. Due to these issues, existing wearable robots are primarily used for specialized purposes such as industrial, military, or medical applications, and their development to a level suitable for everyday use by ordinary people is limited.

[0035] The existing H Company walking assistance device and similar devices feature a drive unit located on either side of the hip joint, a battery and control unit located on the back, and a waist-worn portion designed as a support mechanism. However, this structure increases the weight of the device, and due to its fixed frame shape and size, it cannot effectively support users of various body shapes and sizes. This can lead to the device falling or a loss of fit. Furthermore, the way the waist-worn portion supports the reaction force of the assist force can cause significant discomfort to the user's waist.

[0036] Meanwhile, soft exoskeletons, which use clothing-like fabric and cable actuators, attempt to improve wearability. However, these have issues with the cables, which create a sense of pressure when they contact the skin while assisting joints, resulting in poor wearability and reduced actuation efficiency. Friction in the cables reduces torque transmission efficiency, and the system is limited to providing assistance in only one direction.

[0037] Devices using a single actuator and a differential structure attempt to symmetrically transmit the actuator's output to both legs. To achieve this, the wearer's body is secured using a joint structure that matches the wearer's body. However, aligning the hip joint axis with the actuator's rotational center requires a complex and rigid joint structure, which increases weight and complicates the structure.

[0038] Therefore, the present invention is to solve the following problems.

[0039] The lightweight design of wearable robots allows the wearer to move freely without feeling any weight while wearing the device, and does not restrict the wearer's movements. This allows for daily activities such as getting in and out of a car, sitting down or spreading legs, sitting on a chair, or lying down without any inconvenience.

[0040] Designed to accommodate users of various body shapes and sizes, the device can be easily donned and removed by the wearer, and folded or disassembled into a compact form factor for easy carrying in a bag when not in use.

[0041] The device is improved so that it fits tightly against the wearer's thighs and waist without slipping, and the auxiliary force of the device does not put excessive pressure on the waist or skin, so as to maximize the wearing feeling.

[0042] Beyond simply assisting with walking, it provides flexibility and adaptability that can effectively support the wearer's various movements (walking, climbing stairs, running, etc.), and can provide personalized assistance that suits the user's status and needs.

[0043] To address these issues, the present invention proposes a wearable robot with a lightweight, customizable thigh-mounted wearable unit. The thigh-mounted unit is designed to fit snugly against the wearer's thigh, providing an excellent fit and enabling flexible sliding and rotational movement with the thigh frame joint, naturally adapting to the wearer's movements. This overcomes the shortcomings of existing technologies and enables a wearable robot with a level of mobility that can be used by ordinary people in daily life.

[0044] Existing wearable robots are heavy and bulky, which may restrict the wearer's movements or cause inconvenience. The present invention aims to solve this problem by designing a lightweight and ergonomic frame structure that allows the wearer to move naturally.

[0045] The impact and vibration generated during the transmission of the auxiliary force can cause inconvenience to the wearer and reduce the efficiency of the device. The present invention aims to solve this problem by effectively suppressing the impact and vibration through urethane bearings and sliding mechanisms to provide a smooth and stable auxiliary force.

[0046] Existing technologies have limitations, such as not fully reflecting the user's individual walking characteristics (walking, climbing stairs, sitting down, etc.) or causing inconvenience during specific movements. The present invention aims to provide user-customized assistance through a 2-level and 2.5-level sliding mechanism, flexibly addressing various walking characteristics.

[0047] The left-right tilting phenomenon that may occur when the thigh frame slides can hinder the stability of the movement and reduce the durability of the device. The present invention aims to prevent the left-right tilting phenomenon during sliding by realizing a left-right symmetrical structure and a certain angle on the thigh cover and the thigh inner part.

[0048] Existing wearable robots fail to respond immediately to the wearer's movements or have limited joint range of motion, which can cause discomfort when worn. The present invention aims to provide natural and comfortable walking support by implementing a structure that adapts to the user's movements and responds quickly.

[0049] Wearable robots are devices that humans wear and move around. If the battery life is short, the utilization rate will be limited. The present invention aims to minimize power consumption through a lightweight structure and efficient design.

[0050] Means used to solve problems

[0051] A wearable robot capable of estimating a wearer's physical ability during walking motion includes a fixing portion that can be mounted on a body part and a driving portion that can be mounted on the fixing portion; the driving portion can estimate the wearer's physical ability based on the power of the driving portion based on the wearer's walking motion.

[0052] In addition, the driving unit may estimate the wearer's physical ability based on a value obtained by normalizing the power of the driving unit by torque.

[0053] In addition, the driving unit may calculate a ratio of the power to the torque of the driving unit by dividing the power of the driving unit by the root mean square (RMS) torque of the driving unit.

[0054] In addition, the driving unit can sense the wearer's hip angle and calculate the angular velocity based on the sensed hip angle; the power of the driving unit can be calculated by multiplying the calculated angular velocity and the torque.

[0055] The calculated angular velocity may be calculated based on the wearer's walking when the wearer utilizes a backdrivable actuator.

[0056] Furthermore, when the driving unit calculates a plurality of operation state values ​​based on the calculated angular velocity, the torque may be calculated by selecting at least one operation state value from the plurality of calculated operation state values ​​and calculating the torque by summing weighted values ​​of the selected operation state values.

[0057] Furthermore, the driving unit may accumulate the calculated ratio of the power to the torque of the driving unit each time the driving unit walks.

[0058] In addition, the calculated plurality of motion state values ​​may be stored by repeatedly performing shift operations in a state trajectory memory buffer.

[0059] A method for estimating a wearer's physical ability during walking using a wearable robot including a drive unit, comprising: accumulating a ratio of the drive unit's power to torque calculated by the drive unit during each walking session; and calculating statistics regarding the accumulation.

[0060] A method for estimating a wearer's physical ability during walking using a wearable robot including a drive unit, comprising: receiving from a server device cumulative statistical information regarding a ratio of power to torque of the drive unit calculated by the drive unit during each walking session; and displaying the received cumulative statistics.

[0061] A method for estimating the physical ability of a wearer during walking using a wearable robot including a driving unit includes the step of providing motion information based on a database of correlations between a power-to-torque ratio of the driving unit calculated from the driving unit and the wearer's physical condition.

[0062] A method for estimating the physical ability of a wearer during walking using a wearable robot including a drive unit, comprising the step of providing motion information based on a deep learning model learned using a ratio of the power to torque of the drive unit calculated by the drive unit and the wearer's physical condition as learning data.

[0063] A method for estimating the physical ability of a wearer during walking using a wearable robot including a drive unit, comprising the step of predicting a motion effect by using a deep learning model learned based on at least one of a power-to-torque ratio of the drive unit calculated by the drive unit and the wearer's physical condition, wearable robot usage information, and motion effect as learning data.

[0064] In addition, the wearer's physical condition may be a condition taking into account at least any one or at least any two of the wearer's age, gender, height and weight, and athletic ability.

[0065] A method for estimating the physical ability of a wearer during walking using a wearable robot including a drive unit, comprising the steps of receiving motion information from a server device based on a database of correlations between a power-to-torque ratio of the drive unit calculated from the drive unit and the wearer's physical condition; and displaying the received motion information.

[0066] A server device for managing the movement of a wearable robot wearer can receive walking information of a wearer wearing a wearable robot linked to the first user terminal from a first user terminal, and can send the received walking information of the wearer to a second user terminal.

[0067] In addition, feedback information based on the walking information of the wearer received by the second user terminal may be received from the second user terminal.

[0068] In addition, the feedback information based on the walking information of the wearer received by the second user terminal may include exercise intensity based on the walking information of the wearer.

[0069] In addition, the feedback information based on the walking information of the wearer received by the second user terminal includes information for real-time control of the exercise intensity based on the walking information of the wearer.

[0070] A system for managing the movement of a wearer wearing a wearable robot that can estimate the wearer's physical ability during walking movement, comprising: a first user terminal that outputs analysis information about the wearer's movement; a server device that receives the analysis information about the wearer's movement output by the first user terminal; and a second user terminal that receives the analysis information about the wearer's movement sent by the server device.

[0071] In addition, the server device may receive feedback information from the second user terminal based on the information about the wearer's movement transmitted to the second user terminal, and may transmit the received feedback information to the first user terminal.

[0072] In addition, the feedback information received by the server device includes exercise intensity based on walking information of the wearer.

[0073] In addition, the analysis information about the wearer's movement output by the first user terminal is based on the ratio of power to torque calculated by the wearable robot.

[0074] In addition, the analysis information about the wearer's movement output by the first user terminal is at least one of the wearer's agility or lower body muscle strength.

[0075] According to one embodiment of the present invention, a graphical user interface generation method for providing information about the walking of a wearable robot wearer may include the steps of receiving real-time walking information of the wearer from the wearable robot and generating a graphical user interface based on the received real-time walking information of the wearer.

[0076] In addition, the graphical user interface may include a method for generating a graphical user interface for providing information about the walking of a wearer of a wearable robot, wherein the graphical user interface includes at least one of a status information display area of ​​the wearable robot, a real-time walking information display area of ​​the wearer received, a movement start / end selection area, a walking map selection area, and a robot movement setting area.

[0077] In addition, the graphical user interface may include an area for displaying information about the walking of multiple wearable robot wearers, and the area may include a graphical user interface generation method for providing information about the walking of the wearable robot wearers, which includes a robot motion setting area capable of controlling each of the multiple wearable robots.

[0078] In addition, the method for generating a graphical user interface for providing information on walking of a wearable robot wearer may be configured such that the position of the robot motion setting area in the graphical user interface may be fixed.

[0079] In addition, the status information display area of ​​the wearable robot may include at least one of a usage time information display area, a battery remaining power information display area, and a torque gauge bar information display area of ​​the wearable robot, and the torque gauge bar is displayed in real time in direct proportion to the torque value applied by the wearable robot to the wearer according to the wearer's hip angle, providing a graphical user interface generation method for providing information about the walking of the wearer of the wearable robot.

[0080] In addition, the received real-time walking information display area of ​​the wearer may include at least one of the wearer's distance information display area, step information display area, speed information display area, and calorie consumption information display area, and a method for generating a graphical user interface for providing information about the walking of the wearer of the wearable robot.

[0081] In addition, the method may include a graphical user interface generating method for providing information about the walking of a wearer of a wearable robot, wherein the robot motion setting area is an area for setting at least one of a walking mode and a torque intensity, the walking mode includes at least one torque transmission mode, each of the torque transmission modes is a mode of transmitting a torque corresponding to a walking purpose, and the torque intensity provides at least one of a plurality of levels of differential torque.

[0082] In addition, the method for generating a graphical user interface for providing information on walking of a wearer of a wearable robot may be configured such that the areas for setting the walking mode and the torque intensity in the robot motion setting area are separable.

[0083] In addition, the step of generating a graphical user interface based on the received real-time walking information of the wearer may include the step of receiving input information based on the walking map selection area from a user terminal; the step of collecting the wearer's current location information after receiving the input information; the step of generating a walking map based on the collected current location information of the wearer and a map development tool; and the step of generating a graphical user interface displaying the walking map based on the generated walking map and the received real-time walking information of the wearer, which is a method for generating a graphical user interface for providing information about the walking of a wearable robot wearer.

[0084] In addition, the graphical user interface displaying the walking map may be a method for generating a graphical user interface for providing information about the walking of a wearable robot wearer, the graphical user interface including at least one of a walking map display area including the wearer's current location information and distance information and a wearer's walking time information display area.

[0085] In addition, the step of receiving the wearer's real-time walking information from the wearable robot includes the step of sending at least one of the walking pattern and torque intensity information set on the user terminal to the wearable robot; and the step of receiving the wearer's real-time walking information generated by the wearable robot based on at least one of the set walking pattern and torque intensity information after the sending, which is a method for generating a graphical user interface for providing information about the walking of the wearer of the wearable robot.

[0086] In addition, the step of sending at least one of the set walking mode and torque intensity information may include the step of displaying a graphical user interface showing the robot motion setting area on the user terminal; and the step of receiving the setting of at least one of the walking mode and torque intensity from the user terminal and sending it to the wearable robot, which is a method for generating a graphical user interface for providing information about the walking of a wearable robot wearer.

[0087] According to one embodiment of the present invention, a graphical user interface generation method for providing information about the walking of a wearer of a wearable robot may include the steps of receiving the wearer's walking information from the wearable robot; generating the wearer's walking analysis information based on the received wearer's walking information; and generating a graphical user interface based on the generated wearer's walking analysis information.

[0088] In addition, the graphical user interface may be a graphical user interface for displaying statistical information based on the wearer's accumulated walking information, and the graphical user interface for displaying statistical information based on the wearer's accumulated walking information may include at least one of a category selection area, a statistical information display area based on the accumulated walking information, an all walking information display area for a selected date, and a record information display area for each walking on the selected date, for providing information about the walking of a wearable robot wearer.

[0089] In addition, the statistical information display area based on the accumulated walking information may display the statistical information based on the accumulated walking information through a bar or a chart, and may include an average trend line representing the average of the statistical information based on the accumulated walking information displayed through the bar or the chart, and the bar or the chart may have a plurality of areas according to dates, and the plurality of areas have relative sizes in proportion to the statistical information based on the accumulated walking information. A method for generating a graphical user interface for providing information about the walking of a wearer of a wearable robot.

[0090] In addition, a method for generating a graphical user interface for providing information about the walking of a wearable robot wearer may be provided, in which all walking information display areas for the selected date include at least one of a step number information display area, a distance information display area, a calorie consumption information display area, and a walking time information display area.

[0091] In addition, the record information display area for each walk on the selected date may include multiple areas for displaying the record information of each walk on the selected date, including an area for displaying detailed record information of each walk based on input information of at least one of the multiple areas, and a method for generating a graphical user interface for providing information about the walking of the wearer of the wearable robot.

[0092] In addition, the graphical user interface may be a graphical user interface for displaying a walking analysis report of the wearer, and the graphical user interface for displaying the walking analysis report of the wearer includes at least one of a comprehensive walking score and age information display area, a statistical information display area based on accumulated walking information, a walking index graphical area, and a walking detailed analysis information display area, for providing information about the walking of the wearer of the wearable robot.

[0093] In addition, the statistical information display area based on the accumulated walking information may display the statistical information based on the accumulated walking information through a bar or a chart, and may include an average trend line representing the average of the statistical information based on the accumulated walking information displayed through the bar or the chart, and the bar or the chart may have a plurality of areas according to dates, and the plurality of areas have relative sizes in proportion to the statistical information based on the accumulated walking information. A method for generating a graphical user interface for providing information about the walking of a wearer of a wearable robot.

[0094] In addition, the walking indicator graphical area can display the wearer's walking ability in a graphic so that the scores of the wearer's various walking indicators can be compared with the average scores of the various walking indicators according to age, and the scores of the various walking indicators are scores of speed, agility, muscle strength, stability and balance. A graphical user interface generation method for providing information about the walking of the wearer of the wearable robot can be used.

[0095] In addition, the walking detailed analysis information display area may include at least one of a score display area for each walking indicator and a feedback display area based on the score of each walking indicator, and a method for generating a graphical user interface for providing information about the walking of a wearer of a wearable robot.

[0096] In addition, the step of generating the walking analysis information of the wearer may include the step of receiving the walking information of the wearer from the wearable robot; the step of generating the wearer's physical / motor ability information based on the received walking information of the wearer; and the step of generating the wearer's walking analysis information based on at least one of the generated wearer's physical / motor ability information and statistical information based on the wearer's accumulated walking information stored in an external server, which is a graphical user interface generation method for providing information about the walking of the wearer of the wearable robot.

[0097] In addition, the step of receiving the walking information of the wearer includes the step of sending at least one of the walking pattern and torque intensity information set on the user terminal to the wearable robot; the step of receiving the real-time walking information of the wearer generated by the wearable robot according to at least one of the set walking pattern and torque intensity information after the sending; and the step of receiving the quantified physical / motor ability value of the wearer generated based on the received real-time walking information of the wearer, which is a method for generating a graphical user interface for providing information about the walking of the wearer of the wearable robot.

[0098] In addition, the step of sending at least one of the set walking mode and torque intensity information may include the step of displaying a graphical user interface showing the robot motion setting area on the user terminal; the step of receiving the setting of at least one of the walking mode and torque intensity on the user terminal and sending at least one of the set walking mode and torque intensity information to the wearable robot, which is a method for generating a graphical user interface for providing information about the walking of a wearable robot wearer.

[0099] In addition, the method for generating a graphical user interface for providing information about the walking of a wearable robot wearer may include the step of first performing the step of receiving the end of movement at a user terminal and sending the received end of movement information to the wearable robot before the step of generating a graphical user interface based on the generated walking analysis information of the wearer.

[0100] In addition, it can be a method for generating a graphical user interface for providing information about the walking of a wearable robot wearer, which displays a graphical user interface for notifying that walking analysis information has not been generated after receiving the movement end information when the necessary conditions for generating walking analysis information of the wearer are not met.

[0101] According to one embodiment of the present invention, a graphical user interface generation method for providing information about the walking of a wearable robot wearer may include the steps of acquiring information about the walking of the wearer; learning a deep learning model based on the acquired information about the walking of the wearer; estimating the walking analysis information of the wearer based on the learned deep learning model; and generating a graphical user interface based on the estimated walking analysis information of the wearer.

[0102] In addition, the graphical user interface may be a graphical user interface for displaying a wearer's walking ability estimation report, and the graphical user interface for displaying the wearer's walking ability estimation report includes at least one of an estimated comprehensive walking score display area, a wearer's basic information display area, an estimated walking index graphical area, and an estimated walking detailed analysis information display area, for providing information about the walking of the wearer of the wearable robot.

[0103] In addition, the estimated walking index graphical area can be used to graphically display the wearer's estimated walking ability so that the estimated scores of the wearer's various walking indicators can be compared with the average scores of each walking indicator according to age, and the estimated scores of each walking indicator are scores of speed, agility, muscle strength, stability and balance. A graphical user interface generation method for providing information about the walking of the wearer of the wearable robot can be used.

[0104] In addition, the estimated walking detailed analysis information display area may include at least one of an estimated score display area for each walking indicator and a feedback display area based on the estimated score of each walking indicator, and a method for generating a graphical user interface for providing information about the walking of a wearer of a wearable robot.

[0105] In addition, the graphical user interface may be a graphical user interface for displaying the wearer's customized plan information, and the graphical user interface for displaying the wearer's customized plan information includes at least one of a given customized plan display area, a comprehensive walking score display area, a walking index graphical area, and a given plan details display area, and is used to provide a method for generating a graphical user interface for providing information about the walking of the wearer of the wearable robot.

[0106] In addition, the method for generating a graphical user interface for providing information on the walking of a wearer of a wearable robot may be such that the comprehensive walking score display area displays the wearer's expected walking score that is expected to improve after the given customized plan is performed.

[0107] In addition, the walking index graphical area may be configured to graphically display the wearer's walking ability so as to be able to compare the wearer's estimated scores for each walking index, the scores for each walking index based on the average age, and the wearer's expected walking scores, wherein the scores for each walking index are scores for speed, agility, muscle strength, stability, and balance, providing a method for generating a graphical user interface for providing information about the walking of the wearer of the wearable robot.

[0108] In addition, in the step of learning the deep learning model, when the information obtained about the wearer's walking is in multiple different forms, the information obtained about the wearer's walking is combined into multimodal data, and a method for generating a graphical user interface for providing information about the walking of the wearer of a wearable robot is learned based on the combined multimodal data.

[0109] In addition, the step of obtaining information about the wearer's walking may include the step of receiving the wearer's walking information from the wearable robot; the step of generating wearer's walking analysis information based on the received wearer's walking information; and the step of obtaining the information about the wearer's walking based on the generated wearer's walking analysis information, which is used to generate a graphical user interface for providing information about the walking of the wearer of the wearable robot.

[0110] In addition, the step of generating the walking analysis information of the wearer includes the step of receiving the walking information of the wearer from the wearable robot; the step of generating the wearer's physical / motor ability information based on the received wearer's walking information; and the step of generating the wearer's walking analysis information based on at least one of the generated wearer's physical / motor ability information and statistical information based on the wearer's accumulated walking information stored in an external server, which is a graphical user interface generation method for providing information about the walking of a wearer of a wearable robot.

[0111] In addition, the step of receiving the wearer's walking information may include the step of sending at least one of the walking pattern and torque intensity information set on the user terminal to the wearable robot; the step of receiving the wearer's real-time walking information generated by the wearable robot based on at least one of the set walking pattern and torque intensity information after the sending; and the step of receiving the wearer's quantified physical / motor ability value generated based on the received real-time walking information of the wearer, which is a method for generating a graphical user interface for providing information about the walking of the wearer of the wearable robot.

[0112] In addition, the step of sending at least one of the set walking mode and torque intensity information may include the step of displaying a graphical user interface showing the robot motion setting area on the user terminal; the step of receiving the setting of at least one of the walking mode and torque intensity on the user terminal and sending at least one of the set walking mode and torque intensity information to the wearable robot, which is a method for generating a graphical user interface for providing information about the walking of a wearable robot wearer.

[0113] According to one embodiment of the present invention, a non-transitory computer-readable storage medium storing one or more programs may be a non-transitory computer-readable storage medium in which the one or more programs include instructions for executing at least one of the above-mentioned methods, and the programs are configured to be executed by one or more processors to generate a graphical user interface that displays information about the walking of a wearable robot wearer.

[0114] According to one embodiment of the present invention, a graphical user interface generating device for providing information about the walking of a wearable robot wearer may include an input unit and a communication unit, a display unit, one or more processor units, and a memory unit storing one or more programs configured to be run by the one or more processors, wherein the one or more programs include instructions for executing at least one of the above-mentioned methods. The graphical user interface generating device for providing information about the walking of a wearable robot wearer may include an input unit and a communication unit, a display unit, one or more processor units, and a memory unit storing one or more programs configured to be run by the one or more processors.

[0115] The walking assist wearable robot of the present invention for assisting a wearer's walking movement is constructed as follows: it includes a fixing part that can be installed on a body part of the wearer and a driving part that can be installed on the fixing part. The driving part calculates the degree of change of the wearer's state trajectory accumulated within a predetermined time and calculates the output torque based on this.

[0116] In addition, the predetermined time is not less than 0.5 seconds and not more than 1 second.

[0117] In addition, the driving unit can be configured not to calculate the output torque or to calculate a value below the critical value when the wearer's state trajectory moving distance within the predetermined time is below a first critical value, and can be configured to calculate the output torque as a value above the critical value when the wearer's state trajectory moving distance within the predetermined time is above a second critical value.

[0118] In addition, the first critical value and the second critical value are the same value, or the second critical value is a value larger than the first critical value.

[0119] In addition, the driving unit is configured to change the value of the torque intensity adjustment parameter used to calculate the output torque to below the critical value or to 0 when the wearer's state trajectory movement distance within the predetermined time is below a first critical value.

[0120] In addition, the driving unit is configured to gradually change the value of the torque intensity adjustment parameter used to calculate the output torque to below a critical value or to zero.

[0121] In addition, the driving unit is configured to restore the value of the torque intensity adjustment parameter used to calculate the output torque to a set value when the wearer's state trajectory movement distance within the predetermined time is greater than a second critical value.

[0122] In addition, the driving unit is configured to gradually restore a value of a torque intensity adjustment parameter used to calculate the output torque to a set value.

[0123] The walking assist wearable robot for assisting a wearer's walking motion of the present invention is configured to include a fixing portion that can be mounted on a body part of the wearer and a driving portion that can be mounted on the fixing portion. The driving portion calculates the output torque when the accumulated movement distance of the wearer's state trajectory within a predetermined time is greater than a critical value and the number of consecutive steps after the wearer stops is greater than a specified number of steps.

[0124] In addition, the driving unit is configured to restore the value of the torque intensity adjustment parameter used to calculate the output torque to a set value when the wearer's state trajectory movement distance is greater than a critical value within the predetermined time.

[0125] In addition, the driving unit is configured to gradually restore a value of a torque intensity adjustment parameter used to calculate the output torque to a set value.

[0126] In addition, the driving unit is configured to count a time point at which the motion state value of the wearer is 0 to count the number of consecutive steps after the wearer stops.

[0127] In addition, the driving unit is configured to count time points at which one target body part of the wearer intersects the other target body part to count consecutive steps after the wearer stops.

[0128] In addition, the driving section is configured to count time points at which the motion state value of the wearer has a predetermined value to count the number of consecutive steps after the wearer stops.

[0129] The walking assist wearable robot for assisting a wearer's walking movement of the present invention is configured to include a fixing part that can be installed on a body part of the wearer and a driving part that can be installed on the fixing part. The driving part calculates the degree of change of the wearer's state trajectory and calculates the output torque based on this. Within a range below the critical value including the time point at which the calculated sign of the output torque changes, the output torque is calculated as a value below the critical value within a predetermined time.

[0130] In addition, the predetermined time is not less than 0.5 seconds and not more than 1 second.

[0131] In addition, the driving unit can be configured to not calculate the output torque or calculate it as a value below the critical value when the wearer's state trajectory moving distance within the predetermined time is below a first critical value, and can be configured to calculate the output torque as a value above the critical value when the wearer's state trajectory moving distance within the predetermined time is above a second critical value.

[0132] In addition, the first critical value and the second critical value are the same value, or the second critical value is a value larger than the first critical value.

[0133] In addition, the driving unit is configured to change the value of the torque intensity adjustment parameter used to calculate the output torque to below the critical value or to 0 when the wearer's state trajectory movement distance within the predetermined time is below a first critical value.

[0134] The method for calculating the output torque of the driving unit of a walking assist wearable robot for assisting a wearer's walking movement of the present invention includes: a step of calculating the wearer's state trajectory moving distance accumulated within a predetermined time; a step of counting the number of consecutive steps after the wearer stops; and a step of calculating the output torque when the calculated wearer's state trajectory moving distance is above a critical value and the counted number of consecutive steps after stopping is above a predetermined number of steps.

[0135] The method for calculating the output torque of a driving unit of a walking assist wearable robot for assisting a wearer's walking motion of the present invention includes: a step of calculating a state trajectory movement distance of the wearer accumulated within a predetermined time; a step of calculating the output torque based on the calculated state trajectory movement distance of the wearer; and a step of calculating the output torque as a value below the critical value within a predetermined time within a range below the critical value including a time point at which the calculated sign of the output torque changes.

[0136] A walking assist wearable robot for assisting a wearer's walking movement, which receives target muscle information to be moved from a user terminal, is configured to include a fixing part that can be installed on a body part of the wearer and a driving part that can be installed on the fixing part. The driving part sets parameters according to the received target muscle information and calculates the output torque based on this.

[0137] Furthermore, the driving unit is configured to calculate an angular velocity based on the wearer's walking, calculate an operation state value based on the calculated angular velocity, and calculate the output torque based on the calculated angular velocity.

[0138] Furthermore, the set parameter is a parameter indicating at least one of the calculated output timing information of the torque, the calculated intensity adjustment information of the torque, the filter information for calculating the output torque, or the asymmetry information for calculating the output torque.

[0139] Furthermore, the calculated output timing information of the torque includes the calculated position information of the operation state value.

[0140] In addition, the calculated torque intensity adjustment information may be represented by a torque intensity adjustment parameter. The torque intensity adjustment parameter is negative when the driving unit outputs the resisting torque and is positive when the driving unit outputs the assisting torque.

[0141] Furthermore, the driving unit is configured to calculate the output torque by multiplying the calculated weighted sum of the operation state values ​​by the torque intensity adjustment parameter.

[0142] In addition, it may also include a memory unit, the driving unit is configured to calculate the output torque according to the set motion mode, and the memory unit is configured to store the parameters according to the motion mode as a lookup table, and the set parameters are composed of parameters according to the target muscle information received from the user terminal according to the lookup table.

[0143] In addition, the lookup table is composed of a combination of at least one of the calculated output timing information of the torque, the calculated intensity adjustment information of the torque, filter information for calculating the output torque, or asymmetry information for calculating the output torque.

[0144] In addition, it may also include a memory unit, which can store a motion mode based on the received target muscle information and parameters according to the motion mode in the form of a lookup table. The driving unit is configured to select a motion mode based on the received target muscle information and calculate the output torque based on the parameters of the selected motion mode.

[0145] In addition, the driving unit is configured to receive the parameter value from the user terminal and calculate the output torque based on the parameter value.

[0146] The present invention relates to a walking-assisting wearable robot system for assisting a wearer's walking motion. The system includes a user terminal and a wearable robot. The wearable robot is configured to receive target muscle information to be exercised from the user terminal, set parameters based on the received target muscle information, calculate output torque based on the received parameters, and send information related to the walking motion to the user terminal. The user terminal is configured to receive the sent information related to the walking motion.

[0147] Furthermore, the wearable robot is configured to calculate an angular velocity from the wearer's walking, calculate an operation state value based on the calculated angular velocity, and calculate the output torque based on the calculated angular velocity.

[0148] Furthermore, the set parameter is a parameter indicating at least one of the calculated output timing information of the torque, the calculated intensity adjustment information of the torque, the filter information for calculating the output torque, or the asymmetry information for calculating the output torque.

[0149] Furthermore, the calculated output timing information of the torque includes the calculated position information of the operation state value.

[0150] In addition, the calculated torque intensity adjustment information may be represented by a torque intensity adjustment parameter. The torque intensity adjustment parameter is negative when the driving unit outputs the resisting torque and is positive when the driving unit outputs the assisting torque.

[0151] In addition, the wearable robot is configured to calculate the output torque by multiplying the calculated weighted sum of the action state values ​​by the torque intensity adjustment parameter.

[0152] In addition, the wearable robot is configured to calculate the output torque according to the set motion mode, and store the parameters according to the motion mode as a lookup table, and the set parameters are composed of parameters according to the target muscle information received from the user terminal according to the lookup table.

[0153] In addition, the lookup table is composed of a combination of at least one of the calculated output timing information of the torque, the calculated intensity adjustment information of the torque, the filter information for calculating the output torque, or the asymmetry information for calculating the output torque.

[0154] In addition, the wearable robot can store the motion mode based on the received target muscle information and the parameters according to the motion mode in the form of a lookup table, can select the motion mode based on the received target muscle information, and calculate the output torque based on the parameters according to the selected motion mode.

[0155] In addition, the wearable robot is configured to receive the parameter value from the user terminal and calculate the output torque based on the parameter value.

[0156] In addition, the user terminal is configured to provide audiovisual feedback information based on the received information related to the walking motion, and the audiovisual feedback information includes the wearer's motion score information, the wearer's walking performance information or the wearer's motion information.

[0157] In addition, the walking performance information includes at least one of the wearer's speed information, the wearer's posture information, the wearer's stride information, the wearer's regularity information, the wearer's asymmetry information, and the wearer's walking score information.

[0158] In addition, the motion information includes at least one of motion elapsed time information of each motion mode of the wearer, accumulated motion time information of the wearer, and motion elapsed time information of the wearer's current motion mode.

[0159] In addition, the exercise score information is configured to be calculated based on the wearer's state trajectory movement distance.

[0160] In addition, the exercise score information is configured to be calculated based on a median value or an average value of the wearer's state trajectory movement distance within a predetermined time.

[0161] In addition, the user terminal is configured to provide the calculated exercise score information after normalizing it to a score of 100.

[0162] The walking assist wearable robot of the present invention, which receives target motion information to be moved from a user terminal and is used to assist the wearer's walking motion, is configured to include a fixing part that can be installed on a body part of the wearer and a driving part that can be installed on the fixing part. The driving part sets parameters according to the received target motion information and calculates the output torque based on this.

[0163] The present invention relates to a walking-assisting wearable robot system for assisting a wearer's walking motion. The system includes a user terminal and a wearable robot. The wearable robot is configured to receive target motion information to be moved from the user terminal, set parameters based on the received target motion information, calculate output torque based on the received target motion information, and send information related to the walking motion to the user terminal. The user terminal is configured to receive the sent information related to the walking motion.

[0164] The waist-worn part of the walking-assisting wearable robot of the present invention for assisting the wearer's walking movement includes a waist-worn part that can be installed on the wearer's waist and a driving part that can be installed on the waist-worn part, the waist-worn part includes a waist-worn part component and a waist-worn buckle part connected to the waist-worn part component, the driving part includes a driving part fixing frame located on both sides of the driving part, and the waist-worn buckle part is configured to be able to be combined with and disengaged from the driving part fixing frame.

[0165] Furthermore, the driving unit fixing frame is arranged to have an inclination of not less than 0 degrees and not more than 30 degrees with respect to a vertical plane of the driving unit.

[0166] In addition, the waist-worn buckle portion includes a drive unit fixing component, and the drive unit fixing component also includes an inner connecting component; the drive unit fixing component also includes: a button component located at the inner connecting component; and an elastic component located inside the waist-worn buckle portion. When the waist-worn buckle portion and the drive unit fixing frame are combined, the button component is configured to move toward the travel direction of the drive unit fixing frame, so that the elastic component is configured to contract. When the button component and the drive unit fixing frame are combined, the elastic component is configured to relax to prevent the drive unit fixing frame from moving toward the button component.

[0167] In addition, the button member is configured to have an inclined portion, and when the waist-worn buckle portion and the drive unit fixing frame are coupled, the drive unit fixing frame is configured to contact the inclined portion of the button member to move in the advancing direction.

[0168] In addition, the waist-worn buckle portion includes a drive unit fixing component, the drive unit fixing component also includes an inner connecting component, and also includes a button component located at the inner connecting component; a handle component located at the inner connecting component; and an elastic component located inside the waist-worn buckle portion. When the waist-worn buckle portion and the drive unit fixing frame are released from connection, the handle component moves toward the direction of travel of the drive unit fixing frame when they are combined. As the inner connecting component moves toward the direction of travel, the elastic component moves toward the direction of travel, thereby releasing the connection between the button component and the drive unit fixing frame.

[0169] In addition, the waist-worn portion component and the waist-worn buckle portion are configured to be fixed by a band.

[0170] In addition, the waist-worn portion component and the waist-worn buckle portion are configured to be fixed by Velcro.

[0171] The waist-worn part of the walking assist wearable robot for assisting the wearer's walking movement of the present invention includes a waist-worn part that can be installed on the wearer's waist and a driving part that can be installed on the waist-worn part. The waist-worn part also includes a waist-worn part component and a waist-worn buckle part connected to the waist-worn part component. The waist-worn buckle part includes a driving part fixing component that can be combined with the driving part and a swinging part connected to the driving part fixing component.

[0172] In addition, the swing member is configured to connect the waist-worn component and the waist-worn buckle.

[0173] Furthermore, the swing member is configured to be swingable at an angle of not less than 0 degrees and not more than 30 degrees based on the pre-swing posture.

[0174] In addition, the driving part includes a driving part fixing frame located on both sides of the driving part, and the waist-worn buckle part is configured to be able to be coupled with and released from the driving part fixing frame.

[0175] Furthermore, the driving unit fixing frame is arranged to have an inclination of not less than 0 degrees and not more than 30 degrees with respect to a vertical plane of the driving unit.

[0176] In addition, the waist-worn buckle portion also includes a button component located on the inner side of the waist-worn buckle portion and an elastic component located inside the waist-worn buckle portion. When the waist-worn buckle portion and the driving unit fixing frame are combined, the button component is configured to move toward the moving direction of the driving unit fixing frame, so that the elastic component is configured to contract. When the button component and the driving unit fixing frame are combined, the elastic component is configured to relax to prevent the driving unit fixing frame from detaching from the button component.

[0177] In addition, the button component is configured to have an inclined portion, and when the waist-worn buckle portion and the drive unit fixing frame are coupled, the drive unit fixing frame is configured to contact the inclined portion of the button component to move in the advancing direction.

[0178] In addition, the waist-worn buckle portion also includes an inner connecting component, a button component located at the inner connecting component, a handle component located at the inner connecting component, and an elastic component located inside the waist-worn buckle portion. When the waist-worn buckle portion and the driving unit fixing frame are released from connection, the handle component moves toward the traveling direction of the driving unit fixing frame at the time of connection. As the inner connecting component moves toward the traveling direction, the elastic component moves toward the traveling direction and is configured to release the connection between the button component and the driving unit fixing frame.

[0179] In addition, the waist-worn portion component and the waist-worn buckle portion are configured to be fixed by a band.

[0180] In addition, the waist-worn portion component and the waist-worn buckle portion are configured to be fixed by Velcro.

[0181] The walking assist wearable robot for assisting the wearer's walking movement of the present invention includes a waist-wearing part that can be installed on the wearer's waist and a driving part that can be installed on the fixed part. The waist-wearing part includes a waist-wearing part component and a waist-wearing buckle part connected to the waist-wearing part component. The waist-wearing buckle part also includes a driving part fixing component that can be combined with the driving part and a swinging part connected to the driving part fixing component. The driving part includes a driving part fixing frame located on both sides of the driving part. The driving part fixing frame has an inclination of more than 0 degrees and less than 30 degrees based on the vertical plane of the fixed part. The waist-wearing part component and the waist-wearing buckle part are configured to be connected through the swinging part.

[0182] Furthermore, the driving unit fixing frame is arranged to have an inclination of 5 degrees or more and 20 degrees or less with respect to a vertical plane of the driving unit.

[0183] The wearable robot for assisting walking movement of the present invention includes a waist-worn portion that can be installed on the wearer's waist and a driving portion combined with the waist-worn portion to assist the wearer's walking. The waist-worn portion includes a waist-worn component that can be worn tightly against the wearer's waist and a waist-worn buckle portion connected to the waist-worn component and used to be combined with the driving portion. The waist-worn buckle portion includes a driving portion fixing portion that can be combined with the driving portion and a swinging portion connected to the driving portion fixing portion to allow relative swinging between the driving portion and the waist-worn portion.

[0184] In addition, the swing member is configured to connect the waist-worn component and the waist-worn buckle.

[0185] Furthermore, the swing member is configured to be swingable at an angle of not less than 0 degrees and not more than 30 degrees based on the pre-swing posture.

[0186] The thigh wearing part of the walking assist wearable robot for assisting the wearer's walking movement of the present invention includes a waist wearing part that can be installed on the wearer's waist; a thigh wearing part that can be installed on the wearer's thigh; a driving part connected to the waist wearing part; and a thigh frame connecting the driving part and the thigh wearing part, the thigh frame including a thigh frame joint part, the thigh wearing part including a fixing clamp part; the fixing clamp part is configured to be able to fix or separate the thigh frame joint part.

[0187] In addition, the thigh wearing portion includes a thigh frame release button for switching the thigh frame joint portion from a fixed state to a released state.

[0188] In addition, the thigh frame release button also includes a thigh frame release elastic component, and the thigh frame release elastic component is configured to provide a reset force so that the thigh frame automatically returns to its original position after the thigh frame release button is operated.

[0189] In addition, the thigh wearing portion further comprises a thigh belt portion and a thigh buckle portion, wherein the thigh belt portion is configured to be connected to the thigh buckle portion and can be adjusted in length according to the wearer's thigh circumference.

[0190] In addition, the thigh frame joint is designed to be round so as to be rotatable, and is configured to be able to rotate flexibly according to the wearer's thigh movement.

[0191] In addition, the thigh wearable part includes a thigh detachable frame, the thigh detachable frame also includes a sliding rail component, and the thigh frame joint part is configured to be movable along the sliding rail component.

[0192] In addition, the thigh wearing portion includes an impact-proof component, which is configured to be located on the inner side of the thigh wearing portion and can reduce the impact or vibration generated during the sliding action of the thigh frame.

[0193] In addition, the sliding rail member further includes a linear guide member on the thigh detachable frame, and the linear guide member is configured to support the sliding movement of the thigh frame joint portion.

[0194] In addition, the impact-proof member is configured to absorb impact energy generated during the sliding movement of the thigh frame joint.

[0195] The thigh frame of the walking assist wearable robot for assisting the wearer's walking movement of the present invention includes a waist wearing part that can be installed on the wearer's waist; a thigh wearing part that can be installed on the wearer's thigh; a driving part connected to the waist wearing part and including a driver; and a thigh frame connecting the driving part and the thigh wearing part, the thigh frame including a joint component connecting the driving part and the thigh frame; a thigh cover component connected to the joint component; and a thigh internal component that slides inside the thigh cover component according to the wearer's walking movement.

[0196] In addition, the joint member is configured to be connected in series with the actuator to transmit the assist force generated by the actuator to the thigh frame.

[0197] Furthermore, the joint member is configured to be capable of swinging in accordance with the wearer's walking direction and swinging in a direction perpendicular to the walking direction.

[0198] In addition, the joint component includes: a joint cover (cap) component that serves as a cover of the joint component; and a joint axis component that serves as an axis of the joint component, and the joint component is configured to be combined with the joint cover component and the joint axis component so as to enable a swinging motion consistent with the wearer's walking direction and a swinging motion in a direction perpendicular to the walking direction.

[0199] Furthermore, the thigh cover member includes a rail structure having a predetermined angle formed bilaterally symmetrically inside the thigh cover member.

[0200] In addition, the thigh inner member is configured to include a predetermined angle structure formed symmetrically with respect to the left and right, so as to prevent the thigh inner member from tilting left and right when sliding inside the thigh cover member.

[0201] In addition, a bearing end component is also included. The thigh inner component is configured to be combined with the bearing end component. The bearing end component prevents left and right gaps when the thigh inner component slides and disperses the load applied to the thigh frame when the driver generates auxiliary force.

[0202] In addition, the inner thigh member includes a two-stage bearing member, which is characterized by working perpendicular to the sliding direction of the inner thigh member to maintain left-right balance and prevent left-right tilting that may occur during sliding.

[0203] In addition, the inner thigh component further includes a two-stage auxiliary bearing component, which is characterized in that it is configured to prevent the left and right movement of the inner thigh component together with the two-stage bearing component so that a certain gap is maintained during sliding.

[0204] Additionally, the inner thigh member includes a 2.5-stage bearing member configured to slide inwardly when the wearer steps up, sits down, or squats.

[0205] In addition, the inner thigh component further includes a distal restoring elastic component, wherein the distal restoring elastic component is characterized in that it assists the inner thigh component in returning to an initial state after a sliding action.

[0206] In addition, the thigh cover member includes a rail structure having a left-right symmetrical angle inside the thigh cover member, and the rail structure is characterized by suppressing left-right tilting during sliding of the thigh inner member.

[0207] In addition, the thigh cover component plays a role in guiding the sliding of the inner thigh component in the process of transmitting the auxiliary force generated by the driver to the inner thigh component, and the left-right symmetrical track structure formed on the inner side of the thigh cover component is configured to prevent the inner thigh component from tilting left and right during sliding.

[0208] In addition, the inner thigh component is characterized in that it is configured to be combined with the thigh wearing part, and can slide to change the length value according to the wearer's leg length. The sliding action is divided into 2 levels and 2.5 levels of sliding, which can be adjusted according to the wearer's movements.

[0209] In addition, the inner thigh member includes a two-stage return elastic band member configured to provide elastic force so that the inner thigh member can return to its original position after a sliding action.

[0210] In addition, the thigh frame includes a bearing cover member configured to protect a bearing provided on an inner side of the thigh inner member from falling off during sliding.

[0211] In addition, the thigh frame includes a front urethane bearing component and a rear urethane bearing component, and the front urethane bearing component and the rear urethane bearing component are configured to suppress vibration and noise generated during the sliding action of the thigh inner component and maintain the left and right balance of the thigh frame.

[0212] In addition, the front urethane bearing member and the rear urethane bearing member are characterized by being arranged at the same angle as the inner rail of the thigh cover member to minimize vibration that may occur during sliding.

[0213] In addition, the inner thigh component includes a 2.5-stage bearing component and an end-return elastic component, and the end-return elastic component is configured to provide elastic force so that the 2.5-stage bearing component can return to its original position after sliding.

[0214] The walking assist wearable robot for assisting the wearer's walking movement of the present invention includes a waist-wearing part that can be installed on the wearer's waist; a thigh-wearing part that can be installed on the wearer's thigh; a driving part connected to the waist-wearing part and including a driver; and a thigh frame connecting the driving part and the thigh-wearing part; the thigh frame includes a joint component connecting the driving part and the thigh frame; a thigh cover component connected to the joint component; and a thigh internal component that slides inside the thigh cover component according to the wearer's movement.

[0215] The objective is achieved by a wearable robot according to one embodiment of the present invention, comprising: a first fixing portion fixed to a body part on one side of a joint; a second fixing portion fixed to a body part on the other side of the joint; a driving portion fixed to the first fixing portion; and a connecting component connecting the driving portion and the second fixing portion, for transmitting the driving force provided by the driving portion to the second fixing portion for movement of the joint, wherein the connecting component adjusts its length accordingly according to the interval between the driving portion and the second fixing portion that changes with the size of the movement of the joint, or comprises a plurality of unit components arranged in a row to constitute a connecting component and a linkage portion connecting the plurality of unit components so that the plurality of unit components are linked to each other.

[0216] It also includes a rotating joint part that is respectively connected to the left and right sides of the driving part and rotates in the front and rear directions with the left and right rotation axis as the center. The connecting part is hinged at the lower end of the rotating joint part so that it can rotate in the left and right directions with the front and rear rotation axis as the center.

[0217] The driving portion includes two drivers and a main body shell that accommodates the drivers inside. The connecting components on both sides can receive power from the drivers and rotate respectively.

[0218] In which, the driving part includes a single driver, a driver frame that is accommodated inside around the driver and rotates in the horizontal axis direction; and a main body shell that accommodates the driver and the driver frame inside. The connecting component arranged on one side of the main body can receive power from the driver and rotate, and the connecting component arranged on the other side of the driving part can be connected to the driver frame for rotation.

[0219] The driving portion may further include a bearing installed on the outside of the driver frame to enable the driver frame to rotate relative to the main body shell.

[0220] The invention may further include a first fixing portion for fixing the driving portion to the waist and a second fixing portion for fixing the connecting component to the thigh.

[0221] The connecting member may be formed of a plurality of connecting rods to be bent.

[0222] The upper end of the connecting component may be hinged so as to be rotatable in left and right directions with the front-back rotation axis as the center.

[0223] The connecting component may include a first component supported by the driving portion, a second component movably connected to the first component, and a third component movably connected to the second component and supported by the second fixing portion.

[0224] Furthermore, a second slit capable of guiding movement of the third member is formed on one surface of the second member, and a first slit communicating with the second slit while overlapping with the second member is formed on one surface of the first member.

[0225] In addition, an elastic member for elastically supporting the second member or the third member in the contraction direction may be included.

[0226] In addition, the friction force of the second member on the first member and the friction force of the third member on the second member may be set to be different.

[0227] In addition, the second member may further include a roller that rolls on a contact surface with the first member.

[0228] In addition, the third member may further include a sliding pad that slides on a contact surface with the second member with a relatively greater friction force than that of the roller.

[0229] In addition, the connecting member may include a first length adjusting portion and a second length adjusting portion arranged in a row between the driving portion and the second fixing portion.

[0230] Furthermore, the first length adjusting portion can adjust the length of a partial region within the movable range of the joint portion, and the second length adjusting portion can adjust the length of a remaining region beyond the partial region within the movable range of the joint portion.

[0231] Furthermore, the connecting member may include a permanent magnet capable of fixing the position of the third member when the third member moves in the expanding direction on the second member.

[0232] In addition, the permanent magnet may include a first permanent magnet provided at the second end portion of the second member and a second permanent magnet provided at a position of the third member corresponding to the first permanent magnet.

[0233] The first end portion refers to an end of the first component or the second component relative to the overlapping direction when the first component 141 and the second component 142 overlap, and the second end portion refers to an end of the first component or the second component relative to the direction opposite to the overlapping direction.

[0234] Furthermore, the connecting member may further include an elastic member fixed to the third member in a state where one end portion is fixed to the first member and the other end portion is supported by the second member.

[0235] Additionally, the second member may include a first pulley supporting the elastic member.

[0236] In addition, the linkage portion may include: a first cable having one end fixed to the first component and the other end fixed to the third component when supported by the second end of the second component; and a second cable having one end fixed to the first component and the other end fixed to the third unit component when supported by the first end of the second component.

[0237] Furthermore, a second pulley supporting the first cable may be disposed at the second end portion of the second member, and a third pulley supporting the second cable may be disposed at the first end portion of the second member.

[0238] In addition, the linkage portion may include a rack arranged on the first component along the length direction, a pinion arranged on the contraction side end of the second component and meshing with the rack, a first pulley rotating together with the pinion, a second pulley arranged on the expansion side end of the second component, and a belt fixed to the third component at both ends in a state of being wound around the first pulley and the second pulley.

[0239] Furthermore, a second slit capable of guiding movement of the third member may be formed on one side of the second member, and a first slit communicating with the second slit while overlapping with the second member may be formed on one side of the first member.

[0240] In addition, when the first fixing part is worn on the waist, the waist wearing part is preferably composed of a waist belt and a waist wearing frame. The two ends of the waist belt can be connected to the two ends of the waist wearing frame to adjust the length of the waist belt according to the size of the waist.

[0241] In addition, the waist-worn frame preferably includes a disassembly button and a lower end mechanism part and an upper end mechanism part, and may include a lower end hook and an upper end hook on one side of the main body shell.

[0242] In addition, when the second fixing portion is worn on the thigh and used as a thigh wearing portion, the thigh wearing portion may be composed of a belt portion and a plate.

[0243] In addition, the strap portion may include a second button coupled to one end of the strap portion.

[0244] In addition, both ends of the belt portion may be coupled to both ends of the plate.

[0245] In addition, the length of the band portion can be adjusted or the band portion can be separated from the plate at the joint portions at both ends.

[0246] Additionally, the board may include a board frame and a first key.

[0247] According to one embodiment of the present invention, a motion assist method includes: a step of sequentially storing motion state values ​​in a state trajectory memory buffer; a step of selecting at least one motion state value from the motion state values ​​stored in the state trajectory memory buffer; a step of determining an assist force using the selected motion state value; and a step of outputting the determined assist force.

[0248] In addition, in the step of storing the action status values, only a preset number of action status values ​​may be stored in a First In First Out (FIFO) manner.

[0249] In addition, the action state value may be a sensed value obtained by measuring the action state at regular intervals or a converted value of the sensed value using a preset mathematical formula.

[0250] Furthermore, in the step of determining the assist force, the assist force may be determined by a weighted sum of the selected action state values.

[0251] In addition, in the step of selecting the at least one action state value, an action state value stored in a predetermined position among the action state values ​​stored in the state trace memory buffer may be selected.

[0252] In addition, before the step of selecting the at least one action state value, the method may further include: a step of calculating a state trajectory moving distance by adding the differences between the action state values ​​sequentially stored in the state trajectory memory buffer; and a step of changing the predetermined position according to the state trajectory moving distance in the step of selecting the at least one action state value.

[0253] In addition, the larger the state track moving distance, the more the predetermined position in the state track memory buffer is changed toward the first storage position side of the memory array, and the smaller the state track moving distance, the more the predetermined position is changed toward the last storage position side of the memory array.

[0254] In addition, the action state value may be a conversion value obtained by converting the sensed hip angle value q0 using a conversion formula S0=Asin(q0 / 2), and A may be a constant.

[0255] In addition, the maneuver assist system according to one embodiment of the present invention may include a state trajectory memory buffer for sequentially storing maneuver state values, and a determination section that determines the assist force by using one or more of the maneuver state values ​​stored in the state trajectory memory buffer.

[0256] In addition, the state trace memory buffer may be a memory buffer of limited size that stores the action state value in a first-in-first-out (FIFO) manner.

[0257] In addition, the state trace memory buffer may store action state values ​​related to the user's activities in the last few seconds.

[0258] Furthermore, the determination unit may select an operation state value stored in a predetermined position of a memory array in the state trace memory buffer, but may change the predetermined position according to a change in the operation state value stored in the state trace memory buffer and select the operation state value stored in the changed position.

[0259] In addition, the motion assisting program according to one embodiment of the present invention may be a program stored in a medium for executing the steps of the motion assisting method according to one embodiment of the present invention in combination with hardware.

[0260] In addition, the safety mode according to one embodiment of the present invention may include a step of detecting an operating angle or an operating speed of the driving part, and a step of stopping the rotation of the motor of the driving part to execute the safety mode.

[0261] Effects of the Invention

[0262] According to the present invention, the wearer's walking device includes a fixing portion that can be attached to a body part and a driving portion that can be attached to the fixing portion. The driving portion can estimate the wearer's physical ability based on the power of the driving portion according to the wearer's walking motion.

[0263] According to the present invention, a method for estimating the physical ability of a wearer during walking using a wearable robot including a drive unit includes: a step of accumulating the ratio of power to torque of the drive unit calculated by the drive unit during each walking; and a step of calculating statistics about the accumulation, thereby calculating the accumulated statistics about the ratio of power to torque of the drive unit calculated by the drive unit during each walking and providing the statistical results.

[0264] According to the present invention, the steps include receiving from a server device the cumulative statistics of the ratio of the power to the torque of the driving unit calculated by the driving unit during each walking, and displaying the calculated cumulative statistics, thereby providing the calculated cumulative statistics to the wearer.

[0265] According to the present invention, a wearable walking robot using a backdrivable actuator can grasp the wearer's physical ability in real time by utilizing the power-torque ratio generated by the device during walking.

[0266] According to the present invention, a graphical user interface that displays walking analysis information of a wearable robot wearer can achieve the following effects.

[0267] According to the present invention, the wearable robot uses a backdrivable actuator to quantify the wearer's physical / motor ability values ​​by using the power-torque ratio generated by the device during walking according to at least one of the walking mode and torque intensity set in the user terminal, generates the wearer's physical / motor ability information based on the quantified physical / motor ability values, and provides a user interface based on the generated wearer's physical / motor ability information that displays statistical information or a walking analysis report based on the wearer's accumulated walking.

[0268] According to the present invention, by inputting the wearer's walking information and the like as learning data based on a deep learning model, it is possible to estimate the walking ability of the wearer of a wearable robot or provide customized exercise plan information.

[0269] According to the present invention, a graphical user interface can be provided that displays information related to the wearer's walking, such as the wearer's real-time walking information, statistical information based on the wearer's accumulated walking information, walking analysis reports, walking ability estimation reports, and customized plan information, while intuitively identifying the wearer's physical / athletic ability information.

[0270] According to the present invention, a wearable robot wearer or an administrator can set at least one of an appropriate walking mode and torque intensity during robot movement of the wearable robot wearer based on intuitive data such as a walking analysis report generated based on information about the wearer's walking.

[0271] The effects of the present invention are not limited to the above-mentioned effects, and those skilled in the art can clearly understand other effects not mentioned from the following description.

[0272] The present invention can quickly reduce and disable the device torque during actions other than walking, and smoothly activate the device (apply torque) when the critical number of walking steps is exceeded to help the device work smoothly for a long time.

[0273] According to the present invention, by adding a torque disable (zero torque) interval in the interval where the device torque sign changes, energy can be effectively used at the moment when walking assistance is needed, and at the same time, the wearer can be assisted to perform natural walking.

[0274] The present invention can reduce the possibility of mismatch between the wearer's and the device's activity directions, and can effectively utilize energy during long-term work by reducing the output torque value.

[0275] In addition, by increasing the torque zero range, it can be beneficial to battery consumption and improve durability.

[0276] In addition, when the device is repeatedly subjected to impact when pedaling during walking, in this case, when a low torque is applied through zero torque shaping, the amount of impact can be relatively reduced.

[0277] The present invention utilizes a wearable walking robot to time shift and reverse a smooth interaction torque curve, thereby providing an effect of selective muscle strengthening exercise through walking motion.

[0278] The present invention stores the wearer's most recent (within 1 to 2 seconds) leg activity status information in a buffer memory in sequence, and uses the stored status information to perform output feedback control, which has the effect of strengthening specific muscles and achieving various exercise effects.

[0279] The present invention has the effect of enhancing various walking functions by using walking motion of a wearable device.

[0280] The present invention can achieve the exercise intensity (muscle stimulation) effect of the hip, knee, ankle and other parts that are difficult to move by walking using a wearable device.

[0281] In the present invention, the waist wear portion is made of a soft material and can flexibly respond to the wearer's activities. Therefore, the wearer can naturally perform various postures and movements, thereby providing an effect of minimizing the burden when assisting highly active work or walking exercises.

[0282] The flexible waistband of the present invention is not restricted by the wearer's body shape or size and can be worn flexibly, so it can be worn comfortably by all users regardless of gender, body shape or size. In particular, it has the effect of automatically fitting the wearer's body shape without the need for further adjustment, providing a customized wearing experience.

[0283] Because the present invention does not use a rigid frame, there is no unnecessary pressure or interference on the wearer's hip joint or waist. The soft waistband does not cause inconvenience to the wearer during long-term wear, providing a stable wearing feeling, reducing fatigue and allowing long-term use.

[0284] Because the soft waist-worn portion of the present invention naturally adapts to the user's movements, it does not interfere with the wearer's posture or activities. Therefore, the wearable robot can flexibly assist the wearer's movements, and the user can also receive smooth assistance during walking movements.

[0285] By removing the rigid frame, the present invention reduces the overall weight, allowing users to carry and use it without any burden. The lightweight product can provide an improved wearing feel, facilitate storage or transportation, and maximize the convenience of use.

[0286] The present invention can improve the shortcomings of existing wearable robots through a single driver and optimized structural design, providing a significantly improved wearing experience and auxiliary performance.

[0287] The present invention reduces the weight of the system and is designed to be slim by using a single driver, thereby preventing an increase in weight and an expansion in the volume of the system, enabling efficient motion.

[0288] A single actuator can symmetrically assist the other leg based on the supporting foot according to the walking characteristics of the person. Compared with the existing technology that uses individual actuators for each joint, it can simplify the structure, reduce heat loss and lower manufacturing costs.

[0289] In addition, by offsetting the rotational force and rotational repulsive force of the driver inside the driver frame, the user only feels the reaction to the auxiliary force, thereby reducing discomfort when wearing and significantly improving the wearing feel.

[0290] The present invention is designed to place the device body including a single actuator in front of the wearer's abdomen, without requiring a rigid frame on the side of the hip joint. Therefore, no matter the user's body shape and size, no interference will occur, thereby providing the wearer with a more free movement effect.

[0291] The thigh-worn portion of the present invention is designed to allow users to easily install and remove the device. Its bilaterally symmetrical structure and buckle design allow for quick donning and removal with simple manipulation. This feature allows for convenient use of the walking assistance robot in a variety of situations, thereby enhancing user convenience.

[0292] The thigh-worn portion of the present invention can be adjusted in length according to the wearer's thigh shape and circumference, thus being suitable for users of various body sizes and shapes. This ensures that the device fits snugly on the user's thigh, improving stability by preventing it from falling off or becoming detached during wear.

[0293] The thigh-worn portion of the present invention is designed to surround the thigh frame joint structure, thereby reducing frame deformation that may occur during walking. This allows the user to move freely even while wearing the device, providing a comfortable experience during daily activities such as walking, sitting, and climbing stairs.

[0294] The thigh-worn portion of the present invention has a button that is easily detachable from the thigh frame, so that the user can quickly assemble or disassemble the device. The button automatically returns to its original position through an elastic member with a reset force, so that a stable connection state can be maintained.

[0295] The thigh-worn portion of the present invention is designed to fit gently against the wearer's thigh, thereby effectively alleviating shock and vibration during walking. Therefore, even when the device is worn for long periods of time, fatigue is minimized and a comfortable wearing experience is provided.

[0296] The thigh wear portion of the present invention naturally conforms to the wearer's activities under various use environments and can effectively work not only in walking assistance but also in various activities such as climbing stairs and running. In addition, the device is stably fixed to the thigh and can maintain reliability in any environment. BRIEF DESCRIPTION OF THE DRAWINGS

[0297] Figure 1a is a diagram showing a wearable robot according to one embodiment of the present invention;

[0298] Figure 1b is an exploded perspective view of a driving unit of a wearable robot according to one embodiment of the present invention;

[0299] Figure 1c 1 is a diagram illustrating left-right hinge motion of a connecting member according to one embodiment of the present invention;

[0300] Figure 1d is a diagram illustrating a sliding action of a connecting member according to one embodiment of the present invention;

[0301] Figure 1e is a diagram illustrating a linking operation of a connecting component according to one embodiment of the present invention;

[0302] Figure 1f 1 is a diagram illustrating the movement of a wearable robot during walking according to one embodiment of the present invention;

[0303] Figure 1g is a diagram illustrating the movement of a wearable robot according to the movement and posture of a wearer according to one embodiment of the present invention;

[0304] Figure 2 is a diagram for explaining a walking assist mode and a walking resistance mode according to one embodiment of the present invention;

[0305] Figure 3 This is a diagram for explaining an embodiment in which a coach collects device information of members during group exercise according to one embodiment of the present invention;

[0306] Figure 4 is a diagram for explaining a method for quantifying the physical / motor ability of a wearer of a wearable robot according to the present invention;

[0307] Figure 5 is a diagram illustrating a method for calculating torque using a state trajectory memory buffer to provide driving force to a wearer of a wearable robot according to the present invention;

[0308] Figure 6a is a diagram for illustrating an operation of sequentially storing action state values ​​based on a state trace memory buffer according to one embodiment of the present invention;

[0309] Figure 6b is a diagram illustrating an embodiment of deleting the action state value stored in the last storage location N from the state trace memory buffer according to one embodiment of the present invention;

[0310] Figure 6c 1 is a diagram illustrating an embodiment in which an action state value reflecting an action state of a wearer according to an action of the wearer is stored in a state trace memory buffer according to an embodiment of the present invention;

[0311] Figure 7 is a graph showing the analysis results of the Pearson correlation between walking, balance, and body function indicators of a wearable robot wearer and the device power-torque ratio;

[0312] Figure 8 Graphs showing the correlation between the wearer's age and the device power-torque ratio in a walking assist mode of a wearable robot according to the present invention, and the correlation between the wearer's age and the device power-torque ratio in a walking resistance mode of a wearable robot according to the present invention;

[0313] Figure 9 is a schematic diagram showing one or more network functions for executing a method for providing motion information based on a database of correlations between a ratio of power to torque of a driving unit 230 and a wearer's physical condition according to the present invention;

[0314] Figure 10 is a diagram for explaining a method for calculating importance scores of categories of body information or motion information of a wearer of a wearable robot based on a deep neural network according to one embodiment of the present invention;

[0315] Figures 11a to 11d is a block diagram of a system for generating a graphical user interface for providing information about walking of a wearable robot wearer using a wearable robot capable of estimating the wearer's walking ability during walking motions according to one embodiment of the present invention;

[0316] Figure 12 is a block diagram of a user terminal of a system for generating a graphical user interface displaying information about walking of a wearable robot wearer according to one embodiment of the present invention;

[0317] Figure 13 and Figure 14 is a diagram illustrating a graphical user interface displaying a user / administrator and experience mode login process for accessing a system displaying information about walking of a wearable robot wearer according to one embodiment of the present invention;

[0318] Figure 15a is a diagram showing a graphical user interface showing a process of completing a Bluetooth connection for linkage between a user terminal and a wearable robot according to one embodiment of the present invention;

[0319] Figure 15b is a diagram illustrating a graphical user interface for displaying a process of Bluetooth connection failure between a user terminal and a wearable robot according to one embodiment of the present invention;

[0320] Figure 15c is a diagram illustrating a graphical user interface showing a process of disconnecting a Bluetooth connection between a user terminal and a wearable robot according to one embodiment of the present invention;

[0321] Figure 16is a diagram showing a graphical user interface displaying a main screen on a user / administrator terminal after login and Bluetooth connection are completed according to one embodiment of the present invention;

[0322] Figure 17a is a diagram showing a graphical user interface of a user terminal displaying a rest mode before movement of a robot according to one embodiment of the present invention;

[0323] Figure 17b is a diagram showing a graphical user interface of a user terminal in which at least one of an assist / motion mode and a torque intensity is set when a robot starts moving according to one embodiment of the present invention;

[0324] Figure 17c is a diagram showing a graphical user interface of a user terminal displaying information on a wearer's walking measured during the robot movement at the end of the robot movement according to one embodiment of the present invention;

[0325] Figure 17d is a diagram showing a graphical user interface of a user terminal displaying a walking map that displays the wearer's current position information and distance information and the wearer's walking time information during robot movement according to one embodiment of the present invention;

[0326] Figure 17e is a diagram showing a graphical user interface that displays a notification that no walking analysis information has been generated when robot motion is ended according to one embodiment of the present invention;

[0327] Figure 18 is a flowchart for explaining a method for generating a graphical user interface of a user terminal for displaying information on walking of a wearer of the wearable robot transmitted and received between the wearable robot, the user terminal, and an external server according to one embodiment of the present invention;

[0328] Figure 19a is a diagram showing a graphical user interface of a user terminal that records a robot's motion process and displays statistical information based on accumulated walking information of a wearer based on the number of steps according to one embodiment of the present invention;

[0329] Figure 19b is a diagram showing a graphical user interface of a user terminal that records a robot's motion process and displays statistical information based on accumulated walking information of a wearer based on "distance" according to one embodiment of the present invention;

[0330] Figure 19c is a diagram showing a graphical user interface of a user terminal that records a robot's motion process and displays statistical information based on accumulated walking information of a wearer based on "time" according to one embodiment of the present invention;

[0331] Figure 20 is a diagram illustrating a graphical user interface of a user terminal that displays a walking analysis report of a wearer based on at least one of information on the wearer's walking obtained during a previous robot movement and accumulated data stored in an external server according to one embodiment of the present invention;

[0332] Figure 21 is a diagram for explaining a method for estimating walking analysis information of a wearable robot wearer based on a deep learning model according to one embodiment of the present invention;

[0333] Figure 22 is a flowchart for illustrating a process of combining information about different types of walking of a wearer into multimodal data and estimating walking analysis information based on a deep learning model according to one embodiment of the present invention;

[0334] Figure 23 is a diagram illustrating a graphical user interface for displaying a walking ability estimation report based on walking analysis information of a wearer estimated according to a deep learning model according to one embodiment of the present invention;

[0335] Figure 24 is a diagram illustrating a graphical user interface for displaying customized motion plan information suitable for the walking ability of a wearer of a wearable robot based on a deep learning model according to one embodiment of the present invention;

[0336] Figure 25 is a diagram illustrating customized motion plan information and expected effects suitable for the walking ability of a wearable robot wearer based on a deep learning model according to one embodiment of the present invention;

[0337] Figure 26 is a diagram illustrating a graphical user interface for displaying a process for registering administrator information in a user terminal according to one embodiment of the present invention;

[0338] Figure 27 is a diagram illustrating a graphical user interface displaying a process for registering user information in an administrator terminal according to one embodiment of the present invention;

[0339] Figure 28 is a flowchart for explaining a process of registering information of a user and an administrator in a user terminal and an administrator terminal, respectively, according to one embodiment of the present invention;

[0340] Figure 29a and Figure 29b is a diagram showing a graphical user interface of a user terminal capable of confirming and modifying user account information according to one embodiment of the present invention;

[0341] Figure 30 FIG. 1 is a diagram showing a graphical user interface of a user terminal capable of confirming and deleting registered administrator information according to an embodiment of the present invention;

[0342] Figure 31 FIG. 1 is a diagram showing a graphical user interface of a user terminal capable of confirming information about a user's robot usage according to an embodiment of the present invention;

[0343] Figure 32 is a diagram showing a graphical user interface of an administrator terminal capable of confirming and modifying administrator account information according to one embodiment of the present invention;

[0344] Figure 33 FIG. 1 is a diagram showing a graphical user interface of an administrator terminal for setting a robot name (management number) of a wearable robot connected to a user terminal according to an embodiment of the present invention;

[0345] Figure 34 is a diagram showing a graphical user interface of an administrator terminal displaying a basic screen when a plan tab for 1:N group movement is clicked according to one embodiment of the present invention;

[0346] Figure 35 is a diagram showing a graphical user interface of an administrator terminal for generating a plan for a 1:N group movement according to one embodiment of the present invention;

[0347] Figure 36 is a diagram showing a graphical user interface of an administrator terminal displaying general information of a plan generated for a 1:N group exercise according to one embodiment of the present invention;

[0348] Figure 37 is a diagram of a graphical user interface of an administrator terminal showing a process of selecting participating members in a plan generated for a 1:N group exercise according to one embodiment of the present invention;

[0349] Figure 38 is a diagram illustrating a graphical user interface of an administrator terminal displaying a process of connecting with a wearable robot of a member participating in a plan for 1:N group exercise in a case where the wearable robot is not connected according to one embodiment of the present invention;

[0350] Figure 39 is a diagram of a graphical user interface of an administrator terminal showing a process of causing at least one member participating in a plan for 1:N group exercise to start a robot movement according to one embodiment of the present invention;

[0351] Figure 40FIG. 1 is a diagram showing a graphical user interface of an administrator terminal for setting a walking pattern and torque intensity for each member at the start of exercise in a 1:N group exercise plan according to one embodiment of the present invention;

[0352] Figure 41 is a diagram showing a graphical user interface capable of confirming walking information of members participating in a plan for 1:N group exercise through an administrator terminal according to one embodiment of the present invention;

[0353] Figure 42 This is a diagram showing that basic information and a walking analysis report of one member who has participated in a 1:N group exercise plan can be confirmed through an administrator terminal according to one embodiment of the present invention;

[0354] Figure 43 is a diagram illustrating a device control method for safely performing various tasks other than walking during walking assistance for a wearer according to the present invention;

[0355] Figure 44 1 is a diagram for explaining comparison of trajectory motions of various hip states according to an embodiment of the present invention;

[0356] Figure 45a is a diagram showing state trajectories of a case where a walker stops and a case where the walker walks after stopping according to one embodiment of the present invention;

[0357] Figure 45b is a diagram for explaining a state trajectory moving distance according to one embodiment of the present invention;

[0358] Figure 45c is a diagram for explaining a torque intensity adjustment factor according to one embodiment of the present invention;

[0359] Figure 46 is a diagram for explaining continuous step counting according to one embodiment of the present invention;

[0360] Figure 47 is a diagram for explaining a walking assistance output algorithm according to the present invention;

[0361] Figure 48 is a diagram for explaining an auxiliary method based on state feedback control according to the present invention;

[0362] Figure 49 is a diagram for explaining an output torque algorithm according to the present invention;

[0363] Figure 50a is a graph showing changes in torque value when walking again after performing work other than walking during walking according to the present invention;

[0364] Figure 50bis a graph showing changes in torque values ​​when walking slowly during walking according to the present invention and walking again after performing work other than walking;

[0365] Figure 51a A diagram for explaining an embodiment of adding a torque prohibition interval to an interval where the sign of the device torque changes according to the present invention;

[0366] Figure 51b A diagram for graphically illustrating an embodiment of adding a torque prohibition interval in an interval where the sign of the device torque changes according to the present invention;

[0367] Figure 52 is a diagram showing a wearable mobile system and a user terminal according to the present invention;

[0368] Figure 53 1 is a diagram for explaining a walking assist mode and a walking resistance mode according to the present invention;

[0369] Figure 54 is a diagram for explaining a method for supporting selective muscle strengthening exercise during walking exercise according to the present invention;

[0370] Figure 55 is a diagram illustrating a user interface for selecting a target muscle to be exercised according to one embodiment of the present invention;

[0371] Figure 56 is a diagram for explaining a walking assistance output algorithm according to the present invention;

[0372] Figure 57 is a diagram showing a lookup table of target muscle strength movement patterns and matching set values ​​according to one embodiment of the present invention;

[0373] Figure 58 is a diagram for explaining an output torque algorithm according to the present invention;

[0374] Figure 59 is a diagram illustrating providing user feedback information according to one embodiment of the present invention;

[0375] Figure 60 is a diagram illustrating providing hip joint visual feedback information according to one embodiment of the present invention;

[0376] Figure 61 1 is a diagram showing the muscle strengthening effect of assist mode A according to one embodiment of the present invention;

[0377] Figure 62 1 is a diagram showing the muscle strengthening effect of the resistance mode A according to one embodiment of the present invention;

[0378] Figure 63is a graph for comparing the difference in muscle strength enhanced between resistance mode B and resistance mode C according to the present invention;

[0379] Figure 64 is a diagram showing torque and power trajectories in assist mode A according to the present invention;

[0380] Figure 65 is a diagram showing torque and power trajectories of resistance mode A according to the present invention;

[0381] Figure 66 is a diagram showing torque and power trajectories of resistance mode B according to the present invention;

[0382] Figure 67 is a diagram showing torque and power trajectories of resistance mode C according to the present invention;

[0383] Figure 68 is a diagram showing torque and power trajectories of resistance mode D according to the present invention;

[0384] Figure 69 is a diagram showing torque and power trajectories of the resistance mode E according to the present invention;

[0385] Figure 70 is a diagram for explaining a method for supporting selective walking reinforcement exercise during walking exercise according to one embodiment of the present invention;

[0386] Figure 71 is a diagram showing a target action motion pattern and a matching set value lookup table according to one embodiment of the present invention;

[0387] Figure 72 is a diagram showing a user interface for setting a target improvement action according to one embodiment of the present invention;

[0388] Figure 73 1 is a diagram showing torque and power curves in assist mode A according to an embodiment of the present invention;

[0389] Figure 74 1 is a diagram showing torque and power curves in assist mode B according to an embodiment of the present invention;

[0390] Figure 75 1 is a diagram showing torque and power curves in assist mode C according to an embodiment of the present invention;

[0391] Figure 76 1 is a diagram showing torque and power curves in assist mode D according to an embodiment of the present invention;

[0392] Figure 77 is a diagram illustrating an interval walking exercise plan according to one embodiment of the present invention;

[0393] Figure 78 is a diagram illustrating an assist / resistance plan user interface according to one embodiment of the present invention;

[0394] Figure 79 1 is a diagram showing an additional control mode suitable for downhill and uphill driving, etc. according to one embodiment of the present invention;

[0395] Figure 80 It is a figure used for explaining the waist-wearing part and the waist-wearing buckle part of the present invention;

[0396] Figure 81 It is a diagram for explaining an embodiment of the waist-worn part and the waist-worn buckle part of the present invention using Velcro fastening;

[0397] Figure 82 is a diagram for explaining a driving unit fixing member according to the present invention;

[0398] Figure 83 is a diagram for explaining a driving unit fixing frame according to the present invention;

[0399] Figure 84 A diagram for explaining an embodiment of a left-right symmetrical twisting angle of a driving unit fixing frame according to the present invention;

[0400] Figure 85 A diagram for explaining an embodiment of mounting a drive unit fixing member on a drive unit fixing frame according to the present invention;

[0401] Figure 86 It is a figure used for explaining the embodiment related to the key component of the driving part fixing member according to the present invention;

[0402] Figure 87 It is a diagram for explaining an embodiment of a key member handle portion of a driving unit fixing member according to the present invention;

[0403] Figure 88 1 is a diagram for explaining the detailed structure of the thigh wear portion according to the present invention;

[0404] Figure 89 1 is a diagram for explaining the operation of the thigh-worn portion according to one embodiment of the present invention;

[0405] Figure 90 It is a diagram for explaining the structure of the thigh frame fixing joint according to the present invention;

[0406] Figure 91 is a diagram for explaining a detachable thigh frame according to the present invention;

[0407] Figure 92 1 is a diagram for explaining a detachable mechanism of a thigh wearable portion according to an embodiment of the present invention;

[0408] Figure 93 is a diagram for explaining a linear guide member according to one embodiment of the present invention;

[0409] Figure 94 is a diagram for explaining a sliding rail member according to an embodiment of the present invention;

[0410] Figure 95 A diagram for explaining the operation of the 2-stage portion and the 2.5-stage portion in the coaxial two-bearing structure and the auxiliary two-bearing structure of the thigh frame according to one embodiment of the present invention;

[0411] Figure 96 is a diagram for explaining a two-stage auxiliary bearing member of a thigh frame according to one embodiment of the present invention;

[0412] Figure 97a is a diagram for explaining a two-stage bearing component according to one embodiment of the present invention;

[0413] Figure 97b A diagram illustrating a reset elastic component combined with a 2.5-stage sliding component to assist in reset according to an embodiment of the present invention;

[0414] Figure 97c is a diagram for explaining the shape of a bearing shaft member according to one embodiment of the present invention;

[0415] Figure 98 1. It is a diagram for explaining a joint member, a joint shaft member, a two-stage return elastic band member, etc. according to one embodiment of the present invention;

[0416] Figure 99 is a diagram for explaining the operation of a thigh frame having a urethane bearing structure that slides on a track having a certain angle according to the present invention;

[0417] Figure 100 is a diagram for explaining a bearing end bracket and a bearing sliding bracket according to one embodiment of the present invention;

[0418] Figure 101 is a diagram for explaining a urethane bearing according to one embodiment of the present invention;

[0419] Figure 102 1. It is a diagram for explaining a joint component, a joint shaft component, a two-stage return elastic belt component, etc. in a urethane bearing structure according to one embodiment of the present invention;

[0420] Figures 103 to 108 is a diagram illustrating a working state of a wearable robot according to one embodiment of the present invention;

[0421] Figure 109 is a diagram showing the function of a connecting member according to a third embodiment of the present invention;

[0422] Figure 110 is a diagram showing the operation of a connecting member according to a fourth embodiment of the present invention;

[0423] Figure 111 is an exploded perspective view showing a connection component in a wearable robot according to one embodiment of the present invention;

[0424] Figure 112 is a cross-sectional view of a connecting component in a wearable robot according to one embodiment of the present invention;

[0425] Figure 113 yes Figure 112 A magnified view of part "A";

[0426] Figure 114 yes Figure 112 A magnified view of part "B" of FIG.

[0427] Figure 115 and Figure 116 is a diagram illustrating a working state of a wearable robot according to one embodiment of the present invention;

[0428] Figure 117 It is a functional diagram of the connecting component of the present invention;

[0429] Figure 118 It is a three-dimensional diagram of the state where the waist belt and the waist wearing frame are combined;

[0430] Figures 119 to 121 1 is a diagram for illustrating a process of removing and installing the waist-worn part of the wearable robot;

[0431] Figure 122 is a perspective view of a thigh-worn portion of a wearable robot according to one embodiment of the present invention;

[0432] Figure 123 yes Figure 122 An exploded perspective view of the thigh wear portion shown;

[0433] Figure 124 A diagram illustrating a process of separating and joining a plate and a belt portion;

[0434] Figure 125 is a diagram illustrating how the first key operates within the board;

[0435] Figure 126 is a diagram showing a process of separating / joining a plate and a connecting member;

[0436] Figures 127 to 1291 is a diagram illustrating an elastic member connecting a waist-worn portion and a thigh-worn portion in a wearable robot according to an embodiment of the present invention. DETAILED DESCRIPTION

[0437] The specific matters of the embodiments are contained in the detailed description and drawings.

[0438] The advantages and features of the present invention and their implementation methods will become apparent with reference to the accompanying drawings and the embodiments described in detail below. However, the present invention is not limited to the embodiments disclosed below, but can be implemented in various different ways. These embodiments are provided to complete the disclosure of the present invention and to fully inform those skilled in the art of the present invention of the scope of the invention. The present invention is defined solely by the scope of the claims. Throughout this specification, the same reference numerals refer to the same components.

[0439] Figure 1a is a schematic diagram illustrating a wearable robot according to one embodiment of the present invention. Figure 1b 2 is an exploded perspective view of a drive unit of a wearable robot according to one embodiment of the present invention.

[0440] The overall structure of the wearable robot

[0441] like Figure 1a As shown, the wearable robot according to one embodiment of the present invention includes a first fixing portion 210, a second fixing portion 220, a driving portion 230, and a connecting component 240. In addition, the first fixing portion 210 and the second fixing portion 220 of the wearable robot according to one embodiment of the present invention can be worn on a body part. According to the present invention, the wearable robot capable of estimating the physical ability of a wearer during walking motion may include a fixing portion (including the first fixing portion 210 and the second fixing portion 220) that can be mounted on a body part and a driving portion 230 that can be mounted on the fixing portion. The driving portion 230 can estimate the physical ability of the wearer based on the power of the driving portion 230 caused by the wearer's walking motion.

[0442] For ease of explanation, the front direction of the wearer of the wearable robot is defined as the x-axis direction. In addition, the sides of the wearer are defined as the y-axis direction, and the vertical direction is defined as the z-axis direction.

[0443] In one embodiment of the present invention, the first fixing portion 210 can be mounted on a reference body part of the wearer, and the second fixing portion 220 can be mounted on a target body part of the wearer. The connecting member 240, which connects the driving portion 230 disposed on the side of the first fixing portion 210 and the second fixing portion 220, can be driven by the driving portion 230 to rotate about the y-axis, thereby providing auxiliary force for the movement of the body part centered on the joint. The connecting member 240 can be divided into a first connecting member 240a and a second connecting member 240b.

[0444] According to one embodiment of the present invention, the first fixing portion 210 and the second fixing portion 220 are respectively attached to a body part and can be formed into a band or belt that can surround the body part. In addition, fixing devices such as hook and loop fasteners can be provided at both ends for mutual fixing.

[0445] According to one embodiment of the present invention, the driving part 230 is disposed on the first fixing part 210 and may be composed of a motor or an actuator for providing a rotational torque centered on the y-axis, and may include a reducer for increasing the torque.

[0446] like Figure 1b As shown, the driving unit 230 includes a driver 231 for generating power for auxiliary force, and can be installed in front of or behind the reference body part.

[0447] According to the present invention, the driving unit 230 may be equipped with a battery 236 for supplying power to the driver 231 . However, the battery 236 may be formed separately from the driving unit 230 while including the control substrate 237 and installed in other parts of the body.

[0448] According to the present invention, the first fixing portion 210 can be composed of a conventional belt (or strap) and buckle (or Velcro). Therefore, the first fixing portion 210 is mounted with the driving portion 230, and the driving portion 230 can be attached to the wearer's reference body part by wrapping it around the reference body part, thereby being mounted in front of or behind the reference body part. The circumference of the first fixing portion 210 can be adjusted based on the size of the wearer's reference body part.

[0449] According to one embodiment of the present invention, when the driving unit 230 is installed behind the reference body part, the connecting component 240 may be located behind or in front of the target body part, but is not limited thereto.

[0450] According to the present invention, the connecting member 240 is rotatably coupled to both sides of the driving unit 230 and can be respectively extended along both sides of the target body part and installed on the target body part. Here, the connecting member 240 can be arranged in front of or behind the target body part according to the installation position of the driving unit 230.

[0451] According to the present invention, the connecting member 240 can be rotated in the forward and backward directions around the rotation axis by the operation of the driver 231 of the driving unit 230 to transmit the auxiliary force to the target body part.

[0452] According to one embodiment of the present invention, the connecting member 240 may be formed in a long rod shape, and the inner side surface contacting the target body part may be formed in a curved surface according to the shape of the contacting target body part so as to be able to fit closely to the target body part.

[0453] like Figure 1b As shown, the first connecting member 240a may include an extension frame 245 that is rotatably coupled to the driving portion 230 and is elongated with a square or circular cross-section. In addition, the first connecting member 240a may include a fixed frame 246. The second connecting member 240b may include an extension frame 245 that is rotatably coupled to the driving portion 230 and is elongated with a square or circular cross-section. In addition, the second connecting member 240b may include a fixed frame 246. The fixed frame 246 is fixed to the lower end of the extension frame 245, has a large contact area with the target body part, and has an inner side surface formed as a curved surface according to the shape of the contact with the target body part, and can fix the connecting member 240 to the target body part.

[0454] According to the present invention, the second fixing portion 220 is connected to the lower end of the connecting member 240, thereby fixing the lower end of the connecting member 240 to the target body part. Like the first fixing portion 210, the second fixing portion 220 can be composed of a belt (or a strap) and a buckle (or Velcro).

[0455] In the drawings, the second fixing portion 220 is formed at the lower end portion of the connecting member 240 , but may be formed at other positions or further formed at other positions other than the lower end portion of the connecting member 240 .

[0456] Additionally, a motion sensing sensor 247 that senses motion or posture of a target body part of the wearer may be included.

[0457] According to one embodiment of the present invention, the control substrate 237 can predict the wearer's movement by receiving signals from the sensing sensor, thereby controlling the driver 231 of the driving unit 230 to drive the connecting component 240 to assist the movement of the target body part.

[0458] According to one embodiment of the present invention, the motion sensing sensor 247 may be an inertial sensor, an angle sensor, a limit sensor, etc. The motion sensing sensor 247 may be installed in the main body housing 234 to sense the angle of a reference body part of the wearer.

[0459] In addition, the motion sensing sensor 247 can be installed on one side or both sides of the rotating joint portion 270a, 270b to estimate the front-to-back angle of the wearer's target body part.

[0460] Alternatively, after sensing the angle of the target body part on one side, the angle of the target body part on the other side may be calculated according to the relative angles of the target body parts on both sides.

[0461] In addition, a motion sensing sensor 247 may be mounted on the connecting member 240 to sense the front-back direction and left-right rotation angle of the target body part of the wearer. The sensed left-right rotation angle may be used to calculate information about the wearer's balance.

[0462] In addition, the motion sensing sensor 247 may be an encoder, a resolver, a Hall sensor, etc. capable of estimating the amount and direction of rotation of the motor. The motion sensing sensor 247 may measure a rotation variable by detecting the rotation of the motor shaft.

[0463] In one embodiment of the present invention, since the driving part 230 including the driver 231 is configured in front of or behind the reference body part and the connecting component 240 is located in the front and rear direction of the movement of the target body part during the movement, the connecting component 240 can effectively transmit the auxiliary force of the connecting component 240 to the target body part.

[0464] Therefore, compared with the existing structure, the auxiliary force can be effectively transmitted, so a driver 231 with smaller power can be used, and as described later, a single driver 231 can also be used to transmit the auxiliary force to the target body parts on both sides, thereby reducing the weight of the device.

[0465] Implementation of the drive unit

[0466] Figure 1b 2 is an exploded perspective view of a drive unit of a wearable robot according to one embodiment of the present invention. Figure 1c 1 is a schematic diagram illustrating the left-right hinge motion of a connecting member according to one embodiment of the present invention. Figure 1d Schematic diagram illustrating a sliding action of a connecting member according to one embodiment of the present invention. Figure 1e Schematic diagram illustrating a linking operation of a connecting member according to an embodiment of the present invention. Figure 1fSchematic diagram illustrating the movement of a wearable robot during walking according to one embodiment of the present invention. Figure 1g 1 is a diagram illustrating the operation of a wearable robot according to the operation and posture of a wearer according to one embodiment of the present invention.

[0467] like Figure 1b As shown, the driving portion 230 may include a single driver 231 , a driver frame 233 , and a body housing 234 .

[0468] According to the present invention, when the target body part is the thigh, the left and right thighs can be driven in a coordinated manner. In this case, the objects to which the assisting force or resisting force is transmitted can be two points in the target body part, one of which is referred to as the one-side target body part and the other as the other-side target body part.

[0469] The thigh is merely an example of a target body part for specifically explaining the implementation of the driving unit. The target body part is not limited to the thigh, and may be equivalent to various body parts of the human body.

[0470] According to the present invention, the driver 231 can be composed of a rotary motor capable of changing the direction of rotation. The connecting member 240a installed on one side of the target body part is connected to the motor shaft 232 of the rotary motor. The connecting member 240a can be rotated in the forward and backward directions around the left and right rotation axis by the power of the rotary motor.

[0471] According to the present invention, the driver frame 233 may be in the shape of an elongated cylinder, may accommodate the driver 231 therein, and may rotate in a horizontal axial direction.

[0472] According to one embodiment of the present invention, the driver frame 233 may not be provided separately, and the driver 231 itself may be integrally formed by the driver frame 233 and the driver 231 .

[0473] According to the present invention, the body housing 234 may internally accommodate the driver frame 233 .

[0474] In one embodiment of the present invention, the body housing 234 may be divided into an area in which a cylindrical hole 235 is formed in a horizontal direction to accommodate the driver frame 233 therein and an area for mounting a battery 236 and a control substrate 237 .

[0475] According to one embodiment of the present invention, a first bearing 238 a and a second bearing 238 b may be installed between the outer side of the driver frame 233 and the cylindrical hole 235 , so that the driver frame 233 rotates axially within the cylindrical hole 235 formed in the body housing 234 .

[0476] According to one embodiment of the present invention, the driver 231 located inside the driver frame 233 may be fixed inside the driver frame 233. Therefore, when the driver frame 233 rotates, the driver 231 may also rotate together.

[0477] According to one embodiment of the present invention, a second connecting component 240b installed on the other side of the target body part is connected to the other end of the driver frame 233. When the driver frame 233 rotates, the second connecting component 240b can rotate forward and backward around the left and right rotation axis.

[0478] As shown in the figure, the rotary joint portion 270b can be coupled to the other end of the driver frame 233, and the connecting member 240b can be fixed to the rotary joint portion 270b. In addition, the rotary joint portion 270a can also be coupled to the motor shaft 232 of the rotary motor.

[0479] In one embodiment of the present invention, a bushing 239 is additionally coupled to the end of the motor shaft 232 , and the rotary joint portion 270 a is coupled to the bushing 239 .

[0480] According to one embodiment of the present invention, a second bearing 238 b may be additionally installed between the outer side of the motor shaft 232 and the cylindrical hole 235 of the body housing 234 or between the outer side of the bushing 239 and the cylindrical hole 235 of the body housing 234 .

[0481] According to the present invention, the connection member 240 can rotate in the left and right directions around the front-to-back direction rotation axis at the lower ends of the left and right rotation joint parts 270.

[0482] According to the present invention, one side of the upper end of the rotary joint portion 270 can be coupled to the other end of the driver frame 233 or the bushing 239. The lower end of the rotary joint portion 270 can be formed into a plate-like shape extending on both sides (a "U" shape when viewed from the side), and the upper end of the connecting member 240 can be hinged between the two side plates so as to be rotatable in the left and right directions around the forward and backward rotation axis.

[0483] Therefore, if Figure 1c As shown, with the upper end of the connecting member 240 as an axis, the connecting member 240 can rotate in the left and right directions between the plates on both sides.

[0484] Therefore, the connecting member 240 can rotate in the left and right directions by the hinge connection, and can also rotate in the front and rear directions around the left and right rotation axis by the rotation of the rotary joint part 270. In addition, the length of the connecting member 240 can be changed.

[0485] In one embodiment of the present invention, the driving unit 230 is installed on a reference body part.

[0486] Therefore, the linear distance between the two sides of the drive unit 230 and the lower end of the connecting member 240 can change according to various postures or movements of the wearer, such as sitting on a chair, bending over, or raising an arm. If the length of the connecting member 240 is fixed, the connecting member 240 may restrict (hinder) the wearer's movement. Therefore, in one embodiment of the present invention, the length of the connecting member 240 can be adjusted to adapt to the wearer's posture or movement to prevent the connecting member 240 from restricting the wearer's movement.

[0487] like Figure 1d As shown, the connecting member 240 can be formed by a plurality of frames that are overlapped and slidably moved. Therefore, the lengths of both ends of the connecting member 240 can be changed according to the posture or movement of the wearer.

[0488] like Figure 1e As shown, the connecting member 240 can be configured to be formed of multiple connecting rods, which can bend or expand in accordance with the wearer's movements. Here, the connecting rods can be connected to be able to bend in the forward and backward directions or in the left and right directions. Therefore, the bending amount of the connecting rods changes in accordance with the wearer's posture or movement, thereby preventing the connecting member 240 from restricting the wearer's movement.

[0489] The wearable robot according to one embodiment of the present invention, constructed as described above, supports and generates assist force in a manner that assists one target body part with reference to the other target body part.

[0490] That is, the connecting member 240b of the other target body part is connected to the driver frame 233. In addition, the connecting member 240a of the one target body part can be connected to the motor shaft of the driver 231 so as to directly receive the rotational force of the driver 231, thereby directly rotating by the output of the driver 231.

[0491] Therefore, when the driver 231 generates power, the connecting component 240a of one target body part works in a direction of opening the one target body part forward or pulling the one target body part backward based on the other target body part.

[0492] Therefore, if Figure 1fAs shown, the output generated by the driver 231 is transmitted to the target body part on one side through the connecting part 240a of the target body part on one side, and the reaction force of the rotational force (output) of the driver 231 can be transmitted to the target body part on the other side as an auxiliary force. That is, a single driver 231 can be used to simultaneously transmit auxiliary forces to the target body parts on both sides with rotational forces in opposite directions. Here, the rotational output of the driver 231 of the connecting part 240a acting on the target body part on one side and the rotational reaction force of the connecting part 240b acting on the target body part on the other side due to the rotational force of the driver 231 cancel each other out at the driver frame 233, so that only the reaction force to the auxiliary force can be transmitted to the wearer. Therefore, the driving part 230 is only transmitted with a small force, and the rebound force felt by the wearer is small, thereby improving the wearing feel from a structural perspective.

[0493] In addition, if Figure 1g As shown, the driver frame 233 can rotate in the front and rear directions around the left and right rotation axis in the cylindrical hole 235 of the body shell 234. Here, the driver 231 fixed inside the driver frame 233 can also rotate together with the driver frame 233.

[0494] Therefore, the rotation direction reference position of the driver frame 233 can be changed in accordance with various postures and movements of the wearer, with the main body housing 234 fixed at the reference body part as the reference, so that the wearer's wearing feeling can be improved. Figure 1g (a) Figure 1g (b) and Figure 1g As shown in (c), when the angle formed by the connecting part 240a and the connecting part 240b and the ground plane varies according to the wearer's posture, the operating reference angle of the driver frame 233 relative to the main body shell 234 installed at the reference body part can also be changed in accordance with the posture.

[0495] Furthermore, as described above, the connecting member 240 is hinged so as to be rotatable left and right, and the length of the connecting member 240 may be variable or formed as a link structure. Therefore, the connecting member 240 does not restrict movement but rather allows for compliant movement in response to various postures of the wearer, thereby improving the assistive force transmission efficiency and wearing comfort of the wearable robot.

[0496] For example, Figure 1g (a) When walking on flat ground, Figure 1g (b) When going up or down stairs, Figure 1g (c) When sitting on a chair, the operating reference angle of the driver frame 233 relative to the main body housing 234 fixed at the waist can adapt to the change of posture. Figure 1g(c) When sitting on a chair, the legs do not move relative to each other, so the driver frame 233 rotates freely within the body housing 234 without any output from the driver 231 (no assistive force is generated). Furthermore, as described above, the connecting member 240 is hinged, allowing for left and right rotation. The length of the connecting member 240 can be varied or formed into a connecting rod structure. This allows the connecting member 240 to move compliantly, rather than restricting movement, for various postures of the wearer (such as bending forward or backward, sitting on a chair, etc.), as well as postures with the thighs spread or curled up, thereby improving the assistive force transmission efficiency and wearing comfort of the wearable robot. In the above embodiment, a single driver 231 directly transmits assistive force to the connecting member (a) fixed to one thigh, while the connecting member (b) fixed to the other thigh transmits assistive force via the reaction force caused by the supported leg. However, although not shown, a configuration with two drivers, each rotating the connecting member 240 on either side, is also possible. Here, since the driving unit 230 is fixed to the waist of the wearer and the connecting member 240 is arranged in front of or behind the thigh, the force transmission efficiency of the auxiliary force is good, so a relatively small-power driver can be used.

[0497] The above embodiment uses a single actuator 231 to directly transmit auxiliary force to the connecting member 240a fixed to one target body part. To the connecting member 240b fixed to the other target body part, auxiliary force is transmitted via the reaction force caused by the supported target body part. However, although not shown, a configuration with two actuators is also possible, each of which rotates the connecting members 240 on both sides. Here, since the actuator 230 is fixed to the wearer's reference body part and the connecting member 240 is positioned in front of or behind the target body part, the auxiliary force is transmitted efficiently, allowing the use of relatively low-power actuators.

[0498] Walking assistance and walking resistance

[0499] Figure 2 Schematic diagram for explaining the walking assist mode and the walking resistance mode according to one embodiment of the present invention. Figure 2 As shown, the angle value (q0, hip difference angle) between the target body part on one side and the target body part on the other side of the wearer can be the action state value described later.

[0500] In the walking assistance mode according to one embodiment of the present invention, the wearable robot can assist the wearer's leg movements to reduce muscle consumption during walking, or guide the wearer to a correct walking posture with fast and wide strides. Figure 2As a reference, a force is applied from the right to the left to push (extension) the leg of the wearable robot wearer. Figure 2 Based on the reference, a force is applied from the left to the right to pull the legs of the wearer of the wearable robot. As a result, the wearer can reduce the muscle force consumed when walking. In other words, in the walking assistance mode according to the present invention, a walking assistance effect can be provided by applying a forward torque to the leg movement of the wearable robot wearer.

[0501] In the case of the walking resistance (motion) mode according to one embodiment of the present invention, a motion effect can be given by applying a reverse torque (resistance torque) to the leg motion of the wearable robot wearer. Figure 2 As a reference, a force is applied from the right to the left to pull the leg of the wearable robot wearer. Figure 2 As a reference, a force is applied from the left to the right to push (extend) the legs of the wearer of the wearable robot. As a result, the wearer consumes muscle strength when walking, thereby having an exercise effect.

[0502] According to one embodiment of the present invention, in walking assist mode, since the direction of the device's hip angular velocity is the same as the direction of the torque provided by the driver 230, power is transferred from the device to the wearer of the wearable robot, and a positive power value can be calculated. Conversely, in walking resistance (exercise) mode, since the direction of the device's hip angular velocity is opposite to the direction of the torque provided by the driver 230, the wearer transfers power to the device, and a negative power value can be calculated. In other words, positive power values ​​can be primarily calculated during assisted walking, while negative power values ​​can be primarily calculated during resisted walking.

[0503] Body Information Output Example

[0504] Figure 3 FIG. 1 is a schematic diagram for explaining an embodiment in which a coach collects device information of members during group exercise according to an embodiment of the present invention.

[0505] like Figure 3 As shown, the wearable robot of the present invention can have multi-party connection and real-time synchronization functions based on real-time data sharing through wireless connection and cloud server 100 to improve the wearer's leg muscle strength and maximize the exercise effect.

[0506] According to the present invention, a system for managing the motion of a wearer wearing a wearable robot 200 capable of estimating the wearer's physical ability during walking motion can be provided. The system for managing the motion of a wearer wearing the wearable robot 200 capable of estimating the wearer's physical ability during walking motion can include: a first user terminal that outputs analysis information about the wearer's motion; a server device 100 that receives the analysis information about the wearer's motion output by the first user terminal; and a second user terminal that receives the analysis information about the wearer's motion transmitted by the server device 100.

[0507] For example, the first user terminal may be Figure 3 As shown, member 1's smartphone 300-1 is used. Member 1's smartphone 300-1 can receive information about the wearer's movements from member 1's wearable robot 200-1 and, based on the received information, output analytical information about the wearer's movements. Therefore, server device 100 can receive analytical information about the wearer's movements output by member 1's smartphone 300-1. Consequently, a second user terminal can receive analytical information about the wearer's movements from server device 100. This second user terminal can be, but is not limited to, a trainer's smartphone 300-T.

[0508] According to one embodiment of the present invention, the server device 100 can receive feedback information based on the information about the wearer's movement sent to the second user terminal from the second wearer terminal, and transmit the received feedback information to the first wearer terminal. Specifically, the second user terminal can be a coach's smartphone 300-T. The coach can use the coach's smartphone 300-T to input feedback information based on the information about the wearer's movement, and the input feedback information can be transmitted to the server device 100. The server device 100 can transmit the feedback information based on the received information about the wearer's movement to the first wearer terminal, so that the member 1 can confirm the feedback information based on the information about the wearer's movement.

[0509] According to one embodiment of the present invention, a system for managing the motion of a wearer wearing a wearable robot 200 capable of estimating the wearer's physical ability during walking motion may include: a first user terminal that outputs analysis information regarding the wearer's motion; a server device 100 that receives the analysis information regarding the wearer's motion output by the first user terminal; and a second user terminal that receives the analysis information regarding the wearer's motion transmitted by the server device 100. The analysis information regarding the wearer's motion output by the first user terminal may be based on a power-to-torque ratio calculated by the wearable robot 200. Specifically, the analysis information regarding the wearer's motion output by the first user terminal may be at least one of the wearer's agility or lower body muscle strength.

[0510] According to one embodiment of the present invention, the wearer's physical ability that can be estimated using the power torque ratio (PTR) value may include agility and lower body muscle strength. Specifically, in walking assist mode, the wearer's agility can be estimated using mean positive power (mean positive power / RMS torque), and in walking resistance mode, the wearer's lower body muscle strength can be estimated using mean negative power (mean negative power / RMS torque).

[0511] According to one embodiment of the present invention, the server device 100 can receive feedback information based on the information about the wearer's movement sent to the second user terminal from the second wearer terminal, and transmit the received feedback information to the first wearer terminal. Here, the feedback information received by the server device 100 may include the exercise intensity based on the wearer's walking information. For example, a coach can use the coach's smartphone 300-T to input feedback information based on the wearer's movement information. If the input feedback information causes the wearer to exercise with a stronger intensity, the input feedback information can be transmitted to the server device 100.

[0512] According to one embodiment of the present invention, a server device 100 for managing the movement of a wearable robot wearer can receive walking information of a wearer wearing a wearable robot 200 linked to the first user terminal from a first user terminal, and can transmit the received walking information of the wearer to a second user terminal. For example, the server device 100 can receive walking information of a wearer wearing the wearable robot 200 from a member 1's smartphone 300-1, and can transmit the received walking information to a trainer's smartphone 300-T. Therefore, the server device 100 can also receive feedback information about the wearer's walking information from the second user terminal based on the second user terminal's received information. Here, the feedback information based on the wearer's walking information received by the second user terminal can include exercise intensity based on the wearer's walking information, and the feedback information based on the wearer's walking information received by the second user terminal can include information for real-time control of exercise intensity based on the wearer's walking information. Therefore, in one embodiment of the present invention, a trainer can control the exercise intensity of the wearable robot 200 worn by a member in real time.

[0513] According to one embodiment of the present invention, wearable robot 200-1 of member 1 and smartphone 300-1 of member 1 can be wirelessly connected. The wireless connection between wearable robot 200-1 of member 1 and smartphone 300-1 can be via Bluetooth, a short-range wireless communication technology, or other wireless communication technologies such as Wi-Fi, NFC, Zigbee, ANTplus, LTE-M, NB-IoT, Z-Wave, and LoRa, but is not limited thereto.

[0514] According to one embodiment of the present invention, a coach can monitor the exercise status of each member in real time through his or her smartphone, compare the results among members, and provide individual feedback.

[0515] According to one embodiment of the present invention, a coach can adaptively set the exercise intensity for each member based on real-time data. For example, for a member with poor athletic ability, the intensity of the device can be set individually to reduce the exercise intensity for that specific member. In other words, when exercising in walking resistance mode, the resistance intensity can be reduced.

[0516] According to one embodiment of the present invention, the server device 100 may perform a step of accumulating the power-to-torque ratio of the drive unit 230 calculated by the drive unit 230 during each walking session. Furthermore, the server device 100 may perform a step of accumulating the power-to-torque ratio of the drive unit 230 during each walking session and calculating statistics regarding the accumulation. Specifically, for example, the server device 100 may receive information regarding the power-to-torque ratio calculated by the drive unit 230 from the smartphone 300-1 of member 1. Therefore, the server device 100 may accumulate the power-to-torque ratio information of the drive unit 230 received from the smartphone 300-1 during each walking session. Furthermore, statistics regarding the accumulation may be calculated using the accumulated power-to-torque ratio information of the drive unit 230.

[0517] According to another embodiment of the present invention, the wearer terminal 300 may receive from the server device 100 accumulated statistical information regarding the ratio of the power to torque of the drive unit 230 calculated by the drive unit 230 during each walking session. Therefore, a step may be performed to display the accumulated statistics received from the server device 100. Specifically, the accumulated statistics received from the server device 100 may be provided in the form of a wearer interface, and the accumulated statistics received from the server device 100 may be provided in the form of a wearer interface in the form of a wearer's physical performance report. Furthermore, the accumulated statistical information received from the server device 100 may include exercise plan information provided to the wearer, and the exercise plan information provided to the wearer may be provided in the form of a wearer interface.

[0518] Methods for quantifying the physical / motor capabilities of wearable robot wearers

[0519] Figure 4 is a schematic diagram for explaining a method for quantifying the physical / motor ability of a wearer of a wearable robot according to the present invention.

[0520] like Figure 4 As shown, in order to output the wearable wearer's physical ability information, the wearable robot wearer's physical / motor ability quantification method may include the step of quantifying the wearable wearer's physical ability (S103). The wearable wearer's physical ability information may include but is not limited to the wearer's walking ability information, the wearer's balance ability information, the wearer's lower body muscle strength ability information, etc. In addition, the step of outputting the wearer's physical ability information (S104) may also be included.

[0521] According to the present invention, a wearable robot capable of estimating a wearer's physical ability during walking motion may include a fixing unit 210 that can be mounted on a body part and a driving unit 230 that can be mounted on the fixing unit 210. Here, the driving unit 230 may estimate the wearer's physical ability based on the power of the driving unit 230 according to the walking motion of the wearable robot 200.

[0522] An example of estimating the wearer's physical ability based on the power of the driving unit 230 according to one embodiment of the present invention will be described below.

[0523] Sense torque for assisting or resisting walking (S101)

[0524] According to the present invention, a wearable robot capable of estimating the physical ability of a wearer during walking motion may include a fixing portion 210 that can be mounted on a body part and a driving portion 230 that can be mounted on the fixing portion 210. Here, the driving portion 230 can estimate the physical ability of the wearer based on the power of the driving portion 230 according to the walking motion of the wearable robot 200 wearer. Specifically, the driving portion 230 can estimate the physical ability of the wearer based on a value obtained by normalizing the power of the driving portion 230 by torque. In addition, the driving portion 230 can also calculate the ratio of the power of the driving portion 230 to the torque of the driving portion 230 by dividing the power of the driving portion 230 by the root mean square (RMS) torque of the driving portion 230.

[0525] As described above, in order to estimate the wearer's physical ability based on the power of the driving unit 230, it is necessary to sense torque. Therefore, the following describes a step (S101) of sensing torque for assisting or resisting walking of the wearable robot wearer.

[0526] like Figure 4 As shown, in order to estimate the physical ability information of the wearable robot wearer, the step of sensing the torque for assisting or resisting the walking of the wearable robot wearer (S101) can be performed first.

[0527] Different from this, the step of outputting a torque for assisting or resisting the walking of the wearable robot wearer may be performed, such as Figure 5 As shown, this step includes the step of sensing the hip angle difference q0. For the torque outputted by sensing the hip angle difference q0, an auxiliary driving force can be provided in the assist mode to generate positive power, and a resistive driving force can be provided in the resistive mode (sports mode) to generate negative power.

[0528] In other words, to estimate the wearable wearer's physical ability information, the step of sensing the torque used to assist or resist the wearable robot wearer's walking (S101) can be performed first. To calculate the device power calculated to estimate the wearable wearer's physical ability information, the torque used to assist or resist the wearable robot wearer's walking can be sensed and used to provide driving force for the wearer by calculating the output torque. The following describes a mechanism for obtaining the torque calculated using the state trajectory memory buffer 200'.

[0529] State trace memory buffer and action state values

[0530] Figure 5 is a diagram illustrating a method for calculating torque using a state trajectory memory buffer to provide driving force to a wearer of a wearable robot according to the present invention.

[0531] According to the present invention, a wearable robot capable of estimating a wearer's physical ability during walking motion may include a fixing portion 210 that can be mounted on a body part and a driving portion 230 that can be mounted on the fixing portion 210. Here, the driving portion 230 can estimate the wearer's physical ability based on the power of the driving portion 230 during the wearable robot 200 wearer's walking motion. Specifically, the driving portion 230 can estimate the wearer's physical ability based on a value obtained by normalizing the power of the driving portion 230 by the torque. Furthermore, the driving portion 230 can calculate the power-to-torque ratio of the driving portion 230 by dividing the power of the driving portion 230 by the root mean square (RMS) torque of the driving portion 230. Here, the torque used to calculate the power of the driving portion 230 can refer to the torque value sensed by the driving portion 230 during the wearer's walking motion. Conversely, as described above, the torque output during the step of outputting a torque to assist or resist the wearable robot wearer's walking motion can be used to provide driving force to the wearer of the wearable robot 200 wearer.

[0532] According to one embodiment of the present invention, in order to provide driving force to the wearer of the wearable robot 200, the motion sensing sensor 247 of the driving unit 230 may perform a step (S110) of sensing the hip angle of the wearer of the wearable robot 200. The processor unit (not shown) of the driving unit 230 may calculate the angular velocity based on the sensed hip angle. Specifically, Figure 1bMotion sensing sensor 247 located on control board 237 of drive unit 230 senses the wearer's hip angle. A processor (not shown) within control board 237 calculates angular velocity by differentiating and filtering the hip angle sensed by motion sensing sensor 247 at a rate exceeding 1000 Hz. This means that, according to the present invention, angular velocity can be calculated by sensing the hip angle even without using a separate tachometer for angular velocity sensing. More specifically, the processor (not shown) within control board 237 performs real-time control. The processor (not shown) can be divided into a low-level processor and a high-level processor. The low-level processor, which has a relatively low computational load, can calculate angular velocity by differentiating and filtering the hip angle sensed by motion sensing sensor 247 at a rate exceeding 1000 Hz.

[0533] According to one embodiment of the present invention, the torque outputted in the step of outputting a torque for assisting or resisting walking of the wearable robot wearer may be calculated by calculating multiple motion state values ​​based on the angular velocity calculated by the drive unit 230, selecting at least one of the motion state values, and calculating the torque using a weighted value of the selected motion state value and the calculated torque. The multiple calculated motion state values ​​may be stored by repeatedly shifting the state trace memory buffer 200'. The following describes the multiple motion state values ​​stored by repeatedly shifting the state trace memory buffer 200'.

[0534] like Figure 5 As shown, in order to provide driving force to the wearer of the wearable robot 200, the processor unit (not shown) of the driving unit 230 may output a torque for assisting or resisting the walking of the wearable robot wearer. Specifically, the step of outputting a torque for assisting or resisting the walking of the wearable robot wearer may include a step of determining an action state value (S120). In addition, the step of filtering the action state value may be further included (S130). In addition, the step of deleting the oldest action state value previously stored from the memory may be further included (S140).

[0535] Figure 6a FIG. 1 is a diagram illustrating an operation of sequentially storing action state values ​​in a state trace memory buffer according to an embodiment of the present invention. Figure 6b FIG. 1 is a diagram illustrating an embodiment of deleting an action state value stored in the last storage position N from a state trace memory buffer according to an embodiment of the present invention. Figure 6c 2 is a diagram illustrating an embodiment in which an action state value reflecting an action state of a wearer according to an action of the wearer is stored in a state trace memory buffer according to an embodiment of the present invention.

[0536] Figure 5 is a diagram illustrating a method for calculating torque using a state trajectory memory buffer to provide driving force to a wearable robot wearer according to the present invention. Figure 5 Describes the step-by-step method for calculating torque to provide driving force.

[0537] like Figure 6a As shown, the state trace memory buffer 200' is a storage device that sequentially stores the wearer's motion state values. Specifically, Figure 6b As shown, when the first action state value is input, it is stored in the first storage location 0 of the memory array. Then, when a new action state value is input, the action state value stored in the first storage location of the memory array is moved to the second storage location of the memory array, and the newly input action state value is stored in the first storage location of the memory array.

[0538] Then, when a new action state value is input, the action state values ​​stored in the first storage position and the second storage position of the memory array are moved to the second storage position and the third storage position of the memory array, and the newly input action state value is stored in the first storage position of the memory array.

[0539] When this shift operation is repeated, N+1 action state values ​​are stored in all storage locations of the memory array. Therefore, when a new action state value is input, the action state value stored in the memory array is moved to the next location, and the action state value stored in the last storage location N, where there is no more available location to move, is deleted from the state trace memory buffer 200'.

[0540] By storing the motion state values ​​in this first-in-first-out (FIFO) manner, the state trace memory buffer 200 ′ can only store a preset number of motion state values ​​related to the wearer's most recent activities.

[0541] In addition, the motion state value stored in the state trajectory memory buffer 103 may be a sensor-estimated sensed value q0 or a converted value of the sensed value that can indicate the motion state of the wearer. For example, the hip angle difference q0 may be an angle value q0 between a target body part on one side and a target body part on the other side of the wearer estimated by the sensor of the wearable robot 200. That is, Figure 5 As shown, the step of sensing the hip angle difference q0 may be performed first (S110). The angle value q0 between the target body part on one side and the target body part on the other side of the wearer estimated by the sensor of the wearable robot 200 may itself be the action state value s0.

[0542] In addition, the conversion value s0 obtained by converting the estimated angle value q0 between the target body part on one side and the target body part on the other side using the following [Mathematical Formula 1] can be an action state value.

[0543] [Mathematical formula 1]

[0544]

[0545] Here, A is an arbitrary constant value such as -2.

[0546] like Figure 6c As shown, the motion state value shown above is a motion state value that reflects the motion state of the wearer according to the wearer's motion, and can be stored in the state trace memory buffer 200'.

[0547] Alternatively, the following state variables may be used, in which an asymmetry parameter a is added to the original state variables as shown in the following [Mathematical Formula 2]. Figure 5 As shown, such calculation may be performed in the step ( S120 ) of determining the conversion value S0 by adding the asymmetric parameter a.

[0548] [Mathematical formula 2]

[0549]

[0550] Where a = 0 means there is no asymmetry, providing equal torque symmetrically to left and right movements. When a is a complex number, the assist torque is increased for left-hand movements compared to right-hand movements. When a is a positive number, the assist torque is increased for right-hand movements compared to left-hand movements. In other words, a single parameter, a, can be used to adjust the asymmetric assistance for left or right movements.

[0551] According to one embodiment of the present invention, the asymmetry of left / right motion is determined by the sign of the a value, and the degree of asymmetry can be adjusted by the value of a. For example, a value of a = 0.20 enhances right-side asymmetric assistance compared to a value of a = 0.10. The value of a can range from -1.0 to 1.0, with a value of -0.5 to 0.5 being preferred.

[0552] When utilizing the above approach, asymmetric torque can also be generated in a wearable robot using a single actuator. The asymmetric mode can be used to address left / right range of motion imbalances and improve posture, and can be used for other purposes depending on the wearer or intended use. For example, the asymmetric mode can be effectively used to assist people with asymmetric movements due to conditions such as stroke. Furthermore, when a wearable robot according to an embodiment of the present invention is used to assist walking, the asymmetric mode can be used to assist walking navigation.

[0553] In complex environments, the vehicle can reduce torque to induce a decrease in speed, provide asymmetric guidance on curves, and increase speed on straight roads to assist in pathfinding. Furthermore, using visual sensors, such as by attaching a smartphone to an exoskeleton, could also help blind people walk and move.

[0554] According to one embodiment of the present invention, the filtering step (S130) may be performed after the step (S120) for determining the conversion value S0 is performed. In the present invention, in order to adaptively respond to sudden changes in the wearer's movements, the predetermined position i for selecting the motion state value may be changed according to the wearer's motion state. Adaptively selecting the motion state value to determine the assist force based on the wearer's motion changes allows for faster response to changes in the wearer's motion compared to a fixed motion state value selection position.

[0555] Although Figure 6c The figure shows the motion state values ​​of one cycle of the wearer's motion. However, the motion state values ​​stored in the state trace memory buffer 200 ′ only need to represent the wearer's recent short-term motion (within a few seconds, for example, within 1 to 2 seconds).

[0556] For example, the motion state value stored in the state trace memory buffer 103 may include only one motion of the wearer (half cycle of repeated activity). Even if the motion state value stored in the state trace memory buffer 103 includes only one motion of the wearer, i.e., half cycle of repeated activity, the present invention can be implemented.

[0557] Preferably, the motion state values ​​stored in the state trajectory memory buffer 200' may store motion state values ​​comprising one cycle of the wearer's repeated motions. For example, when the wearable robot according to one embodiment of the present invention is worn on the waist or thigh, for example, the wearer's one cycle of motion may be one cycle of the wearer's walking motion (e.g., walking).

[0558] Hereinafter, an operation of storing the action state value in the state trace memory buffer 200 ′ will be described.

[0559] like Figure 6a As shown, the state trace memory buffer 200' is a storage device that stores the wearer's motion state values ​​in sequence. Figure 6bAs shown, when the first action state value is input, it is stored in the first storage location 0 of the memory array. Then, when a new action state value is input, the action state value stored in the first storage location of the memory array is moved to the second storage location of the memory array, and the newly input action state value is stored in the first storage location of the memory array.

[0560] Then, when a new action state value is input, the action state values ​​stored in the first storage position and the second storage position of the memory array are moved to the second storage position and the third storage position of the memory array, and the newly input action state value is stored in the first storage position of the memory array.

[0561] When this shift operation is repeated, N+1 action state values ​​are stored in all storage locations of the memory array. Therefore, when a new action state value is input, the action state value stored in the memory array is moved to the next location, and the action state value stored in the last storage location N, where there is no more available location to move, is deleted from the state trace memory buffer 200'.

[0562] By storing the motion state values ​​in this first-in-first-out (FIFO) manner, the state trajectory memory buffer 200' can only store a preset number of motions related to the wearer's most recent activities. The asymmetric mode can be used to solve the imbalance of the left / right movable range and improve the posture, and can be used for other purposes according to different users or uses. For example, the asymmetric mode can be effectively used to assist the movement of people who do asymmetric walking due to cerebral stroke. In addition, for example, the asymmetric mode can be used to assist walking navigation. In complex environments, the torque intensity can be reduced to induce a speed drop, the direction can be guided by asymmetric assistance on curves, and the speed can be increased on straight roads to achieve path-finding assistance functions. In addition, if a visual sensor is used by installing a smartphone in an exoskeleton device, it can also be used for walking and movement of blind people.

[0563] According to one embodiment of the present invention, the motion state values ​​stored in the state trajectory memory buffer 200' only need to represent the user's recent short-term activities (within a few seconds, for example, within 1 to 2 seconds). For example, the motion state values ​​stored in the state trajectory memory buffer 200' may only include information about one step of the user (a half-cycle of walking). Even if the motion state values ​​stored in the state trajectory memory buffer 200' only include one step of the user, i.e., a half-cycle of walking, the present invention can be implemented. Preferably, the motion state values ​​stored in the state trajectory memory buffer 200' may store motion state values ​​for one cycle of the user's repeated activities.

[0564] Next, the driving unit 230 may include a determining unit (not shown). The determining unit (not shown) is a processing device that determines the assisting force to be provided based on the user's activity. The determining unit (not shown) determines the assisting force using the motion state value stored in the state trajectory memory buffer 200'. Specifically, the determining unit (not shown) selects at least one of the motion state values ​​stored in the state trajectory memory buffer 200', determines the assisting force τ0 by summing the weighted values ​​of the selected motion state values, and outputs the determined assisting force, so that an appropriate assisting force is provided to the user. Here, the determining unit (not shown) can be set to select the motion state value stored in a predetermined position i in the state trajectory memory buffer 200'. The predetermined position can be any position in the memory array. However, in order to improve the stability of the motion assisting device and provide a smooth assisting force to the user even when the user's motion changes dramatically, it is preferred not to select the motion state value stored in the first storage position 0 of the memory array that stores the current walking state value. For example, when the action state value is generated every 0.01 seconds, the predetermined position i is preferably 20 to 40, and thus the action state value S

[20] to the action state value S

[40] can be selected. However, the present invention is not necessarily limited to these ranges.

[0565] In addition, the action state value can be subjected to noise removal using a low-pass filter before being stored in the state trajectory memory buffer 200', but considering that the stored action state value may contain noise, the determination unit (not shown) can select more than two action state values. Here, the two or more action state values ​​are preferably continuous action state values ​​(e.g., S[i], S[i+1], ...) in the memory array, rather than action state values ​​stored separately. In addition, the determination unit (not shown) can adaptively change the predetermined position i for selecting the action state value according to the user's activity. However, in this case, in order to provide a stable auxiliary force, it is also preferred to set a changeable range for the position of the selected action state value (e.g., i is 10 to 50). Here, if the determination unit (not shown) needs to identify the user's action speed, cadence, phase, etc. to grasp the user's activity as in the prior art, it must analyze the walking state values ​​of at least two or three steps, and cannot immediately respond to changes in the user's activity due to the time required for analysis. The determination unit (not shown) only needs to use the walking state value stored in the state trajectory memory buffer 200' to grasp the user's activities, and change the position of the selected action state value according to the grasped results to provide auxiliary force that immediately and adaptively responds to changes in the user's activities.

[0566] The above description of a motion assist system according to one embodiment of the present invention describes a system included in a motion assist device for control. However, the motion assist system according to one embodiment of the present invention may also be the motion assist device itself. Furthermore, while the assist force is described as being provided in the same direction as the user's movement to assist movement, it may also be provided in the direction opposite to the user's movement for the purpose of achieving a better motion effect.

[0567] Determine output torque

[0568] Hereinafter, the step (S150) of generating the output torque based on the stored operation state value will be described.

[0569] According to the present invention, a wearable robot capable of estimating the physical ability of a wearer during walking motion may include a fixing portion 210 that can be mounted on a body part and a driving portion 230 that can be mounted on the fixing portion 210. Here, the driving portion 230 can estimate the physical ability of the wearer based on the power of the driving portion 230 according to the walking motion of the wearable robot 200 wearer. Specifically, the driving portion 230 can estimate the physical ability of the wearer based on a value obtained by normalizing the power of the driving portion 230 by the sensed torque. In addition, the driving portion 230 can also calculate the ratio of the power of the driving portion 230 to the torque of the driving portion 230 by dividing the power of the driving portion 230 by the root mean square (RMS) torque of the driving portion 230.

[0570] Here, the torque used to calculate the power of the driver 230 may refer to the torque value sensed by the driver 230 during the wearer's walking. Conversely, the torque output in the step (S101) of outputting torque for assisting or resisting the wearer's walking may be used to provide driving force for the wearer of the wearable robot 200. In this case, the torque may be calculated by calculating multiple motion state values ​​based on the angular velocity calculated by the driver 230, selecting at least one motion state value from the calculated multiple motion state values, and calculating the weighted sum of the selected motion state values.

[0571] According to the present invention, in the step (S150) of outputting the assistive force to be provided based on the wearer's activity, the assistive force can be determined using the motion state values ​​stored in the state trajectory memory buffer 103. Specifically, in the step (S150) of outputting the assistive force to be provided based on the wearer's activity, at least one motion state value is selected from the motion state values ​​stored in the state trajectory memory buffer 200', an assistive force τ0 is determined by summing the weighted values ​​of the selected motion state values, and the determined assistive force is output so as to provide an appropriate assistive force to the wearer.

[0572] Here, it can be set to select the action state value stored in the predetermined position i in the state trajectory memory buffer 200'. Specifically, the predetermined position can be any position in the memory array. However, in order to improve the stability of the motion assist device and provide a smooth assist force to the wearer even when the user's movements change drastically, it is preferred not to select the action state value stored in the first storage position 0 of the memory array that stores the current walking state value. For example, when the action state value is a value generated every 0.01 seconds, the predetermined position i is preferably 20 to 40, and therefore it can be set to select action state values ​​S

[20] to action state values ​​S

[40] .

[0573] However, it is not necessarily limited to these ranges.

[0574] In addition, the action state value may be subjected to noise removal using a low-pass filter before being stored in the state trace memory buffer 200 ′. However, considering that the stored action state value may contain noise, more than two action state values ​​may be selected.

[0575] Here, the two or more action state values ​​are preferably continuous action state values ​​(eg, S[i], S[i+1], ...) in the memory array, rather than action state values ​​stored separately.

[0576] In addition, the predetermined position i for selecting the action state value can be adaptively changed according to the wearer's activity. However, in this case, in order to provide a stable assist force, it is also preferable to set a variable range of the position for selecting the action state value (for example, i is 10 to 50).

[0577] Here, in order to grasp the wearer's movement, the walking state value stored in the state trajectory memory buffer 200' is used, and the position of the selected action state value is changed according to the grasped result, so that the assist force that responds to the wearer's movement change immediately and adaptively can be provided.

[0578] Calculating the ratio of device power to device torque (S102)

[0579] Figure 4 is a diagram for explaining a method for quantifying the physical / motor ability of a wearer of a wearable robot according to the present invention.

[0580] like Figure 4 As shown, in order to output the physical ability information of the wearable wearer, after the step (S101) of sensing the torque that assists or resists the walking of the wearable robot wearer, a step (S102) of calculating the ratio of the device power to the device torque can be included.

[0581] According to the present invention, a wearable robot capable of estimating a wearer's physical ability during walking motion may include a fixing unit 210 that can be attached to a body part and a driving unit 230 that can be attached to the fixing unit 210. Here, the driving unit 230 can estimate the wearer's physical ability based on the power of the driving unit 230 according to the walking motion of the wearable robot 200. Specifically, the driving unit 230 can estimate the wearer's physical ability based on a value obtained by normalizing the power of the driving unit 230 by torque.

[0582] In addition, the driving unit 230 can also calculate the ratio of the power of the driving unit 230 to the torque by dividing the power of the driving unit 230 by the root mean square (RMS) torque of the driving unit 230. Here, the torque used to calculate the power of the driving unit 230 can refer to the torque value sensed by the driving unit 230 during the wearer's walking. Conversely, the torque output in the step (S101) of outputting the torque for assisting or resisting the walking of the wearable robot wearer can be used when providing the driving force provided to the wearer of the wearable robot 200.

[0583] According to one embodiment of the present invention, the driving unit 230 can sense the hip angle of the wearer of the wearable robot 200 and calculate the angular velocity based on the sensed hip angle. Specifically, Figure 1b Motion sensing sensor 247 on control board 237 of drive unit 230 senses the wearer's hip angle. A processor (not shown) within control board 237 calculates angular velocity by differentiating and filtering the hip angle sensed by motion sensing sensor 247 at a rate exceeding 1000 Hz. In other words, according to the present invention, angular velocity can be calculated by sensing the hip angle even without using a separate tachometer for sensing angular velocity. More specifically, the processor (not shown) within control board 237 performs real-time control. The processor (not shown) can be divided into a low-level processor and a high-level processor. The low-level processor, which has a relatively low computational load, can calculate angular velocity by differentiating and filtering the hip angle sensed by motion sensing sensor 247 at a rate exceeding 1000 Hz.

[0584] According to one embodiment of the present invention, the drive unit 230 can sense the hip angle of the wearer of the wearable robot 200 and calculate the angular velocity based on the sensed hip angle. Specifically, the calculated angular velocity can be the angular velocity calculated based on the wearer's walking when the wearer uses a backdrivable actuator. For example, a backdrivable actuator refers to a driver that moves with an external force of less than 0.5 Nm, i.e., the same external force as the rotational force generated by a force of 2.5 N at a 20 cm moment arm position, when the device power is off, but the present invention is not limited to this.

[0585] According to one embodiment of the present invention, the drive unit 230 can sense the hip angle of the wearer of the wearable robot 200 and calculate the angular velocity based on the sensed hip angle. Here, the calculated angular velocity can be the angular velocity calculated based on the wearer's walking when the wearer uses a backdrivable actuator, which can reflect the actual angular velocity of the wearer of the wearable robot 200. In other words, due to the use of a backdrivable actuator, the hip swing speed of the wearer's activities can be reflected even in walking mode or exercise mode. Since the drive unit 230 of the present invention adopts force control instead of position control based on a backdrivable actuator, it can move compliantly to the actual activities of the wearer of the wearable robot 200.

[0586] In the step of calculating the ratio of the device power to the device torque ( S102 ), the device power-torque ratio may be calculated by the following [Math. 3].

[0587] [Mathematical formula 3]

[0588]

[0589] [Formula 4]

[0590]

[0591] According to the present invention, n(=n p +n n ) can be equal to the number of cycle sample data when the wearable robot wearer walks once, or can be a certain working time or a certain number of steps. Preferably, n(=n p +n n ) can be equal to the number of sample data cycles during a wearer's walk. Positive and negative power values ​​can be calculated using [Equation 4].

[0592] According to the present invention, np Can be a positive power data number, n n The power data can be negative. Specifically, when the angular velocity direction of the hip angle difference q0 is the same as the direction of the device torque, that is, when in walking assist mode, the wearable robot 200 transmits power to the wearer. Since the action state value is multiplied by a positive weighting value, a positive power value can be calculated. As described above, in walking assist mode, primarily positive power values ​​can be calculated.

[0593] According to another embodiment of the present invention, when the angular velocity direction of the hip angle difference q0 is different from the device torque direction, that is, when in walking resistance mode, the wearer of the wearable robot 200 transfers power to the wearable robot 200. Since the action state value is multiplied by the weighted value of a negative number, a negative power value can be calculated.

[0594] One embodiment of the method invention

[0595] According to one embodiment of the present invention, the drive unit 230 can accumulate the calculated power-to-torque ratio of the drive unit 230 during each walking session. A processor unit (not shown) of the control board 237 of the drive unit 230 can accumulate the power-to-torque ratio of the wearer of the wearable robot 200. Furthermore, statistics estimating the physical capabilities of the wearer of the wearable robot 200 can be calculated based on the accumulated power-to-torque ratio of the wearer of the wearable robot 200.

[0596] According to the present invention, a method for estimating a wearer's physical ability during walking using a wearable robot including a drive unit can be provided. This method can include the steps of accumulating the power-to-torque ratio of the wearer's specific wearable robot 200, calculated by the drive unit 230, during each walk, and calculating statistics regarding the accumulation. Specifically, this method can quantify the wearer's physical ability or athletic ability by quantifying it, and can also provide a wearer interface that can visualize changes in the wearer's athletic ability during an exercise program. For another example, the wearer's physical ability or athletic ability level can be quantified and visualized at the end of each exercise session, and changes in the wearer's physical ability or athletic ability after a specific exercise program has been completed can also be visualized. Furthermore, a wearer interface can be provided that analyzes the wearer's physical ability or athletic ability in the form of a report.

[0597] According to one embodiment of the present invention, when a step of accumulating the power-to-torque ratio of a specific wearable robot 200 wearer during each walking and a step of calculating statistics about the accumulation are provided, the wearer of the wearable robot 200 can be motivated to complete the exercise plan, and the coach can effectively carry out personalized customized response to the exercise plan using the wearable robot 200.

[0598] According to another embodiment of the present invention, when providing a method for estimating the physical ability of a wearer during walking using a wearable robot including a driving unit, a method can be provided in which: Figure 3 The server device 100 shown includes a step of receiving statistics regarding the cumulative power-to-torque ratio of the driver 230 calculated by the driver 230 during each walking session, and a step of displaying the calculated cumulative statistics. Specifically, the cumulative statistics regarding the power-to-torque ratio of the driver 230 calculated by the driver 230 during each walking session can be output in the form of a wearer interface, such as a walking analysis report. In this case, the wearer of the wearable robot 200 can easily identify changes in physical performance during a specific period, strengths in the wearer's physical performance, and areas for improvement, etc., through a wearer interface, such as a visual walking analysis report.

[0599] Artificial Intelligence Application Examples

[0600] Figure 9 1 is a schematic diagram illustrating one or more network functions for executing a method for providing motion information based on a database of correlations between a ratio of power to torque of the driving unit 230 and a wearer's physical condition according to the present invention.

[0601] According to one embodiment of the present invention, a method for estimating the physical ability of a wearer while walking using a wearable robot including a drive unit may be provided. The method for estimating the physical ability of a wearer while walking using a wearable robot including a drive unit may include the step of providing motion information based on a database of correlations between a power-to-torque ratio of the drive unit 230 calculated by the drive unit 230 and the wearer's physical condition. Specifically, the step of providing motion information based on a database of correlations between a power-to-torque ratio of the drive unit 230 calculated by the drive unit 230 and the wearer's physical condition may be performed by the server device 100, but may also be performed by a processor unit (not shown) of the drive unit 230.

[0602] Furthermore, according to one embodiment of the present invention, a method for estimating a wearer's physical ability during walking using a wearable robot including a driver unit 230 may include the step of providing motion information based on a deep learning model learned using the power-to-torque ratio of the driver unit 230 calculated by the driver unit 230 and the wearer's physical condition as learning data. Specifically, the step of providing motion information based on a deep learning model learned using the power-to-torque ratio of the driver unit 230 calculated by the driver unit 230 and the wearer's physical condition as learning data may be performed by the server device 100, but may also be performed by a processor unit (not shown) of the driver unit 230.

[0603] In addition, according to one embodiment of the present invention, a method for estimating a wearer's physical ability during walking using a wearable robot including a driving unit may include the step of predicting a motion effect based on a deep learning model learned using as learning data a power-to-torque ratio of the driving unit 230 calculated by the driving unit 230 and at least one of the wearer's physical condition, wearable robot usage information, and motion effects. Specifically, the step of predicting a motion effect based on a deep learning model learned using as learning data a power-to-torque ratio of the driving unit 230 calculated by the driving unit 230 and at least one of the wearer's physical condition, wearable robot usage information, and motion effects may be performed by the server device 100, but may also be performed by a processor unit (not shown) of the driving unit 230.

[0604] Hereinafter, the operation of the processor unit (not shown) of the server device 100 or the driver unit 230 will be described.

[0605] The processor unit (not shown) of the server device 100 or the driver unit 230 can perform calculations for learning neural networks, such as processing input data for learning in deep learning (DL), extracting features from input data, calculating errors, updating weighted values ​​of the neural network using backpropagation, etc. In addition, at least one of the CPU, GPGPU, and TPU of the processor unit (not shown) of the server device 100 or the driver unit 230 can process the learning of network functions. For example, the CPU and GPGPU can process the learning of network functions and the classification of data using network functions together. In addition, in one embodiment of the present invention, the processors of multiple computing devices can be used to process the learning of network functions and the classification of data using network functions. In addition, the computer program executed in the computing device according to one embodiment of the present invention can be a CPU, GPGPU, or TPU executable program.

[0606] In this specification, the term "network function" may be used interchangeably with "artificial neural network" and "neural network". In this specification, a network function may include one or more neural networks, in which case the output of the network function may be an ensemble of the outputs of the one or more neural networks. In this specification, a model may include a network function. A model may also include one or more network functions, in which case the output of the model may be an ensemble of the outputs of the one or more network functions.

[0607] According to the present invention, Figure 9 As shown, a deep neural network (DNN) may refer to a neural network that includes multiple hidden layers in addition to an input layer and an output layer. Deep neural networks include convolutional neural networks (CNN), recurrent neural networks (RNN), auto encoders, generative adversarial networks (GAN), restricted Boltzmann machines (RBM), deep belief networks (DBN), Q networks, U networks, twin networks, Transformers, ViT (Vision Transformer), Mobile ViT (Mobile Vision Transformer), etc. The above description of a deep neural network is only an example, and the present invention is not limited thereto.

[0608] In the present invention, the network function may also include an autoencoder. An autoencoder may be a type of artificial neural network that outputs output data similar to the input data. The autoencoder may include at least one hidden layer, and an odd number of hidden layers may be configured between the input / output layers. The number of nodes in each layer may be reduced from the number of nodes in the input layer to an intermediate layer called a bottleneck layer (encoding), and then reduced and expanded symmetrically from the bottleneck layer to the output layer (symmetrical with the input layer). The nodes in the dimensionality reduction layer and the dimensionality reduction repair layer may or may not be symmetrical.

[0609] According to the present invention, an autoencoder can perform nonlinear dimensionality reduction. The number of input and output layers can correspond to the number of sensors remaining after preprocessing the input data. The autoencoder structure can have a structure in which the number of nodes in the hidden layer included in the encoder decreases as the distance from the input layer increases. If the number of nodes in the bottleneck layer (the layer with the fewest nodes between the encoder and decoder) is too small, it may not be able to transmit sufficient information. Therefore, it can be kept above a specific number (for example, more than half of the input layer, etc.).

[0610] According to the present invention, a neural network can learn through at least one of supervised learning, unsupervised learning, and semi-supervised learning. Neural network learning is intended to minimize output errors. In neural network learning, learning data is repeatedly input into the neural network, the output of the neural network for the learning data and the target error are calculated, and the error of the neural network is backpropagated from the output layer to the input layer as a direction for reducing the error to update the weighted values ​​of each node of the neural network. For supervised learning, learning data with the correct answer labeled on each learning data (i.e., labeled learning data) is used. For unsupervised learning, the correct answer may not be labeled on each learning data. For example, for supervised learning regarding data classification, the learning data can be data with a category labeled on each learning data. The labeled learning data is input into the neural network, and the error can be calculated by comparing the output (category) of the neural network with the label of the learning data.

[0611] Figure 10 is a diagram for explaining a method for calculating importance scores of categories of body information or motion information of a wearer of the wearable robot 200 based on a deep neural network according to one embodiment of the present invention.

[0612] According to one embodiment of the present invention, importance parameters can be learned using reinforcement learning with human feedback (RLHF). RLHF combines reinforcement learning with human feedback to improve AI performance by learning information output by an AI model based on human feedback. According to one embodiment of the present invention, importance scores for categories of physical information or motion information of the wearer of the wearable robot 200 can be calculated based on the learned importance parameters.

[0613] According to one embodiment of the present invention, a reinforcement learning method based on human feedback may include: during at least one walking movement of a wearer of the wearable robot 200, a step of acquiring driving unit power information from the driving unit 230 of the wearable robot 200 (S200), a step of estimating the first motion information of the wearer based on the acquired driving unit power information (S220), a step of acquiring body information of the wearer of the wearable robot 200 (S240), a step of calculating the second motion information by an algorithm based on the estimated first motion information of the wearer and the acquired body information of the wearer (S260), a step of performing learning feedback on the calculated second motion information (S280), and a step of updating the weighted value parameter by the algorithm based on the learning feedback (S300).

[0614] According to one embodiment of the present invention, a step (S200) of acquiring driving unit power information from the driving unit 230 of the wearable robot 200 may be performed during at least one walking motion performed by a wearer of the wearable robot 200. Specifically, the step of acquiring driving unit power information may be performed when the wearer of the wearable robot 200 performs a walking motion for the first time or when starting a walking motion in order to estimate the wearer's physical ability.

[0615] According to one embodiment of the present invention, the step of estimating the wearer's first motion information based on the acquired drive unit power information (S220) may be performed next. For example, when the drive unit power information acquired from the drive unit 230 has a value below a critical value, it can be preliminarily estimated that the wearer's first motion information has a physical ability below a critical value. For another example, when the drive unit power information acquired from the drive unit 230 has a value above a critical value, it can be preliminarily estimated that the wearer's first motion information has a physical ability above a critical value.

[0616] According to one embodiment of the present invention, the steps of obtaining the body information of the wearer of the wearable robot 200 (S240) and calculating the second motion information by the algorithm based on the estimated first motion information of the wearer and the acquired body information of the wearer (S260) can be performed next. Specifically, the body information of the wearer may include age, gender, weight, height, etc., but is not limited thereto. For example, when the driving unit power information obtained from the driving unit 230 has a value below the critical value, it can be preliminarily estimated that the first motion information of the wearer has a physical ability below the critical value. When the wearer is over 80 years old, when the wearer's body information and the estimated first motion information of the wearer are used for judgment at the same time, the second motion information can be calculated as having a physical ability above the critical value through the algorithm.

[0617] According to one embodiment of the present invention, the step of performing learning feedback on the calculated second motion information (S280) may be performed next. According to the present invention, in order to perform learning feedback, a step of setting the ranking of categories considered to be highly important in the wearer's body information may be further included. In addition, the importance of the wearer's body information category may be determined according to one embodiment of the present invention to determine the ranking of the three categories that are considered to be highly important. In this case, the sample set for performing learning feedback may correspond to a data set consisting of sequential pairs of rankings from the first to third digits and the names of the wearer's body information categories corresponding to each ranking, but the specific value of the third digit is only an example and is not limited thereto. According to the present invention, in the step of performing learning feedback on the calculated second motion information (S280), learning feedback is performed that compares the calculated importance score with the sample set for performing learning feedback.

[0618] According to one embodiment of the present invention, a step (S300) of updating the weighted value parameters by the algorithm based on the learning feedback can then be performed. For example, in the case where learning feedback is performed in the step (S280) of performing learning feedback on the calculated second motion information, in the step (S300) of updating the weighted value parameters by the algorithm based on the learning feedback, the importance parameters can be updated so that the ranking of the wearer's body information categories based on the calculated importance scores is consistent with the sample set generated for performing learning feedback. Alternatively, the importance parameters can be updated again by repeatedly calculating the importance scores by using the algorithm to determine the importance between the wearer's body information categories based on the learned importance parameters, and then comparing the calculated importance scores with the sample set used to re-perform learning feedback.

[0619] According to one embodiment of the present invention, a method for estimating the physical ability of a wearer while walking using a wearable robot including a drive unit may be provided. The method for estimating the physical ability of a wearer while walking using a wearable robot including a drive unit may include the step of providing motion information based on a database of correlations between a power-to-torque ratio of the drive unit 230 calculated by the drive unit 230 and the wearer's physical condition. Specifically, the step of providing motion information based on a database of correlations between a power-to-torque ratio of the drive unit 230 calculated by the drive unit 230 and the wearer's physical condition may be performed by the server device 100, but may also be performed by a processor unit (not shown) of the drive unit 230.

[0620] According to one embodiment of the present invention, the device power-torque ratio calculated by the driver 230 can be used as an indicator for determining the wearer's physical ability. Specifically, for example, it can be used as an indicator for determining the wearer's walking ability, balance ability, lower body muscle strength, etc., but the present invention is not limited thereto.

[0621] Figure 7 Graph showing the analysis results of the Pearson correlation between walking, balance, and body function indices of a wearable robot wearer and the device power-torque ratio. Figure 7 It can be shown that the device power-torque ratio has a statistically significant linear correlation with currently verified walking / physical ability indicators. The analysis result shows that the p value is below 0.05, which can be judged to be statistically significant.

[0622] Figure 7 (A) is a graph showing the results of analyzing the Pearson correlation between the 10-meter walking test (10MWT) as an indicator for evaluating balance and walking and the power torque ratio (PTR) value in the walking assist mode.

[0623] According to one embodiment of the present invention, the 10-meter walking test (10MWT), which is used as a balance and walking evaluation indicator, is an evaluation tool that can check short-distance walking speed and short-distance walking ability. It is an indicator that can be used for the elderly, patients with central nervous system damage such as stroke, spinal cord injury, Parkinson's disease, etc. In this case, indoor and outdoor walking abilities can be distinguished based on the measured walking speed, such as Figure 7 As shown in (A), the larger the 10MWT(s) value on the y-axis is, the longer the measured walking time is, which may indicate that the short-distance walking speed and ability are relatively insufficient.

[0624] Furthermore, when the power-torque ratio (PTR) value on the x-axis (in walking assist mode) increases, indicating that stronger power data is being measured from the wearer, it can be seen that there is an inversely proportional correlation with the 10MWT(s) value on the y-axis. Therefore, a graph inversely proportional to the 10MWT(s) value on the y-axis can be displayed. This allows for the construction of a database of correlations between the power-torque ratio calculated by the drive unit 230 and the wearer's physical condition, allowing the wearer's short-distance walking speed and ability to be estimated using the power-torque ratio (PTR) value in walking assist mode.

[0625] Figure 7(B) is a graph showing the results of analyzing the Pearson correlation between the 6-minute walking test (6MWT) as an evaluation index for walking endurance and the power torque ratio (PTR) value in the walking assist mode.

[0626] According to one embodiment of the present invention, the 6-minute walking test (6MWT) as an evaluation index for walking endurance is used to measure the total distance a walker can walk in 6 minutes. The method of confirming vital signs (such as slight headache, dizziness, pallor, dyspnea, fatigue, pain, etc.) after sitting in a chair at the 6-minute point can evaluate walking endurance. Figure 7 As shown in (B), the larger the 6-minute walking test (6MWT) value on the y-axis is, the greater the distance the walker walks in 6 minutes, which indicates that the walker has better walking endurance.

[0627] Furthermore, when the power-torque ratio (PTR) value on the x-axis (in walking assist mode) increases, indicating that stronger power data was measured from the wearer, it can be seen that there is a correlation proportional to the 6-minute walking test (6MWT) value on the y-axis. Therefore, a graph proportional to the 6-minute walking test (6MWT) value on the y-axis can be displayed. This allows for the construction of a database based on the correlation between the power-torque ratio calculated by the drive unit 230 and the wearer's physical condition, allowing the wearer's walking endurance ability to be estimated using the power-torque ratio (PTR) value in walking assist mode.

[0628] Figure 7 (C) is a graph showing the results of analyzing the Pearson correlation between the timed up and gotest (TUG) test, which is a dynamic balance evaluation index, and the power torque ratio (PTR) value in the walking assist mode.

[0629] According to one embodiment of the present invention, the timed up and go test (TUG), which is a dynamic balance evaluation indicator, is an indicator that can evaluate the ability to perform activities of daily living. The evaluation can be performed by having a wearer sitting in a chair stand up, receive a start signal, walk to a certain distance, turn 180 degrees at that location, and then sit back in the chair. If the wearer takes more than a critical time, it can be estimated that the walker's walking ability, balance, and ability to perform activities of daily living are poor. Figure 7 As shown in (C), the larger the timed up and gotest (TUG) value on the y-axis, the longer the time it takes for the wearer sitting on the chair to walk to a certain distance when he stands up and receives the start signal, then turns 180 degrees at that location and sits back on the chair. This indicates that the walker's dynamic balance ability or ability to perform daily living activities is relatively insufficient.

[0630] Furthermore, when the power-torque ratio (PTR) value on the x-axis (in walking assist mode) increases, indicating that stronger power data was measured from the wearer, it can be seen that there is an inversely proportional correlation with the timed up and go test (TUG) value on the y-axis. Therefore, a graph inversely proportional to the timed up and go test (TUG) value on the y-axis can be displayed. This allows the construction of a database based on the correlation between the power-torque ratio calculated by the drive unit 230 and the wearer's physical condition, allowing the wearer's dynamic balance ability to be estimated using the power-torque ratio (PTR) value in walking assist mode.

[0631] Figure 7 (D) is a graph showing the results of analyzing the Pearson correlation between the 10-meter walking test (10MWT) as an indicator of balance and walking evaluation and the power torque ratio (PTR) value in the case of the walking resistance mode. According to the present invention, in the case of the walking resistance mode, since a negative power value is used, as shown in FIG. Figure 7 As shown in (D), the power torque ratio (PTR) value may have a negative value.

[0632] According to one embodiment of the present invention, the 10-meter walking test (10MWT), which is used as a balance and walking evaluation indicator, is an evaluation tool that can check short-distance walking speed and short-distance walking ability. It is an indicator that can be used for the elderly, patients with central nervous system damage such as stroke, spinal cord injury, Parkinson's disease, etc. In this case, indoor and outdoor walking abilities can be distinguished based on the measured walking speed, such as Figure 7 As shown in (D), the larger the 10MWT(s) value on the y-axis is, the longer the measured walking time is, which may indicate that the short-distance walking speed and ability are relatively insufficient.

[0633] Furthermore, when the x-axis power-torque ratio (PTR) value (in walking resistance mode) increases, the power value is calculated as a negative value because the device's angular velocity and torque directions are opposite in walking resistance mode, indicating weaker power data measured by the user. Therefore, it is known that there is a correlation proportional to the y-axis 10MWT(s) value, and a graph proportional to the y-axis 10MWT(s) value can be displayed. This allows for the construction of a database based on the correlation between the power-torque ratio calculated by the drive unit 230 and the wearer's physical condition, allowing the wearer's short-distance walking speed and ability to be estimated using the power-torque ratio (PTR) value in walking resistance mode.

[0634] Figure 7 (E) is a graph showing the results of analyzing the Pearson correlation between the 6-minute walking test (6MWT) as an evaluation index for walking endurance and the power torque ratio (PTR) value in the case of the walking resistance mode. According to the present invention, in the case of the walking resistance mode, since a negative power value is used, as shown in FIG. Figure 7 As shown in (E), the power torque ratio (PTR) value may have a negative value.

[0635] According to one embodiment of the present invention, the 6-minute walking test (6MWT) as an evaluation index for walking endurance is used to measure the total distance a walker can walk in 6 minutes. The method of confirming vital signs (such as slight headache, dizziness, pallor, dyspnea, fatigue, pain, etc.) after sitting in a chair at the 6-minute point can evaluate walking endurance. Figure 7As shown in (E), the larger the 6-minute walking test (6MWT) value on the y-axis is, the greater the distance the walker walks in 6 minutes, which indicates that the walker has better walking endurance.

[0636] Furthermore, when the power-torque ratio (PTR) value on the x-axis (in walking resistance mode) increases, the power value is calculated as a negative value because the device angular velocity and torque directions are opposite in walking resistance mode, indicating weaker power data measured by the user. Therefore, it is inversely correlated with the 6-minute walking test (6MWT) value on the y-axis, and a graph inversely proportional to the 6-minute walking test (6MWT) value on the y-axis can be displayed. This allows for the construction of a database based on the correlation between the power-to-torque ratio calculated by the drive unit 230 and the wearer's physical condition, allowing the wearer's walking endurance ability to be estimated using the power-torque ratio (PTR) value in walking resistance mode.

[0637] Figure 7 (F) is a graph showing the results of analyzing the Pearson correlation between the Short Physical Performance Battery (SPPB) as a physical function test indicator and the power torque ratio (PTR) value in the case of the walking assist mode. According to the present invention, in the case of the walking resistance mode, since a negative power value is used, as shown in FIG. Figure 7 As shown in (F), the power torque ratio (PTR) value may have a negative value.

[0638] According to one embodiment of the present invention, the Short Physical Performance Battery (SPPB), which is a physical function examination indicator, is an indicator that evaluates overall physical function by integrating static balance examination, walking speed examination, and standing examination. It is an indicator that can evaluate physical function, degree of aging, sarcopenia, fall risk, etc., and predict health risk. Figure 7As shown in (F), a larger Short Physical Performance Battery (SPPB) value on the y-axis indicates better physical function. For example, in a static balance test, difficulty increases in the order of normal posture, half-row posture, and row posture. The time it takes to maintain balance in each posture without losing balance is measured. Therefore, a larger Short Physical Performance Battery (SPPB) value on the y-axis indicates better physical function.

[0639] Furthermore, when the power-torque ratio (PTR) value on the x-axis (in walking assist mode) increases, indicating that stronger power data is being measured from the wearer, it can be seen that there is a correlation proportional to the Short Physical Performance Battery (SPPB) value on the y-axis. Therefore, a graph proportional to the Short Physical Performance Battery (SPPB) value on the y-axis can be displayed. This allows the construction of a database based on the correlation between the power-torque ratio calculated by the drive unit 230 and the wearer's physical condition, allowing the wearer's physical functional capacity to be estimated using the power-torque ratio (PTR) value in walking assist mode.

[0640] Figure 8 2 is a graph showing the correlation between the age of the wearer and the device power-torque ratio in the walking assist mode of the wearable robot according to the present invention, and the correlation between the age of the wearer and the device power-torque ratio in the walking resistance mode of the wearable robot according to the present invention.

[0641] Figure 8 (A) is a graph showing the correlation between the age of the wearer and the device power-torque ratio in the case of the walking assist mode of the wearable robot according to the present invention. Figure 8 (B) is a graph showing the correlation between the age of the wearer and the device power-torque ratio in the case of the walking resistance mode of the wearable robot according to the present invention.

[0642] As shown in the figure, according to one embodiment of the present invention, the wearer's walking, balance, lower body muscle strength, and other abilities relative to their age can be estimated based on the power-torque ratio of the drive unit 230. For example, if the average score is set to 75, the PTR value in walking assist mode can be input using the following [Equation 5] and [Equation 6] to convert the score from 50 (lowest score) to 100 (highest score).

[0643] [Formula 5]

[0644]

[0645] 0≤PTR_assist_score≤100

[0646] [Formula 6]

[0647] PTR_assist_avg=-0.4554×avg+6.598

[0648] According to one embodiment of the present invention, if the average score is greater than 25% compared to age, a perfect score of 100 can be achieved. If the average score is less than -25% compared to age, a score of 50 can be achieved. Furthermore, by also utilizing the wearer's age, gender, and physical condition (height, weight, BMI), a more precise model can be constructed.

[0649] Furthermore, according to one embodiment of the present invention, a method for estimating a wearer's physical ability during walking using a wearable robot including a driver unit 230 may include the step of providing motion information based on a deep learning model learned using the power-to-torque ratio of the driver unit 230 calculated by the driver unit 230 and the wearer's physical condition as learning data. Specifically, the step of providing motion information based on a deep learning model learned using the power-to-torque ratio of the driver unit 230 calculated by the driver unit 230 and the wearer's physical condition as learning data may be performed by the server device 100 or by a processor unit (not shown) of the driver unit 230.

[0650] Furthermore, according to one embodiment of the present invention, a method for estimating a wearer's physical ability during walking using a wearable robot including a driver unit may include the step of predicting a motion effect using a deep learning model learned using the power-to-torque ratio of the driver unit 230 calculated by the driver unit 230 and at least one of the wearer's physical condition, wearable robot usage information, and motion effects as learning data. Specifically, the step of predicting a motion effect using the power-to-torque ratio of the driver unit 230 calculated by the driver unit 230 and at least one of the wearer's physical condition, wearable robot usage information, and motion effects as learning data may be performed by the server device 100, but may also be performed by the processor unit (not shown) of the driver unit 230. More specifically, the wearer's physical condition that can be used as learning data may include, but is not limited to, at least one or at least two of the wearer's age, gender, height and weight, and motion ability.

[0651] According to one embodiment of the present invention, a method for estimating a wearer's physical ability during walking using a wearable robot including a drive unit may include the step of predicting a motion effect based on a deep learning model that uses as learning data a power-to-torque ratio of the drive unit 230 calculated by the drive unit 230 and at least one of the wearer's physical condition, wearable robot usage information, and motion effects. The wearable robot usage information may include power-torque ratio (PTR) values ​​accumulated from the wearer's past wearing of the wearable robot 200 and walking. The motion effects that can be used as learning data may include power-torque ratio (PTR) values ​​that change over time from the wearer's past wearing of the wearable robot 200 and walking. The motion effect of the wearer of the wearable robot 200 can be estimated based on the power-torque ratio (PTR) values ​​that change over time, and thus a step of re-predicting the motion effect based on the deep learning model that re-learns the PTR values ​​as learning data may be performed.

[0652] According to one embodiment of the present invention, the user terminal 300 may receive, from the server device 100, motion information based on a database of correlations between the power-to-torque ratio of the drive unit 230 calculated by the drive unit 230 and the wearer's physical condition, and display the received motion information. Specifically, the motion information from the server device 100 based on the database of correlations between the power-to-torque ratio of the drive unit 230 calculated by the drive unit 230 and the wearer's physical condition may be provided via a user interface in the form of a report on the wearer's physical performance related to walking, but the present invention is not limited thereto.

[0653] System Configuration

[0654] Figures 11a to 11d is a block diagram of a system for generating a graphical user interface for providing information about walking of a wearable robot wearer using a wearable robot that can estimate the wearer's walking ability during walking motions according to one embodiment of the present invention.

[0655] like Figure 11a As shown, a system for implementing a method of generating / providing a graphical user interface for providing information about walking of a wearable robot wearer using a wearable robot 200 that can estimate the walking ability of the wearer during walking motion may include a user terminal 300, the wearable robot 200, and an external server 100. Figure 11a (a) is a block diagram of the components that can be configured in the example system. Figure 11a (b) is a diagram using an image example.

[0656] like Figure 11b As shown, the system according to one embodiment of the present invention may include multiple user terminals 300A, 300B, multiple wearable robots 200A, 200B and an external server 100. For example, a wearable robot 200 may be connected to multiple user terminals 300A, 300B, and multiple wearable robots 200A, 200B may be connected to multiple user terminals 300A, 300B respectively. This system configuration may vary depending on the business model. For example, Figure 11b (a) is a diagram of a system configured for a B2B (Business to Business) business model, in which a plurality of user terminals 300A, 300B, including a first user terminal 300A and a second user terminal 300B, are connected to a wearable robot 200 as an example embodiment. Figure 11b (b) is a diagram of a system constructed for the purpose of a B2C (Business to customer) business model, in which multiple user terminals 300A, 300B and multiple wearable robots 200A, 200B including a first wearable robot 200A and a second wearable robot 200B are connected as an example of an embodiment.

[0657] Reference Figure 11c ,and Figure 11a Differently, the system including the user terminal 300 , the wearable robot 200 and the external server 100 may further include an administrator terminal 400 .

[0658] Reference Figure 11d ,and Figure 11dDifferently, the system including a plurality of user terminals 300A, 300B, a plurality of wearable robots 200A, 200B and an external server 100 may further include an administrator terminal 400, and such a system configuration may be configured differently according to a business model. Figure 11d (a) is an example of an embodiment Figure 11b (a) The system configuration of the example may include a diagram of a system configured for a B2B (Business to Business) business model, in which an administrator terminal 400 is provided. Figure 11d (b) is an example of an embodiment Figure 11b The system configuration of the example (b) may include a diagram of a system configured for a B2C (Business to Business) business model, in which the administrator terminal 400 is provided.

[0659] like Figures 11a to 11d As shown, the system according to one embodiment of the present invention may be a terminal or a server, and the system may be a network server that processes services.

[0660] in, Figures 11a to 11d The system of the method, apparatus, and program for generating / providing a graphical user interface for providing information about the wearer's walking using the wearable robot 200 that can estimate the wearer's walking ability during walking motion is according to one embodiment, and its constituent elements are not limited to Figures 11a to 11d As shown, it can be added, changed or deleted as needed.

[0661] The external server 100 according to one embodiment of the present invention may be a network server, a database server, an application server, a cloud server, a DNS server, a backup server, etc. However, the external server 100 is only an embodiment of a server capable of performing data communication from the outside through a network and is not limited thereto.

[0662] The network according to the embodiment of the present invention can use various wired communication systems, such as Public Switched Telephone Network (PSTN), x Digital Subscriber Line (xDSL), Rate Adaptive Digital Subscriber Line (RADSL), Multi Rate DSL (MDSL), Very High Speed ​​DSL (VDSL), Universal Asymmetric DSL (UADSL), High Bit Rate DSL (HDSL), and Local Area Network (LAN).

[0663] In addition, the network given here can use various wireless communication systems, such as code division multiple access (CDMA: Code Division Multi Access), time division multiple access (TDMA: Time Division Multi Access), frequency division multiple access (FDMA: Frequency Division Multi Access), orthogonal frequency division multiple access (OFDMA: Orthogonal Frequency Division Multi Access), single carrier frequency division multiple access (SC-FDMA: Single Carrier-FDMA) and other systems.

[0664] The network according to embodiments of the present invention can be configured to utilize both wired and wireless communication methods, and can be comprised of various communication networks, such as a personal area network (PAN) and a wide area network (WAN). Furthermore, the network can be the well-known World Wide Web (WWW) or utilize wireless transmission technologies for short-range communication, such as infrared (IrDA) and Bluetooth. The techniques described in this specification can be applied not only to the aforementioned networks but also to other networks.

[0665] Furthermore, to achieve the purpose of the invention according to one embodiment of the present invention, the user terminal 300, the wearable robot 200, the external server 100, and the administrator terminal 400 may be interchangeable and do not necessarily need to be distinguished. Specifically, it should be understood that the operations required for at least one of the user terminal 300, the wearable robot 200, the external server 100, and the administrator terminal 400 to generate or provide a graphical user interface may occur in a single device, and may be appropriately selected to achieve the purpose of the present invention.

[0666] Terminal Configuration

[0667] Figure 12 is a block diagram of a user terminal of a system for generating a graphical user interface displaying information about walking of a wearable robot wearer according to one embodiment of the present invention.

[0668] Reference Figure 12 According to one embodiment of the present invention, a user terminal 300 may include an input unit 301, a processor unit 303, a display unit 305, a memory unit 307, and a communication unit 309. These components each perform independent functions and can interact with each other to realize the overall functionality of the user terminal 300. However, these components do not necessarily need to be physically separated and exist independently. Furthermore, an administrator terminal 400 according to one embodiment of the present invention may also include the components of the user terminal 300.

[0669] According to one embodiment of the present invention, the user terminal 300 may include a portable terminal such as a smartphone, a computer, a laptop computer equipped with a web browser, a desktop computer, a laptop computer, a tablet computer, a slate PC, a smartwatch, smart glasses, a head-mounted device, etc. However, the user terminal 300 is merely an example of a means that a user may use and is not intended to be limiting. Those skilled in the art will appreciate that for the purposes of the present invention, the user terminal used by the user may select an appropriate means.

[0670] According to one embodiment of the present invention, the input unit 301 may include hardware physical keys and software touch keys. Specifically, the software touch keys may be virtual keys, soft keys, or visual keys displayed on a touch screen type display unit through software processing.

[0671] The virtual key or visual key may have various forms and be displayed on the touch screen, for example, may be composed of graphics, text, icons, videos, or a combination thereof.

[0672] According to one embodiment of the present invention, processor unit 303 may be implemented by at least one of memory unit 307, which stores data related to algorithms or programs for reproducing algorithms for controlling the operations of components in user terminal 300, and at least one processor that executes various operations using the data stored in memory unit 307. Here, memory unit 307 and processor unit 303 may each be implemented as a separate chip. Alternatively, memory unit 307 and processor unit 303 may be implemented as a single chip.

[0673] According to one embodiment of the present invention, the display unit 305 is a component that receives and displays information processed in the user terminal 300. It can display the running screen information of an application (e.g., an application) driven by the user terminal 300 or user interface (UI) or graphical user interface (GUI) information based on such running screen information.

[0674] According to one embodiment of the present invention, the memory unit 307 can store one or more programs. The memory unit 307 that can store one or more programs can store input / output data through the communication unit 309, and can store multiple application programs (applications) driven by the user terminal 300, data used for the operation of the user terminal 300, and instructions.

[0675] In addition, the memory unit 307 capable of storing one or more programs includes a high-speed random access memory, such as DRAM, SRAM, DDR RAM or other random access solid-state memory devices, and may include one or more non-volatile memories such as magnetic disk storage devices, optical disk storage devices, flash memory devices or other non-volatile solid-state storage devices.

[0676] In addition, the memory unit 307 capable of storing one or more programs can store real-time walking information about the wearer's walking generated by receiving user input through a graphical user interface on the user terminal 300 for providing information about the walking of the wearable robot wearer or receiving walking information of the wearable robot wearer, statistical information based on accumulated walking information, walking analysis reports, walking ability estimation reports based on deep learning models, and customized plan information.

[0677] According to the present invention, the communication unit 309 may include one or more components capable of performing network communication with an external device, for example, at least one of a wired communication module, a wireless communication module, and a short-range communication module.

[0678] Login Process

[0679] Figure 13 and Figure 14 is a diagram illustrating a graphical user interface displaying a user / administrator and experience mode login process for accessing a system displaying information about walking of a wearable robot wearer according to one embodiment of the present invention.

[0680] In order to transmit and receive data with the external server 100 or connect to the wearable robot 200 in the user terminal 300 or the administrator terminal 400, a login process may be performed first. The login process according to one embodiment of the present invention may include user / administrator login by inputting a verification code and joining a member, as well as experience mode login for experience without inputting any information.

[0681] like Figure 13 As shown in (a) to (c) of FIG. 5 , the user / administrator login process may include: in the user / administrator login graphical user interface 500, the steps of inputting a phone number in the phone number input area 512 of the phone number input display area 510 and selecting Login 501; in the authentication code input graphical user interface 502, the steps of inputting an authentication code in the authentication code input area 532 according to the guidance statement in the authentication code input guidance area 530 and selecting Next 503; and in the member registration graphical user interface 504, the steps of inputting relevant information in the basic information display area 540 and the physical information display area 550 and selecting Registration Application 506. Here, the basic information display area 540 may include a phone number input area 542, a name input area 544, and an account type selection area 546; the physical information display area 550 may include a gender selection area 552, a date of birth input area 554, a height (cm) input area 556, and a weight (kg) input area 558. The information entered in each area may be added, changed, or deleted as needed.

[0682] like Figure 14 As shown, the experience mode login process may include: the step of selecting experience mode login 524 in the user / administrator login graphical user interface 500; and the step of selecting experience mode login 508 in the experience mode login graphical user interface 507 without entering a verification code or information for joining a member.

[0683] In addition, unlike the login in the trial mode, when the user, i.e., the wearer of the wearable robot, logs in by entering a phone number, passing an authentication code, and entering information for joining the membership, the login information can be stored in the user terminal 100. When the login information is stored in the user terminal 100, the login information is not stored in the user terminal 100 unless the "Account Management" 118 tab in the category selection area 110 is selected in the user terminal 100. Figure 18 Select exit 1802 in the user account management graphical user interface 1800 shown, otherwise there is no need to re-login process. The same can be done when the administrator terminal 400 logs in.

[0684] However, the login process according to one embodiment of the present invention is merely an example, and various login methods may be employed. For example, a method may be employed in which user information is stored in a memory within the user terminal, and user authentication based on this information is performed. Alternatively, a method may be employed in which user information for a general social media platform is entered, and the user approves a request for data access permissions on the platform, thereby performing login using a social media platform account.

[0685] Bluetooth connection

[0686] Figure 15a 2 is a diagram illustrating a graphical user interface showing a process of completing a Bluetooth connection for linkage between a user terminal and a wearable robot according to an embodiment of the present invention. Figure 15b is a diagram illustrating a graphical user interface for displaying a process of Bluetooth connection failure between a user terminal and a wearable robot according to one embodiment of the present invention. Figure 15c FIG. 1 is a diagram illustrating a graphical user interface that displays a process of disconnecting a Bluetooth connection between a user terminal and a wearable robot according to an embodiment of the present invention.

[0687] According to one embodiment of the present invention, after the login process as described above, a Bluetooth connection can be established between the wearable robot 200 and the user terminal 300. Here, the login process may include user / administrator login and experience mode login.

[0688] like Figure 15a As shown, according to one embodiment of the present invention, the process of completing a Bluetooth connection between a user terminal 300 and a wearable robot 200 may include: selecting a robot search 602 in a Bluetooth connection start graphical user interface 600 to search for a wearable robot 200 that can be connected to the user terminal 300; selecting a searched wearable robot selection area 612 from a searched wearable robot display area 610 in a Bluetooth searching graphical user interface 603; and completing the connection by displaying a Bluetooth connection completion prompt 624 and a Bluetooth connection completion display area 620 in a Bluetooth connection completion graphical user interface 606 after a loading process indicating that Bluetooth is being connected 616. Selecting confirmation 622 in the area completes the connection. Here, the searched wearable robot display area 610 may include a searched wearable robot selection area 612 and a searched wearable robot quantity information display area 614.

[0689] like Figure 15b As shown, the process of Bluetooth connection failure between the user terminal 300 and the wearable robot 200 according to one embodiment of the present invention may include: the step of selecting a search robot 602 in the Bluetooth connection start graphical user interface 600 to search for a wearable robot 200 that can be connected to the user terminal 300; the step of selecting a searched wearable robot selection area 612 in the searched wearable robot display area 610 of the graphical user interface 603 for searching Bluetooth; the step of selecting a confirmation 632 in the area to indicate the connection failure after the graphical user interface 605 for connecting Bluetooth has gone through the loading process of displaying that Bluetooth is connecting 616, but the graphical user interface 607 for Bluetooth connection failure displays a Bluetooth connection failure prompt 634 and a Bluetooth connection failure display area 630, and selecting confirmation 632 in the area to indicate the connection failure.

[0690] like Figure 15c As shown, for the process of disconnecting the Bluetooth connection between the user terminal 300 and the wearable robot 200 according to one embodiment of the present invention, the graphical user interface 608 is converted from the wearable robot display area 640 that can confirm the Bluetooth connection connected to the wearable robot 200 via the Bluetooth connection to the graphical user interface 609 of the Bluetooth connection disconnection including the Bluetooth connection disconnection prompt 652 and the Bluetooth connection disconnection display area 650, and the existing connection between the user terminal 300 and the wearable robot 200 can be disconnected.

[0691] Figures 15a to 15c While this illustrates a general example of a Bluetooth connection process between a user terminal 300 and a wearable robot 200, various Bluetooth connection scenarios are possible, and the present invention is not limited thereto. Furthermore, these examples are not limited to connections between user terminals 300 and wearable robots 200, but are also applicable to connections between administrator terminals 400 and wearable robots 200.

[0692] In addition, as one embodiment of the present invention, it is assumed that the connection between the user terminal 300 and the wearable robot 200 is a "Bluetooth connection", but various technologies can be used to achieve a wireless connection between the wearable robot 200 and the user terminal 300 such as a smartphone. Specifically, it can be Bluetooth Low Energy (BLE), Ultra-Wide-Band (UWB), Wi-Fi Direct, Near Field Communication (NFC), Zigbee, etc.

[0693] According to the present invention, Bluetooth Low Energy (BLE) and Ultra-Wide Band (UWB) are described in detail. Bluetooth Low Energy (BLE) is a wireless communication technology that maximizes energy efficiency. It is widely used in small, battery-powered devices and can communicate for a long time with low power. It can play a core role in various fields such as wearable devices, health care displays, and smart home devices. Ultra-Wide Band (UWB) is a technology with excellent high-precision position tracking and data transmission performance. Using ultra-wideband frequencies, it can achieve high data transmission rates and precise distance measurement and position tracking. In addition, this technology can also be used in smartphones, automobiles, industrial automation, etc., and can revolutionize interactions in physical spaces.

[0694] Therefore, the connection between the user terminal 300 and the wearable robot 200 being a Bluetooth connection is only an example and is not limited thereto, and various wireless connection technologies can be applied between the two devices.

[0695] In addition, according to an embodiment of the present invention, there may be a situation where a wireless connection such as Bluetooth connection is not possible between the user terminal 300 and the wearable robot 200. In this case, a wired connection between the user terminal 300 and the wearable robot 200 can be used to solve the problem.

[0696] Example of the main screen (home page) after the wearable robot is connected to the user terminal

[0697] Figure 16 FIG. 1 is a diagram illustrating a graphical user interface (GUI) showing a main screen on a user / administrator terminal after login and Bluetooth connection are completed according to an embodiment of the present invention.

[0698] According to an embodiment of the present invention, when the login and the Bluetooth connection are completed in sequence, a graphical user interface showing the main screen may be displayed on the terminal. Figure 16 (a) is a diagram showing a graphical user interface of the user terminal 300 after the login and Bluetooth connection are completed according to one embodiment of the present invention, Figure 16 (b) is a diagram showing a graphical user interface of the administrator terminal 400 , and details of each graphical user interface will be described later together with the diagram.

[0699] Real-time walking information graphical user interface for wearable robot wearers

[0700] Figure 17a FIG. 1 is a diagram illustrating a graphical user interface of a user terminal displaying a rest mode before movement of a robot according to an embodiment of the present invention. Figure 17bFIG. 1 is a diagram illustrating a graphical user interface of a user terminal in which at least one of an assist / motion mode and a torque intensity is set when a robot starts moving according to an embodiment of the present invention. Figure 17c is a diagram illustrating a graphical user interface of a user terminal displaying information on a wearer's walking measured during robot movement when robot movement is finished according to one embodiment of the present invention. Figure 17d 3 is a diagram illustrating a graphical user interface of a user terminal that displays a walking map of a wearer during robot movement according to an embodiment of the present invention, showing the wearer's current position information, distance information, and walking time information. Figure 17e This is a diagram showing a graphical user interface that displays a notification that no walking analysis information has been generated when robot motion is ended according to one embodiment of the present invention.

[0701] like Figure 17a As shown, when the "Robot Movement" tab 312 is selected in the category selection area 310 of the user terminal 300 according to one embodiment of the present invention, a robot movement graphical user interface 800 appears, displaying real-time walking information of the wearer of the wearable robot. The robot movement graphical user interface 800 may include at least one of a wearable robot status information display area 802, a wearer's real-time walking information display area 810, a movement start / end selection area 820, a walking map selection area 830, and a robot movement setting area 840.

[0702] Specifically, the areas displayed in the robot motion graphical user interface 800 according to one embodiment of the present invention include: a wearable robot status information display area 802 that may include at least one of a usage time information display area 803, a battery remaining charge information display area 804, and a torque gauge bar information display area 805; a wearer's real-time walking information display area 810 that may include at least one of a distance information display area 812, a step count information display area 814, a speed information display area 816, and a calorie consumption information display area 818; an exercise start / end selection area 820 that allows users to select to start an exercise 822 or end an exercise 824; a walking map selection area 830 that switches to a graphical user interface 834 displaying a walking map when selecting to view a map 832; and a robot motion setting area 840 that allows users to set at least one of a walking mode and torque intensity corresponding to the wearer's walking purpose.

[0703] In the wearable robot status information display area 802 according to one embodiment of the present invention, the usage time information display area 803 can display information related to the wearable robot's usage time based on the wearable robot's operating information. The remaining battery power information display area 804 can display information related to the wearable robot's remaining battery power based on the wearable robot's operating information. The torque gauge bar information display area 805 can display information related to the torque value applied by the wearable robot to the wearer of the wearable robot based on the wearable robot's operating information using a gauge bar.

[0704] In the torque gauge bar information display area 805 according to one embodiment of the present invention, the torque gauge bar is an indicator for confirming the torque value actually applied to the wearer during walking assistance or exercise, and can be displayed in real time in the form of a gauge in proportion to the torque value determined by the drive unit 230 of the wearable robot 200 according to the wearer's hip angle.

[0705] According to the present invention, the torque gauge bar can be calculated by the following [Mathematical Formula 7].

[0706] [Formula 7]

[0707]

[0708] The above [Equation 7] is an equation for calculating the torque ratio of the drive unit 230 of the wearable robot 200 based on the difference between the maximum torque value (max_torque) and the minimum torque value (min_torque) occurring during the last two steps (1 stride). Here, [Equation 7] assumes that the difference between the maximum torque value and the minimum torque value is a maximum of 12 Nm (| torque max -Torque min |<12Nm), [This is because the range of ideal torque values ​​applied by the wearable robot 200 to the wearer is set to -6Nm to +6Nm. These ranges may not accurately reflect the range of torque values ​​that occur during each person's general walking movement. However, too low a torque may not provide sufficient support or resistance during walking, and too high a torque may hinder the user's walking pattern or increase the risk of injury, so the range of -6Nm to +6Nm can be a range that can simultaneously meet the purpose of using the wearable robot 200 and the safety of the user. In addition, the reason for using the absolute value of the difference between the maximum torque value and the minimum torque value in [Mathematical Formula 7] is that the human walking process includes the action of the legs moving forward and pulling backward, so torque occurs in two directions (positive torque and negative torque), and the torque value can have positive and negative values.

[0709] Specifically, examples of torque gauge values ​​are as follows.

[0710] When Max_torque=+6Nm,Min_torque=-6Nm,

[0711]

[0712] When Max_torque=+3Nm,Min_torque=-3Nm,

[0713]

[0714] When the wearable robot wearer takes a small step or stops, the torque value becomes 0 Nm, so the torque gauge bar becomes 0%. Figure 17c (b) and (c) show graphical user interfaces for displaying the torque gauge bar at 50% and 0%, respectively. For example, the GUI for the torque gauge bar at 50% may be a graphical user interface for the robot during motion or when the robot motion is about to end, and the GUI for the torque gauge bar at 0% may be a graphical user interface for the wearer's stride being small or at rest or when 2 to 3 seconds have passed since the robot motion ended.

[0715] In addition, the torque gauge bar is independent of the setting of the torque intensity of at least one of the multiple levels for providing differential torque in the robot motion setting area 840, and can be determined based on the hip range of motion of the wearable robot wearer during the current walking process. In other words, it is determined by the torque value determined proportionally according to the range of motion of the hip joint. Therefore, the wearer of the wearable robot can estimate the torque value applied to the wearer from the wearable robot 200 through the torque gauge bar displayed on the robot motion graphical user interface 800, and can adjust the torque intensity based on this to implement walking assistance or movement suitable for the current state of the wearer.

[0716] For example, these systems can be compared to the accelerator pedal and speedometer in a car. Pressing the accelerator pedal is analogous to adjusting the intensity (torque intensity) of a walking assist or exercise device, while the actual speed (torque in the case of a wearable robot) can be confirmed on the instrument panel (torque measurement and ratio calculation).

[0717] Therefore, the wearer of the wearable robot can control the wearable robot according to the state of the wearable robot during robot movement such as walking assistance or exercise based on information that can be known from the state information display area 802 of the wearable robot according to one embodiment of the present invention.

[0718] In the wearer's real-time walking information display area 810 according to one embodiment of the present invention, the distance information display area 812 can display information related to the user's movement distance based on the operating information of the wearable robot worn by the user. The step information display area 814 can display information related to the user's step count based on the operating information of the wearable robot worn by the user. The speed information display area 816 can display information related to the user's current walking speed based on the operating information of the wearable robot worn by the user. The calorie consumption information display area 818 can display information related to the user's calorie consumption based on the operating information of the wearable robot worn by the user. However, the information included in the wearer's real-time walking information display area 810 is exemplary and can be added, changed, or deleted as needed. For example, it can further include information such as step length, walking pattern, continuous walking time, walking rhythm, slope, number of steps when climbing or descending stairs, and number of floors, based on the operating information of the wearable robot worn by the user.

[0719] In the exercise start / end selection area 820 according to one embodiment of the present invention, a start exercise 822 and an end exercise 824 can be selected. Specifically, when the user selects the start exercise 822, the wearable robot in the rest mode 842 state can start the robot movement based on at least one of the set walking mode and torque intensity. When the user selects the end exercise 824, as shown in FIG. Figure 17c As shown in (a), the robot movement end graphical user interface 808 displays a movement end display area 850. When the end movement 852 in the area is selected, the wearable robot movement is ended. If the continue movement 854 in the movement end display area 850 is selected, the robot movement will not be ended and can be continued.

[0720] like Figure 17e As shown, when the necessary conditions for generating walking analysis information are not met at the end of a robot movement according to the present invention, a graphical user interface displaying a notification 856 indicating that no walking analysis information has been generated may appear in the movement end display area 850. Specifically, when the wearer of the wearable robot selects to end movement 824 in the movement start / end selection area 820, if there is no significant information for analyzing the wearer's walking, the movement records measured and calculated during the robot movement may not be saved and walking analysis may not be performed. Here, the significant information corresponds to the necessary conditions (or walking analysis conditions) for generating walking analysis information, and the information may include the wearer's walking information measured during the robot movement, such as valid walking information, robot movement time, etc.

[0721] For example, if the "Robot Movement Time" is less than 5 minutes, Figure 17eAs shown in (a), a prompt 856 indicating that no walking analysis information has been generated may be displayed on the graphical interface: "The exercise time is less than 5 minutes, so the exercise record will not be saved. Do you want to end?" The exercise record should be saved before performing walking analysis, so the statement that no exercise record has been saved may indicate that no walking analysis information has been generated.

[0722] For example, in the absence of “effective walking information” collected from the wearer of the wearable robot, Figure 17e As shown in (b), a prompt 856 indicating that no walking analysis information has been generated may be displayed on the graphical interface, "It is difficult to accurately analyze walking based on the current walking information alone. Do you want to save the exercise record even so?" The walking information required for walking analysis can be taken as an example of about 500 steps. Here, the walking information can be walking information authenticated using multiple conditions for filtering out low-speed and slow hip swings, walking during resting movements, etc. in order to reflect the number of steps measured in a straight line walking on flat ground into the walking analysis data. However, the example of 500 steps of walking information required for walking analysis can be a normal walking analysis condition based on healthy walkers. In the case of slow walkers (weak walkers) such as the elderly and pregnant women, a more moderate walking analysis condition can be applied. For example, if the normal walking analysis condition requires 500 steps, the moderate walking analysis condition can require 50 steps.

[0723] If the view map 832 is selected in the walking map selection area 830 according to one embodiment of the present invention, the user interface 832 may be switched to display the walking map. Figure 17d As shown, the graphical user interface 832 displaying the walking map may include at least one of a walking map display area 860 displaying the wearer's current location information and distance information and a wearer's walking time information display area 870. Specifically, the walking map display area 860 displaying the wearer's current location information and distance information may include a walking map generated based on the wearer's current location information, displaying at least one of an assist mode use display area 862, a rest mode use display area 864, and a sports mode use display area 866 on the map. Each walking mode may be displayed in a different color on the walking map. The wearer's walking time information display area 870 may include at least one of an entire sports time display area 872, an assist mode use time display area 874, and a sports mode use time display area 876.

[0724] According to one embodiment of the present invention, a method for generating a graphical user interface 834 displaying a walking map may include: a step of receiving input information based on a walking map selection area 830 from a user terminal 300; a step of collecting the wearer's current location information after receiving the input information; a step of generating a walking map based on the collected wearer's current location information and a map development tool; and a step of generating a graphical user interface 834 displaying a walking map based on the generated walking map and the received wearer's real-time walking information. Specifically, in the case where the wearer of the wearable robot selects the view map 832 of the walking map selection area 830 on the interface of the user terminal 300 to send input information, after receiving the input information, a public application programming interface (API: Application Programming Interface) or a software development tool (SDK: Software Development Kit) that provides map services can be used to generate a walking map reflecting the wearer's location information and the wearer's real-time walking information. The generated walking map can be as follows: Figure 17d The walking map display area of ​​the graphical user interface 832 for displaying a walking map displays the wearer's current location information and distance information.

[0725] In the robot motion setting area 840 according to one embodiment of the present invention, at least one of a walking mode and a torque intensity can be set. When the start motion 822 is selected in the motion start / end selection area 820, at least one of the walking mode and the torque intensity can be set in the rest mode 842. The walking mode may include at least one torque transmission mode, and each torque transmission mode may be a mode for transmitting torque corresponding to the purpose of walking. For example, when the wearable robot 200 is used to assist the wearer in walking, the wearable robot can provide the wearer with a torque that acts as an assist force. When used to strengthen the wearer's lower body muscle strength, the wearable robot can provide the wearer with a torque that acts as a resistance force.

[0726] For example, the multiple walking modes according to one embodiment of the present invention may include an assist mode 841, a rest mode 842, an exercise mode 843, and a mountain climbing mode 847. Assist mode 841 may be a mode in which the wearable robot 200 applies an assist force to the wearer to assist the wearer's walking, while rest mode 842 may be a mode in which the wearable robot 200 does not apply any torque to the wearer. Exercise mode 843 may be a mode in which the wearable robot 200 applies a resistance force to the wearer to strengthen the wearer's lower body muscles. Mountain climbing mode 847 may be a mode for assisting the wearer's walking while the wearable robot 200 is moving uphill or downhill on an inclined surface. In mountain climbing mode 847, the wearable robot 200 may provide an assist force to assist the wearer's walking during mountain climbing or provide a resistance force to strengthen the wearer's lower body muscles. Similarly, in mountain climbing mode 847, assist force or resistance force may also be provided during descents during mountain climbing, depending on the wearer's walking purpose. In addition, the mountain climbing mode 847 can be divided into an uphill mode or a downhill mode, and can be replaced with an uphill mode or a downhill mode.

[0727] In addition, according to one embodiment of the present invention, multiple walking modes can be distinguished by different colors. When different colors are used to distinguish multiple walking modes, it is possible to prevent the walking modes from being controlled incorrectly in advance, and when the mode is changed, it is possible to clearly identify that the mode has been changed and the set mode information. For example, the rest mode, the auxiliary mode, the exercise mode, and the mountain climbing mode can be represented by green, blue, purple, and orange, respectively. In addition, when the mountain climbing mode is divided into an uphill mode and a downhill mode, the uphill mode can be displayed in sky blue and the downhill mode can be displayed in orange. When multiple modes are displayed on the graphical user interface with different colors as described above, the LED display lights built into the wearable robot 200 can also be displayed in the same color.

[0728] According to one embodiment of the present invention, torque intensity may include at least one of multiple levels providing differential torque. Specifically, for example, torque intensity may be represented by level 1 844, level 2 845, and level 3 846. From level 1 to level 3, the strength of the assist force in assist mode 841 and the strength of the resisting force in motion mode 843 may increase. However, this is not limiting, and the multiple levels of torque intensity may be further subdivided as needed.

[0729] Figure 17b FIG. 1 is a diagram showing a graphical user interface screen on which a walking mode and a torque intensity are set according to an embodiment of the present invention. Figure 17b (a) is a diagram of an example auxiliary mode 841 and a first level 844, Figure 17b (b) is a diagram of an example motion mode 843 and a secondary mode 845, Figure 17b(c) is a diagram of an example climbing mode 847 and a second level 845. As previously mentioned, the walking modes and torque intensities in the diagram are exemplary and not limiting.

[0730] According to one embodiment of the present invention, the robot motion setting area 840 is fully exposed in the robot motion graphical user interface 800, which displays real-time walking information of the wearer of the wearable robot, and can be fixed in position. This prevents the robot motion setting area 840 from moving or partially displaying due to scrolling, etc. within the graphical user interface, thereby allowing the wearable robot to set at any time a desired walking mode and torque intensity.

[0731] In the robot motion setting area 840 according to one embodiment of the present invention, the areas for setting the walking mode and the torque intensity can be separated. Figure 17a The enlarged portion of the robot motion setting area 840 can be configured with a certain distance between the area for setting the walking mode and the area for setting the torque intensity. If the areas for setting the walking mode and the torque intensity are not separated, the wearer's safety may be in danger. For example, if the wearer of the wearable robot attempts to change the torque intensity and changes the walking mode from the auxiliary mode 841 to the motion mode 843, the torque generated by the wearable robot will change from applying an auxiliary force to applying a resistance force to the wearer without the wearer's expectation, which may cause an unexpected danger due to cognitive inconsistency. However, the invention is not limited to separating the areas for setting the walking mode and the torque intensity in the robot motion setting area 840. A locking function can also be used to prevent the mode from being changed by mistake after the walking mode is set.

[0732] In addition, if Figure 17c As shown, when the wearer of the wearable robot selects end movement 854 on the robot movement end graphical user interface 808 after completing walking or movement, the wearer can confirm the record of the walking process after the walking or movement is completed. Figure 17c(b) and (c) are examples of displaying information recorded during the robot's motion after the motion ends, showing a graphical user interface 809A immediately before the robot's motion ends and a graphical user interface 809B 2 to 3 seconds after the robot's motion ends, respectively. By viewing the torque gauge bar information display area 805 in the wearable robot's status information display area 802, it can be confirmed that, for the graphical user interface 809A immediately before the robot's motion ends, the wearable robot 200 is in a state of applying torque to the wearer immediately before the motion ends, and therefore the torque gauge bar is 50% (805A). For the graphical user interface 809B 2 to 3 seconds after the robot's motion ends, since there is no wearer movement 2 to 3 seconds after the motion ends, the wearer's hip angle is 0, and therefore the torque value is 0, and the torque gauge bar 0% (805B) is displayed in the torque gauge bar information display area 805.

[0733] Therefore, the wearer of the wearable robot can confirm the walking-related information in real time in the wearer's real-time walking information display area 810 during the robot movement in the robot movement graphical user interface of the "Robot Movement" 312 tab of the user terminal 300, and can confirm the walking-related information recorded during the robot movement at the end of the robot movement.

[0734] According to one embodiment of the present invention, a method for generating a graphical user interface that displays real-time walking information of a wearable robot wearer may include the steps of receiving the wearer's real-time walking information from the wearable robot 200 and generating a graphical user interface based on the received real-time walking information of the wearer. Thus, a graphical user interface that displays real-time walking information of a wearable robot wearer according to one embodiment of the present invention may be generated, and the detailed process will be described below.

[0735] Process for generating walking analysis information of a wearable robot wearer and generating a graphical user interface based on the walking analysis information

[0736] Figure 18 The present invention is a flowchart illustrating a method for generating a graphical user interface of a user terminal for displaying information on walking of a wearable robot wearer transmitted and received between the wearable robot, the user terminal, and an external server according to an embodiment of the present invention.

[0737] like Figure 18 As shown, the functions and data transmission and reception processes performed by the user terminal 300, the wearable robot 200, the external server 100 and the administrator terminal 400 in a series of processes from inputting the start of movement at the user terminal 300 to inputting the end of movement after the robot movement process of the wearer of the wearable robot can be shown in time through a flowchart.

[0738] According to the wearable robot of the present invention, information related to the wearer's walking can be categorized into the wearer's walking information and the wearer's walking analysis information. The wearer's walking information may include at least one of the wearer's real-time walking information acquired during the robot's movement and the wearer's quantified physical / motor ability values. The wearer's walking analysis information may include at least one of the wearer's physical / motor ability information and statistical information based on the wearer's accumulated walking information stored in an external server 100 or a user terminal 300. Furthermore, the wearer's walking information may include basic information about the wearer input into the user terminal.

[0739] According to one embodiment of the present invention, a graphical user interface for displaying walking information based on the robot motion of a wearable robot wearer may include: a graphical user interface for displaying the wearer's real-time walking information; a graphical user interface for displaying statistical information based on the wearer's accumulated walking information; and a graphical user interface for displaying a walking analysis report of the wearer. The graphical user interface for displaying the wearer's real-time walking information may be generated based on the wearer's real-time walking information from the wearable robot wearer, and the graphical user interface for displaying statistical information based on the wearer's accumulated walking information or the wearer's walking analysis report may be generated based on the wearer's walking information.

[0740] Specifically, the steps of generating such a graphical user interface through the process from the beginning to the end of the movement may include: the wearer in the user terminal 300 Figure 17aThe step of inputting a "start exercise" of inputting a start exercise 822 in the exercise start / end selection area 820 on the robot motion graphical user interface 800 shown in FIG. 20 ( S201 ); the step of sending a setting preparation request information of at least one of a walking mode and a torque intensity from the user terminal 300 to the wearable robot 200 ( S203 ); the step of the wearer setting the "exercise" mode and the "secondary" intensity in the robot motion setting area 840 of the robot motion graphical user interface 800 displayed on the user terminal 300 ( S205 ); the step of sending a setting preparation request information of at least one of a walking mode and a torque intensity from the user terminal 300 to the wearable robot 200 ( S206 ); 00 sends the set "exercise" mode and "secondary" intensity information to the wearable robot (S207); sets the "exercise" mode and "secondary" intensity in the wearable robot 200 (S209); measures or calculates the wearer's real-time walking information by the drive unit 230 of the wearable robot 200 (S211); sends the wearer's real-time walking information from the wearable robot 200 to the user terminal 300 (S213); and reflects and outputs the wearer's real-time walking information in the user terminal 300 (S217). In addition, the external server 100 may include a step of sending the wearer's real-time walking information from the user terminal 300 to the external server 100 (S215) and a step of storing the wearer's real-time walking information in the external server 100 (S219).

[0741] According to one embodiment of the present invention, a method for generating a graphical user interface for displaying statistical information or a walking analysis report based on the accumulated walking information of a wearer of a wearable robot may include: a step of receiving the wearer's walking information; a step of generating the wearer's walking analysis information based on the wearer's walking information; and a step of generating a graphical user interface for displaying statistical information or a walking analysis report based on the accumulated walking information based on the generated wearer's walking analysis information.

[0742] According to one embodiment of the present invention, the step of generating the wearer's walking analysis information may include: a step of receiving the wearer's walking information from a wearable robot; a step of generating the wearer's physical / motor ability information based on the received wearer's walking information; and a step of generating the wearer's walking analysis information based on at least one of the generated wearer's physical / motor ability information and statistical information based on the wearer's accumulated walking information stored in an external server.

[0743] According to one embodiment of the present invention, the step of receiving the wearer's real-time walking information from the wearable robot 200 may include: a step of sending at least one of the walking pattern and torque strength information set in the user terminal 300 to the wearable robot 200; and a step of receiving the wearer's real-time walking information generated by the wearable robot 200 based on at least one of the set walking pattern and torque strength information after sending.

[0744] According to one embodiment of the present invention, sending at least one of the set walking mode and torque strength information may include: a step of displaying a graphical user interface showing the robot motion setting area 840 on the user terminal 300; and a step of receiving the setting of at least one of the walking mode and torque strength from the user terminal 300 and sending it to the wearable robot.

[0745] Specifically, the method for generating the wearer's physical / motor ability information according to one embodiment of the present invention may include: a step of quantifying the wearer's physical / motor ability in the wearable robot 200 (S221); a step of sending the wearer's quantified physical / motor ability numerical information from the wearable robot 200 to the user terminal 300 (S223); steps of sending the wearer's quantified physical / motor ability numerical information from the user terminal 300 to the external server 100 for storage (S225), (S229); steps of generating the wearer's "motor / physical ability information" in the wearable robot 200 and the user terminal 300 (S227), (S231); and a step of sending the wearer's physical / motor ability information from the wearable robot 200 to the user terminal 300 (S233) and a step of sending the wearer's physical / motor ability information from the user terminal 300 to the external server 100 (S235).

[0746] After the wearer's body / sports ability information is generated according to one embodiment of the present invention, the external server 100 may include: a step of storing the wearer's body / sports ability information (S237); a step of generating real-time walking information with long-term use and accumulated statistical information based on the body / sports ability information (S239); a step of sending the generated accumulated statistical information to the user terminal 300 (S251), and a step of reflecting the statistical information based on the wearer's accumulated walking information in the user terminal 300 (S253). The user terminal 300 may include: the wearer of the wearable robot is in Figure 17cThe robot movement end display area 820 of the movement end graphical user interface 808 shown in (a) includes an "end movement" input step (S241) of inputting the end movement 854; a step of switching the screen to a rest mode based on the movement end input information (S243); a step of sending the movement mode end and rest mode switching request information to the wearable robot 200 (S245); and a step of setting the rest mode after the wearable robot 200 ends the movement mode and the second-level intensity (S247).

[0747] Based on this process, a graphical user interface displaying statistical information based on the accumulated walking information of the wearable robot wearer according to one embodiment of the present invention can be generated by a step (S255) of inputting my activities 314 in the graphical user interface of the user terminal 300 and a step (S257) of outputting statistical information based on the accumulated walking information about the wearer's walking.

[0748] According to one embodiment of the present invention, a graphical user interface displaying a wearer's walking analysis report can be generated by inputting walking analysis 316 into the graphical user interface of the user terminal 300 (S261) and generating and outputting the wearer's walking analysis report (S263). Here, the generated wearer's walking analysis report information can be transmitted from the user terminal 300 to the external server 100 (S265), and the wearer's walking analysis report can be stored in the external server 100 (S267).

[0749] Based on the foregoing, according to one embodiment of the present invention, the wearer's accumulated walking statistics or the wearer's walking analysis report generated based on the wearer's walking analysis information can be generated when the robot ends its movement. Therefore, the step of generating a graphical user interface based on the wearer's walking analysis information can include the steps of first receiving the end of the movement at the user terminal and then transmitting the received end of the movement information to the wearable robot.

[0750] like Figure 18As shown, according to one embodiment of the present invention, the administrator terminal 400 can receive information about walking through the external server 100. Specifically, the administrator terminal 400 can receive real-time walking information of the wearer stored in the external server 100 (S270) and reflect and output the real-time walking information of the wearer on the administrator terminal 400 (S271). Similarly, the administrator terminal 400 can receive statistical information based on the wearer's accumulated walking information stored in the external server 100 (S272) and reflect and output the statistical information based on the wearer's accumulated walking information on the administrator terminal 400 (S273). The administrator terminal 400 can receive walking analysis report information of the wearer stored in the external server 100 (S274) and reflect and output the walking analysis report of the wearer on the administrator terminal 400 (S275). However, the administrator terminal 400 is not limited to receiving data only through the external server 100, and data can be directly transmitted and received through a wired / wireless connection with the wearable robot 200.

[0751] Graphical user interface for displaying statistical information based on accumulated walking information of a wearable robot wearer

[0752] Figure 19a FIG. 1 is a diagram illustrating a graphical user interface of a user terminal that records a robot's motion process and displays statistical information based on a wearer's accumulated walking information based on the number of steps according to an embodiment of the present invention. Figure 19b FIG. 1 is a diagram illustrating a graphical user interface of a user terminal that records a robot's motion process and displays statistical information based on accumulated walking information of a wearer based on “distance” according to an embodiment of the present invention. Figure 19c FIG. 1 is a diagram illustrating a graphical user interface of a user terminal that records a robot's motion process and displays statistical information based on accumulated walking information of a wearer based on “time” according to an embodiment of the present invention.

[0753] When the "My Activities" 314 tab is selected in the category selection area 310 of the user terminal 300 according to one embodiment of the present invention, a graphical user interface appears that displays statistical information based on the accumulated walking information of the wearable robot wearer. Figure 19a As shown, the graphical user interface 1000 displaying statistical information based on the wearer's accumulated walking information based on the number of steps 1012 selected in the category selection area 1010 may include at least one of the category selection area 1010, a statistical information display area 1020 based on the accumulated walking information, a display area 1030 for all walking information on the selected date, and a display area 1040 for recorded information of each walking on the selected date.

[0754] Specifically, with respect to the areas displayed in the graphical user interface for displaying statistical information based on the accumulated walking information of the wearer according to an embodiment of the present invention, the category selection area 1010 is an area for selecting a category of statistical information based on the accumulated walking information, the statistical information display area 1020 based on the accumulated walking information is an area for displaying statistical information generated by accumulating information about the wearer's walking on the external server 100, which is based on the statistical information of the accumulated walking information based on the category selected in the category selection area 1010, the all walking information display area 1030 for the selected date is an area for displaying all walking information accumulated during one or more robot movements performed on the date selected in the statistical information display area 1020 based on the accumulated walking information, and the record information display area 1040 for each walk on the selected date is an area for displaying walking information recorded during each robot movement.

[0755] In the category selection area 1010 according to one embodiment of the present invention, steps 1012, distance 1014, or time 1016 may be selected. Figure 19a There are three categories shown in (a), but the categories based on the statistical information of the accumulated walking information can be added, changed, and deleted as needed.

[0756] According to one embodiment of the present invention, the statistical information display area 1020 based on the accumulated walking information can be displayed using a bar or a chart so that the statistical information based on the accumulated walking information can be easily known. The bar or the chart may include an average trend line 1022 representing the average of the statistical information based on the accumulated walking information, and may have multiple areas 1026 according to dates. The multiple areas 1026 according to dates are shown in proportion to the statistical information based on the accumulated walking information, and may have relative sizes compared to other dates. The relative sizes may be represented by, but are not limited to, bar lengths, gauge bars, ratios, or graphics. Figure 19a As shown, any replacement may be made as long as the information displayed in the plurality of date regions 1026 can be easily confirmed. Furthermore, when one region 1024 displaying a certain date is selected from the plurality of date regions 1026, the selected region can be distinguished from the other plurality of regions 1026 by changing color or highlighting the selected region, and information about the robot's movement process for the selected date can be displayed in other regions of the graphical user interface.

[0757] According to one embodiment of the present invention, the total walking information display area 1030 for a selected date may include at least one of a step information display area 1031, a distance information display area 1032, a calorie consumption information display area 1033, a total time information display area 1034, and a walking time information display area 1035. The step information display area 1031 may display information related to the user's step count based on the total operational information of the wearable robot worn by the user on the selected date. The distance information display area 1032 may display information related to the user's exercise distance based on the total operational information of the wearable robot worn by the user on the selected date. The calorie consumption information display area 1033 may display information related to the user's calorie consumption based on the total operational information of the wearable robot worn by the user on the selected date. The walking time information display area 1034 may include a total time information display area 1034A, an assist mode time information display area 1034B, and an exercise mode time information display area 1034C.

[0758] In the walking time information display area 1034 according to one embodiment of the present invention, the overall time information display area 1034A can display information related to the user's working time based on the overall operating information of the wearable robot worn by the user on the selected date. The working time can be the sum of the usage time in assist mode, rest mode, and exercise mode. The assist mode time information display area 1034B is an area that displays the operating time of the wearable robot 200 in assist mode state in the overall time information, and the exercise mode time information display area 1034C is an area that displays the operating time of the wearable robot 200 in exercise mode in the overall time information.

[0759] However, the information contained in the entire walking information display area 1030 for the selected date is exemplary and may also include information such as step length, walking mode, continuous walking time, walking rhythm, slope, number of steps and floors when going up or down stairs based on the working information of the wearable robot worn by the user.

[0760] According to one embodiment of the present invention, the walking record information display area 1040 for a selected date may include multiple areas 1042 and 1044 that display the walking records for the selected date. The number of areas 1042 and 1044 depends on the number of walks performed on the selected date. The multiple areas may include start time information display areas 1042A, 1042B, and 1042C and overall time information display areas 1044A, 1044B, and 1044C. However, this is merely illustrative, and walking information such as the number of steps and distance traveled may be added, modified, or deleted as needed. Furthermore, by selecting downward arrow 1046A arranged in each of the plurality of areas 1042 and 1044 in the walk record information display area 1040 for the selected date, detailed walk record information display area 1050 is displayed based on the arrow input information in one area. A record of each walk, including at least one of the number of steps, exercise distance, burned calories, total time, assist mode time, and exercise mode time, can be arranged in each of the plurality of areas 1042 and 1044 in the detailed walk record information display area 1050. While detailed walk record information display area 1050 is activated on the graphical user interface, selecting upward arrow 1046B arranged in the plurality of areas 1042 and 1044 disables detailed walk record information display area 1050.

[0761] like Figure 19b As shown, when distance 1014 is selected in the category selection area 1010, a graphical user interface 1005 of statistical information based on the accumulated walking information of the wearer based on the distance is displayed, as shown in FIG. Figure 19c As shown, a graphical user interface 1007 displays statistical information based on the wearer's accumulated walking information based on the time 1016 selected in the category selection area 1010. However, the detailed configuration displayed in the graphical user interface is exemplary and can be added, changed, or deleted as needed.

[0762] Therefore, the wearer of the wearable robot can confirm the statistical information based on the accumulated walking information based on the category selected from the number of steps, distance or time on the graphical user interface of the "My Activities" 314 tab of the user terminal 100, which displays the wearer's accumulated walking information, and can confirm all the walking information of the selected date and at least one of the recorded information of each walk.

[0763] Graphical user interface showing walking analysis report of wearable robot wearer

[0764] Figure 202 is a diagram showing a graphical user interface of a user terminal that displays a walking analysis report of a wearer based on at least one of information about the wearer's walking obtained during the last robot movement and accumulated data stored in an external server according to one embodiment of the present invention.

[0765] like Figure 20 As shown, when the "Walking Analysis" tab 316 is selected in the category selection area 310 of the user terminal 300 according to one embodiment of the present invention, a graphical user interface 1100 appears, displaying a walking analysis report of the wearer of the wearable robot. The graphical user interface 1100 displaying the walking analysis report of the wearer of the wearable robot may include at least one of a comprehensive walking score and age information display area 1110, a statistical information display area 1120 based on accumulated walking information, a walking index graphical display area 1130, and a walking detailed analysis information display area 1140.

[0766] Specifically, regarding the areas displayed in the graphical user interface 1100 for displaying a walking analysis report for a wearable robot wearer according to on...

Claims

1. A thigh frame of a walking-assisting wearable robot for assisting a wearer's walking motion, comprising: a waist-wearing portion, wearable on the waist of the wearer; A thigh wearing portion, which can be installed on the thigh of the wearer; a driving portion connected to the waist-worn portion and comprising a driver; and A thigh frame connects the driving unit and the thigh wearing unit, The thigh frame comprises: a joint component connecting the driving portion and the thigh frame; a thigh cover component connected to the joint component; and The inner thigh member slides inside the thigh cover member as the wearer walks, and the joint member is configured to be connected in series with the actuator to transmit the assist force generated by the actuator to the thigh frame. The thigh cover member is configured to include a rail structure having a predetermined angle formed bilaterally symmetrically inside the thigh cover member.

2. The thigh frame of the walking assist wearable robot for assisting the wearer's walking motion according to claim 1, further comprising a bearing end member, The inner thigh part is combined with the bearing end part, The bearing end member is configured to prevent left-right play when the thigh inner member slides and to distribute a load applied to the thigh frame when the actuator generates an assist force.

3. The thigh frame of the walking assist wearable robot for assisting the wearer's walking motion according to claim 2, wherein the thigh inner component further comprises a two-stage auxiliary bearing component, The two-stage auxiliary bearing member is configured to prevent the left-right movement of the thigh inner member together with the two-stage bearing member so that a predetermined gap is maintained during sliding.

4. A thigh-worn portion of a wearable walking assistance robot for assisting a wearer's walking motion, the wearable walking assistance robot comprising: A waist-wearing portion, which can be mounted on the waist of the wearer; A thigh wearing portion, which can be installed on the thigh of the wearer; a driving portion connected to the waist-worn portion; as well as A thigh frame connects the driving unit and the thigh wearing unit, The thigh frame includes a thigh frame joint portion, The thigh wearing portion includes a fixing clamp portion, The fixing clamp is configured to fix or separate the thigh frame joint. The thigh wearing portion comprises: The thigh frame release button is used to convert the thigh frame joint from a fixed state to a released state.

5. The thigh wearing portion of the walking assist wearable robot for assisting the wearer's walking motion according to claim 1, wherein the thigh wearing portion further comprises a thigh belt portion and a thigh buckle portion. The thigh strap is configured to be connected to the thigh buckle and can be adjusted in length according to the wearer's thigh circumference. The thigh frame joint is designed to be circular so as to be rotatable, and flexibly rotates according to the wearer's thigh movement.

6. The thigh-worn portion of the walking-assisting wearable robot for assisting a wearer's walking motion according to claim 1, the thigh-worn portion comprising: Impact-resistant components; as well as Removable thigh frame, The thigh detachable frame further comprises a sliding track component, The thigh frame joint is configured to be movable along the slide rail member. The impact-proof component is configured to be located on the inner side of the thigh wearing portion, and can alleviate the impact or vibration occurring during the sliding movement of the thigh frame.

7. A waist-worn portion of a walking-assisting wearable robot for assisting a wearer's walking motion, comprising: A waist-worn portion, capable of being mounted on the wearer's waist; as well as A driving unit can be mounted on the waist-worn part. The waistband portion comprises: Waist wear parts; The waistband buckle part is connected to the waistband part. The driving part includes a driving part fixing frame located on both sides of the driving part, The waist-worn buckle portion is configured to be able to be coupled to and released from the driving portion fixing frame. The driving unit fixing frame is configured to have an inclination of not less than 0 degrees and not more than 30 degrees with respect to a vertical plane of the driving unit.

8. The waist-worn portion of the walking assist wearable robot for assisting the wearer's walking motion according to claim 7, The waistband buckle part includes a driving part fixing component, The driving part fixing component further includes an inner connecting component, The driving unit fixing component further includes: a button component, located on the inner connecting component; and an elastic component located inside the waistband buckle, When the waist buckle part and the driving part fixing frame are combined, The button member is configured to move in the direction of travel of the drive unit fixing frame, so that the elastic member is configured to contract. The elastic member is configured such that when the button member and the driving portion fixing frame are combined, the elastic member relaxes to prevent the driving portion fixing frame from being separated from the button member.

9. A wearable robot capable of estimating a wearer's physical ability during walking, comprising a fixing portion capable of being mounted on a body part and a driving portion capable of being mounted on the fixing portion. The driving unit is configured to estimate the wearer's physical ability based on the power of the driving unit through the wearer's walking motion, configured to estimate the wearer's physical ability based on a value obtained by normalizing the power of the drive unit by torque, The ratio of the power to the torque of the driving unit is calculated by dividing the power of the driving unit by the root mean square (RMS) torque of the driving unit.

10. The wearable robot capable of estimating the wearer's physical ability during walking motion according to claim 9, The driving unit is configured to sense the hip angle of the wearer and calculate the angular velocity based on the sensed hip angle. is configured to calculate the power of the driving unit by multiplying the calculated angular velocity and the torque, The calculated angular velocity is calculated based on the wearer's walking when the wearer utilizes a backdrivable actuator.

11. The wearable robot capable of estimating a wearer's physical ability during walking according to claim 10, wherein the torque is calculated as follows: When the driving unit calculates a plurality of operation state values ​​based on the calculated angular velocity, at least one operation state value is selected from the plurality of calculated operation state values, and a weighted sum of the selected operation state values ​​is calculated as the torque.

12. A server device for managing the movement of a wearer of a wearable robot, is configured to receive walking information of a wearer wearing the wearable robot linked to the first user terminal from a first user terminal, is configured to send the received walking information of the wearer to a second user terminal, is configured to receive feedback information based on the walking information of the wearer received by the second user terminal from the second user terminal, The feedback information based on the walking information of the wearer received by the second user terminal includes the exercise intensity based on the walking information of the wearer, The feedback information based on the walking information of the wearer received by the second user terminal includes information for controlling the exercise intensity based on the walking information of the wearer in real time.

13. A system for managing the motion of a wearer wearing a wearable robot capable of estimating the wearer's physical capabilities during walking motion, comprising: a first user terminal that outputs analysis information about the wearer's movement; a server device receiving analysis information about the wearer's movement output by the first user terminal; as well as a second user terminal receiving the analysis information on the wearer's movement sent by the server device, The server device is configured to receive feedback information of the information about the movement of the wearer sent to the second user terminal from the second user terminal, is configured to send the received feedback information to the first user terminal, The feedback information received by the server device includes exercise intensity based on walking information of the wearer.

14. The system for managing the movement of a wearer wearing a wearable robot that can estimate the wearer's physical ability during walking movement according to claim 13, wherein the analytical information about the wearer's movement output by the first user terminal is based on the ratio of power to torque calculated by the wearable robot, and is at least either the wearer's agility or lower body muscle strength.

15. A walking assistance wearable robot system for assisting a wearer's walking motion, the system comprising the user terminal and the wearable robot, The wearable robot is configured to receive target muscle information to be exercised from the user terminal, Parameters are set according to the received target muscle information, and output torque is calculated based on the parameters. Sending information related to the walking movement to the user terminal, The user terminal is configured to receive the information related to the walking movement sent, The wearable robot is configured to calculate an angular velocity according to the wearer's walking, calculate an action state value according to the calculated angular velocity, and calculate the output torque based on the action bar state value.

16. The walking-assisting wearable robot system for assisting a wearer's walking motion according to claim 15, wherein the set parameter is a parameter representing at least one of output timing information of the calculated torque, intensity adjustment information of the calculated torque, filter information for calculating the output torque, or asymmetric information for calculating the output torque. The calculated output timing information of the torque includes the calculated position information of the operation state value.

17. The walking assist wearable robot system for assisting a wearer's walking motion according to claim 16, further comprising a memory unit, The driving unit is configured to calculate the output torque according to the set sport mode. The memory unit is configured to store parameters according to the motion pattern in a lookup table, The parameters set according to the lookup table are composed of parameters according to the target muscle information received from the user terminal, The lookup table is configured to be composed of a combination of at least one of the calculated output timing information of the torque, the calculated intensity adjustment information of the torque, the filter information for calculating the output torque, or the asymmetry information for calculating the output torque.

18. A wearable walking assistance robot for assisting a wearer's walking motion, comprising: a fixing portion, which can be mounted on a body part of the wearer; as well as The driving part can be mounted on the fixing part, The driving unit is configured as follows: Calculating the degree of change in the wearer's state trajectory and calculating the output torque based on the degree of change in the state trajectory, The output torque is calculated to be a value below the critical value within a predetermined time within a range below the critical value including a time point at which the calculated output torque changes its sign. The predetermined time is not less than 0.5 seconds and not more than 1 second.

19. The wearable walking assisting robot for assisting a wearer's walking motion according to claim 18, wherein the driving unit does not calculate the output torque or calculates a value below the threshold when the wearer's state trajectory movement distance within the predetermined time is less than a first critical value. When the wearer's state trajectory movement distance within the predetermined time is greater than or equal to a second critical value, the output torque is calculated to be a value greater than or equal to the critical value.

20. The walking assist wearable robot for assisting a wearer's walking motion according to claim 19, The first critical value and the second critical value are the same value, or the second critical value is a value larger than the first critical value, The driving unit is configured to change the value of the torque intensity adjustment parameter used to calculate the output torque to below the critical value or to 0 when the wearer's state trajectory movement distance is below a first critical value within the predetermined time. The value of the torque intensity adjustment parameter used to calculate the output torque is configured to gradually change to below a critical value or to zero.

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