Wearable robot, operation assistance method and system using a state trajectory memory buffer

Abstract

The present invention relates to a wearable robot. The wearable robot according to the present invention includes a first fixing part mounted on a body part on one side of a joint part, a second fixing part mounted on a body part on the other side of the joint part, a driving part connected to the first fixing part, and a connecting member connecting the driving part and the second fixing part and transmitting the driving force provided from the driving part to the second fixing part for the movement of the joint part. The connecting member is characterized in that its length is adjusted corresponding to the distance between the driving part and the second fixing part which changes according to the magnitude of the movement of the joint part, or includes a plurality of members arranged in a row and an interlocking part connecting the plurality of members so that the plurality of members interlock with each other. The driving part includes a driver that generates power for auxiliary force. 【Representative Drawing】 Figure 2

Description

Technical Field

[0001] The present invention relates to a wearable robot that can assist a user's walking. The present invention also relates to an operation assistance method and system, and more specifically, to an operation assistance method and system that can immediately respond to a sudden change in the user's movement.

Background Art

[0002] Wearable robots have been developed since the 1960s. For high-load and high-risk workers, wearable robots for muscle strengthening for muscle strength enhancement and body protection have been developed. For the elderly and patients, wearable assistive devices for assisting behavior for rehabilitation and posture correction have been developed. For the disabled, prosthetic feet, prosthetic hands, etc. for replacing body functions have been developed.

[0003] Wearable robots started from non-commercial fields such as military / welfare of the disabled since the 1960s, and since 2010, the business areas have been expanded in the commercial areas of rehabilitation / industry / health and developed.

[0004] Since wearable robots must be moved while being worn by a person, if they are heavy and large in volume, they will not only interfere with the person's movement, but may also hurt the person when the control is incorrect. For these reasons, although they may be heavy and inconvenient to move, they have been first utilized in fields with great user needs such as assisting high-load and high-risk workers who cannot be done by humans, or assisting people who cannot walk to be able to walk.

[0005] In order to apply wearable robots in commercial areas other than industrial / military and medical uses, it is important to grasp the intention of the wearer while not restricting the movement of the wearer. Therefore, the wearable robot must not only be light, but also quickly recognize the intention of the wearer and move in accordance with the movement of the wearer's joints. In addition, since it must be moved while being worn by a person, a power management system is important, such as the battery usage time must be long.

[0006] Among various types of wearable robots, wearable robots that assist the wearer's walking have clinically confirmed effects such as not only simply assisting walking but also improving walking efficiency, preventing falls, correcting walking, and reducing joint load. Since walking is the most common human activity, the utilization value of wearable robots that assist walking is highly evaluated.

[0007] However, in order to assist walking, which is an optimized and highly efficient movement as humans have evolved, the device must be lighter in weight while having a greater assisting force. Furthermore, by not restricting the range of motion of the human body joints, the inconvenience during wearing must be minimized, so assistance must be possible not only for walking characteristics (walking, going up stairs, running) but also for various movements.

[0008] In order to become a wearable robot that can be used by not only the elderly and patients with diseases but also the general public during movement, the technologies described above must be further advanced.

[0009] In the case of such a wearable assistive device, a form mainly includes a main body equipped with a battery, a controller, etc., which is worn on the user's back, joint drivers for driving each joint, and a support unit connected to each joint driver to support the user's thigh.

[0010] In the case of such a wearable assistive device, by arranging the joint driver near the user's joint and providing an assisting force in the form of assisting torque to the user's thigh according to the user's walking motion, the user's walking can be assisted.

[0011] Assuming that the user walks in the x-axis direction in a three-dimensional coordinate space, the joint driver can be designed to rotate around the y-axis that intersects the x-axis, which is the walking direction of the hip joint, and the z-axis, which is the vertical direction, to provide an assisting force.

[0012] That is, the joint driver adopts a rotary motor type driver, and can still rotate around the y-axis center corresponding to the rotation direction of the joint when the user walks, so as to provide driving force.

[0013] In the case of the exoskeleton lower body assist device, a joint driver is provided on the outside of the hip joint, generates a driving torque in the y-axis direction, and can transmit the assisting force to the user's thigh through a thigh support unit covering the user's thigh.

[0014] Unlike a motor-driven driver, the hip joint of the body can perform not only rotational motion around the y-axis center, but also abduction or adduction around the x-axis center of the thigh and torsion around the z-axis center. The rotation center of the hip joint that can be defined as the upper end of the femur exists inside the body. However, when the rotation center of the joint part of the wearable assist device does not coincide with the rotation center of the hip joint, it will increase the load on the joint part of the user, resulting in problems such as inconvenience or pain in the joint part, or reducing the range of motion of the joint part.

[0015] In addition, the existing wearable assist devices mainly have a structure in which a waist belt is connected to the driving part for wearing. In this case, the driving part is integrally connected to the waist-wearing part or is combined in a way that is difficult to put on and take off, causing inconvenience in storing, wearing, and using the device.

[0016] In addition, the existing wearable assist devices mainly have a structure in which the calf force transmission plate is fixed to the calf frame, and a strap is connected to the calf force transmission plate for wearing. In this case, the calf frame is integrally connected to the calf-wearing part or is combined in a way that is difficult to put on and take off, causing inconvenience in storing, wearing, and using the device.

[0017] Conventional technologies such as US Patent US10,350,129 "Walking Assist Device" provide assisting force along with the user's movement after recognizing the user's movement speed, cadence, phase, etc.

[0018] However, prior art that recognizes the user's previous movement patterns, estimates the current pattern based on this, and then provides assistance based on this has a problem in that it cannot immediately respond when sudden and aperiodic operation changes occur.

Prior Art Documents

Patent Documents

[0019] Republic of Korea Registered Patent 10-1517058 Republic of Korea Published Patent No. 2022-0053349

Summary of the Invention

Problems to be Solved by the Invention

[0020] An object of the present invention is to provide a wearable robot capable of assisting the user's walking motion in order to solve such conventional problems.

[0021] Also, even when using a drive with a high force transmission effect structurally and relatively weak power, it is possible to transmit a strong assisting force during walking, and to provide a wearable robot that is lightweight and does not restrict the wearer's movement, allowing free movement.

[0022] Also, to provide a wearable robot that can provide a large stroke while minimizing the length in the contracted state.

[0023] Also, to provide a wearable robot that can minimize frictional force.

[0024] Also, to provide a wearable robot in which some of the many unit members constituting the connecting member can be made to not operate arbitrarily.

[0025] Also, to provide a wearable robot in which each wearing part of the wearable robot is manufactured in a structure that is easy to put on and take off, easy to store, and has usability and wearability.

[0026] Another object is to provide an operation assistance method and system.

[0027] Another object is to provide an operation assistance method and system that provides a stable assisting force.

[0028] Another object is to provide an operation assistance method and system that provides an assisting force adapted to changes in the user's operation.

[0029] Another object is to provide an operation assistance method and system that provides an assisting force adapted to changes in the user's operation without delay.

[0030] Another object is to provide a safety mode for the safety of the user when the wearable robot is unintentionally attached or detached between the driving unit and the wearing unit.

[0031] The problems to be solved by the present invention are not limited to the problems mentioned above, and other problems not mentioned will be clearly understood by those skilled in the art from the following description.

Means for Solving the Problems

[0032] The above object is achieved, according to one embodiment of the present invention, by a wearable robot including a first fixing part fixed to a body part on one side of a joint part, a second fixing part fixed to a body part on the other side of the joint part, a driving part fixed to the first fixing part, and a connecting member that connects the driving part and the second fixing part and transmits the driving force provided from the driving part for the movement of the joint part to the second fixing part, wherein the connecting member includes a plurality of unit members whose lengths are adjusted corresponding to the distance between the driving part and the second fixing part that changes according to the magnitude of the movement of the joint part, and the connecting member is formed by arranging the plurality of unit members in a row, and an interlocking part that connects the plurality of unit members so that the plurality of unit members interlock with each other.

[0033] Here, it further includes a rotary joint portion that is respectively coupled to both left and right sides of the driving portion and rotates in the front-rear direction about a rotary axis in the left-right direction, and the connecting member can be hinge-coupled to the lower end portion of the rotary joint portion so as to rotate in the left-right direction about a rotary axis in the front-rear direction.

[0034] Here, the driving portion includes two drivers and a main body housing that houses the drivers therein, and the connecting members on both sides can receive power transmission from the drivers and rotate respectively.

[0035] Here, the driving portion includes a single driver, a driver frame that surrounds and houses the driver therein and rotates in the horizontal axial direction, and a main body housing that houses the driver and the driver frame therein. The connecting member disposed on one side of the main body portion can receive power transmission from the driver and rotate, and the connecting member disposed on the other side of the driving portion can be connected to the driver frame and rotate.

[0036] Here, the driving portion may further include a bearing that is mounted outside the driver frame and rotates the driver frame with respect to the main body housing.

[0037] Here, it may further include a first fixing portion for fixing the driving portion to the waist and a second fixing portion for fixing the connecting member to the thigh.

[0038] Here, the connecting member may be formed of a plurality of links and can be bent.

[0039] Here, the upper end of the connecting member can be hinge-coupled so as to rotate in the left-right direction about a rotary axis in the front-rear direction.

[0040] Here, the connecting member may include a first member supported by the driving portion, a second member movably connected to the first member, and a third member movably connected to the second member and supported by the second fixing portion.

[0041] Further, a second slit capable of guiding the movement of the third member may be formed on one surface of the second member, and a first slit communicating with the second slit in a superimposed state with the second member may be formed on one surface of the first member.

[0042] Further, an elastic member that elastically supports the second member or the third member in the contraction direction may be included.

[0043] Further, the frictional force of the second member with respect to the first member and the frictional force of the third member with respect to the second member can be set to be different from each other.

[0044] Further, the second member may further include a roller that rolls on the contact surface with the first member.

[0045] Further, the third member may have a relatively large frictional force compared to the roller, and may further include a sliding pad that slides on the contact surface with the second member.

[0046] Further, the connecting member may include a first length adjustment portion and a second length adjustment portion that are arranged in a row between the driving portion and the second fixing portion.

[0047] Further, the length of the first length adjustment portion may be adjusted within a part of the movable range of the joint portion, and the length of the second length adjustment portion may be adjusted within the remaining region exceeding the part of the movable range of the joint portion.

[0048] Further, the connecting member may include a permanent magnet that can fix the position in a state where the third member moves in the expanding direction on the second member.

[0049] Further, 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 corresponding to the first permanent magnet of the third member.

[0050] When the first member 141 and the second member 142 overlap, the first end portion refers to the end portion of the first member or the second member in the overlapping direction, and the second end portion can refer to the end portion of the first member or the second member in the direction opposite to the overlapping direction.

[0051] Further, the connecting member may further include an elastic member fixed to the third member in a state where one end is fixed to the first member and the other end is supported by the second member.

[0052] Further, the second member may include a first pulley that supports the elastic member.

[0053] Further, the interlocking portion may include a first cable having one end fixed to the first member and the other end fixed to the third member while being supported by the second end portion of the second member, and a second cable having one end fixed to the first member and the other end fixed to the third unit member while being supported by the first end portion of the second member.

[0054] Further, a second pulley for supporting the first cable may be disposed at the second end portion of the second member, and a third pulley for supporting the second cable may be disposed at the first end portion of the second member.

[0055] Further, the interlocking portion may include a rack disposed along the length direction on the first member, a pinion disposed at the contracting side end portion of the second member and meshing with the rack, a first pulley rotating together with the pinion, a second pulley disposed at the expanding side end portion of the second member, and a belt wound around the first pulley and the second pulley and having both ends fixed to the third member.

[0056] Further, a second slit capable of guiding the movement of the third member may be formed on one side of the second member, and a first slit communicating with the second slit in an overlapping state with the second member may be formed on one side of the first member.

[0057] In addition, when the first fixing part is worn around the waist, the waist-wearing part is preferably composed of a waist belt and a waist-wearing frame. Both ends of the waist belt may be coupled to both ends of the waist-wearing frame, and the length of the waist belt may be adjusted according to the size of the waist.

[0058] In addition, the waist-wearing frame preferably includes a detachable button, a lower mechanism part, and an upper mechanism part, and one surface of the main body housing may include a lower hook and an upper hook.

[0059] In addition, when the second fixing part is worn on the thigh and functions as a thigh-wearing part, the thigh-wearing part may be composed of a strap part and a plate.

[0060] In addition, the strap part may include a second button coupled to one end of the strap part.

[0061] In addition, both ends of the strap part may be coupled to both ends of the plate.

[0062] In addition, at the coupling part at both ends, the length of the strap part can be adjusted or the strap part can be separated from the plate.

[0063] In addition, the plate may include a plate frame and a first button.

[0064] The operation assistance method according to an embodiment of the present invention includes a step of sequentially storing operation state values in a state trajectory memory buffer, a step of selecting at least one operation state value among the operation state values stored in the state trajectory memory buffer, a step of determining an assisting force using the selected operation state value, and a step of outputting the determined assisting force.

[0065] In addition, in the step of storing the operation state values, only a preset number of operation state values can be stored in a FIFO (First In First Out) manner.

[0066] Further, the operation state value may be a sensing value obtained by measuring the operation state at regular time intervals or a converted value of the sensing value using a preset mathematical formula.

[0067] Further, in the step of determining the assisting force, the assisting force can be determined by the sum of the weighted values of the selected operation state values.

[0068] Further, in the step of selecting at least one operation state value, among the operation state values stored in the state trajectory memory buffer, the operation state value stored at a predetermined position can be selected.

[0069] Further, before the step of selecting at least one operation state value, a step of calculating the state trajectory movement distance by summing the differences between the operation state values sequentially stored in the state trajectory memory buffer, and a step of changing the predetermined position according to the state trajectory movement distance in the step of selecting at least one operation state value may be further included.

[0070] Further, the larger the state trajectory movement distance is, the more the predetermined position is changed toward the first storage position side of the memory array from the state trajectory memory buffer, and the smaller the state trajectory movement distance is, the more the predetermined position is changed toward the last storage position side of the memory array.

[0071] Further, the operation state value is a converted value obtained by converting the sensed hip angle value q 0 using the conversion formula S 0 = Asin(q 0 / 2), and A may be a constant.

[0072] Further, an operation assisting system according to an embodiment of the present invention may include a state trajectory memory buffer that sequentially stores operation state values, and a determination unit that determines an assisting force using one or more operation state values among the operation state values stored in the state trajectory memory buffer.

[0073] Further, the state trajectory memory buffer may be a memory buffer of a finite size that stores the operation state values in a FIFO (First In First Out) manner.

[0074] Further, the state trajectory memory buffer can store operation state values for the user's movement during the last few seconds.

[0075] Further, the determination unit selects the operation state value stored at a predetermined position in the memory array in the state trajectory memory buffer, but changes the predetermined position according to the change in the operation state value stored in the state trajectory memory buffer, and can select the operation state value stored at the changed position.

[0076] Further, the operation assistance program according to an embodiment of the present invention may be a program stored in a medium to cause hardware to execute each step of the operation assistance method according to an embodiment of the present invention.

[0077] Further, the safety mode according to an embodiment of the present invention may include a step of detecting the operation angle and operation speed of the drive unit, and a step of stopping the motor rotation of the drive unit and operating the safety mode.

Advantages of the Invention

[0078] According to an embodiment of the present invention, there is provided a wearable robot that can be adjusted in length in assisting the user's walking.

[0079] Further, it has the advantage that the force transmission effect is high and a single driver can be used to transmit a strong assisting force to both feet.

[0080] Further, the connecting member slides, is bent in a link structure, or rotates left and right around a front-rear direction rotation axis, so as to adapt to various movements of the wearer without restricting them, and thus has the advantage of excellent wearing comfort and assisting force transmission effect.

[0081] Also provided is a wearable robot that can provide a large stroke while minimizing the length in the contracted state.

[0082] Also provided is a wearable robot that can minimize frictional force.

[0083] Also provided is a wearable robot that can provide elastic force to a number of unit members using a single elastic member, and can prevent some of the unit members constituting the connecting member from operating arbitrarily.

[0084] In addition, a connecting member attached to the front or rear of the thigh rotates back and forth about a left-right rotation axis, thereby directly transmitting a force in the walking direction and having the advantage of high force transmission efficiency.

[0085] Also, the volume of the wearable robot can be reduced for easy storage, the wearing and detachment times of the wearable robot can be shortened, and the usability and wearing comfort of the wearable robot can be ensured.

[0086] Also, the operation assistance method and system according to the invention have the effect of providing a stable assistance force.

[0087] Also, the operation assistance method and system according to an embodiment of the present invention have the effect of providing an assistance force adaptable to changes in the user's operation.

[0088] Also, the operation assistance method and system according to an embodiment of the present invention have the effect of providing an assistance force adaptable to changes in the user's operation without delay by immediately reflecting the operation changes without pattern recognition of the user's operation.

[0089] Also, even in the case of unintentional detachment between the drive unit and the wearing unit, the safety of the user can be ensured.

[0090] The wearable robot according to the present invention includes a driving unit that drives the wearable robot in one of a motion mode and an assist mode, and a charging circuit unit that performs charging while being driven in the motion mode. The charging circuit unit includes a battery unit, a switching unit that turns on and off corresponding to the driving mode, a diode connected in parallel with the switching unit, and a motor unit that generates electrical energy based on rotational motion while being driven in the motion mode.

[0091] When driving in the assist mode, the switching unit is in an on state, and the battery unit can supply driving power to the motor unit.

[0092] Further, the charging circuit unit may further include first to fourth switches connected to the motor unit, and the first to fourth switches may be implemented with various elements such as MOSFET (Metal Oxide Semiconductor Field Effect transistor), BJT (Bipolar Junction Transistor), SiC MOSFET, and IGBT (insulated gate bipolar mode transistor).

[0093] When driving in the motion mode, the switching unit is in an off state, and the on and off of the first to fourth MOSFETs may determine the electrical connection between the diode and the motor unit.

[0094] When the diode and the motor unit are not electrically connected, the electrical energy may be generated by the rotational motion of the motor unit.

[0095] When the diode and the motor unit are electrically connected, the electrical energy boosted based on the electrical energy generated by the motor unit may be transmitted to the battery unit through the diode.

[0096] Further, the charging circuit unit includes a first node between the battery unit and the switching unit, a second node between the switching unit and the first MOSFET, a third node between the first MOSFET and the second MOSFET, and a fourth node between the third MOSFET and the fourth MOSFET, and the motor unit can be disposed between the third node and the fourth node.

[0097] When driving in the motion mode, if the first MOSFET and the second MOSFET are in the off state and the third MOSFET and the fourth MOSFET are in the on state, the motor unit generates electrical energy. If the second MOSFET and the third MOSFET are in the off state and the first MOSFET and the fourth MOSFET are in the on state, the battery unit can perform charging.

[0098] Further, the charging circuit unit may further include a capacitor connected in parallel with the battery unit.

[0099] Furthermore, it may further include a wired terminal unit for wiredly supplying the electrical energy generated by the charging circuit unit to an external device, or a wireless charging unit for wirelessly supplying the electrical energy generated by the charging circuit unit to an external device.

[0100] Also, a drive mode selection signal is automatically generated based on the rotational motion of the motor unit, and the charging circuit unit can turn on and off the switching unit based on the drive mode selection signal.

[0101] Furthermore, it further includes an input unit for receiving an input of a drive mode selection signal for the drive mode from a user, and the charging circuit unit can turn on and off the switching unit based on the drive mode selection signal.

[0102] On the one hand, the wearable robot charging device according to the present invention includes a receiving unit that receives a drive mode selection signal for either the motion mode or the auxiliary mode from the wearable robot, and a charging circuit unit that performs charging while the wearable robot is driven in the motion mode. The charging circuit unit includes a switching unit that turns on and off corresponding to the drive mode of the wearable robot, a diode connected in parallel with the switching unit, and a battery unit that performs charging based on the electrical energy generated by a motor unit provided in the wearable robot.

[0103] And it may further include a coupling part for physical coupling with the wearable robot and a connection part for electrical connection between the motor part of the wearable robot and the charging circuit part.

[0104] Also, when driven in the auxiliary mode, the switching unit is in an on state, and the battery unit can supply driving power to the motor unit of the wearable robot.

[0105] And the charging circuit unit may further include first to fourth MOSFETs connected to the motor unit.

[0106] Also, when driven in the motion mode, the switching unit is in an off state, and the on and off of the first to fourth MOSFETs may determine the electrical connection between the diode and the motor unit of the wearable robot.

[0107] And when the diode and the motor unit are not electrically connected, the electrical energy may be generated by the rotational motion of the motor unit of the wearable robot.

[0108] Also, when the diode and the motor unit are electrically connected, the boosted electrical energy based on the electrical energy generated by the motor unit may be transmitted to the battery unit through the diode.

[0109] And the charging circuit unit may include a first node between the battery unit and the switching unit, a second node between the switching unit and the first MOSFET, a third node between the first MOSFET and the second MOSFET, and a fourth node between the third MOSFET and the fourth MOSFET.

[0110] Also, the motor unit of the wearable robot may be electrically connected between the third node and the fourth node.

[0111] And when driven in the motion mode, if the first MOSFET and the second MOSFET are in the off state and the third MOSFET and the fourth MOSFET are in the on state, the motor unit of the wearable robot generates electrical energy, and if the second MOSFET and the third MOSFET are in the off state and the first MOSFET and the fourth MOSFET are in the on state, the battery unit can perform charging.

[0112] Also, the charging circuit unit may further include a capacitor connected in parallel with the battery unit.

Brief Description of the Drawings

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Embodiments for Carrying Out the Invention

[0184] Specific matters of the embodiments are included in the detailed description and the drawings.

[0185] The advantages, features, and the methods for achieving them of the present invention will become clear by referring to the embodiments described in detail hereinafter together with the attached drawings. However, the present invention is not limited to the embodiments disclosed below and may be embodied in various different forms. However, these embodiments are provided so that the disclosure of the present invention is complete and to fully inform those with ordinary knowledge in the technical field to which the present invention pertains of the scope of the invention. The present invention is only defined by the scope of the claims. The same reference numerals refer to the same components throughout the specification.

[0186] Hereinafter, the present invention will be described with reference to the drawings for explaining the wearable robot according to the present invention.

[0187] FIG. 1 is a perspective view of a wearable robot according to an embodiment of the present invention. FIG. 2 is a perspective view of a wearable robot with a waist-wearing part (first fixing part) attached according to an embodiment of the present invention. FIG. 3 shows the wearing state of the wearable robot according to the embodiment of FIG. 1. FIG. 4 shows another wearing state of the wearable robot according to an embodiment of the present invention. FIG. 5 is an exploded perspective view of the drive part of the wearable robot according to an embodiment of the present invention. FIG. 14 is an extracted perspective view of a connecting member of the wearable robot according to an embodiment of the present invention. FIG. 15 is an exploded perspective view of the connecting member of the wearable robot according to an embodiment of the present invention. FIG. 16 is an exploded perspective view of the "A" part of FIG. 15. FIG. 17 is an exploded perspective view of the third member shown in FIG. 15. FIG. 26 is an exploded perspective view of the connecting member of the wearable robot of the present invention. FIG. 33 is an exploded perspective view of the waist-wearing part of the wearable robot according to an embodiment of the present invention.

[0188] Overall Structure of Wearable Robot According to an Embodiment of the Present Invention As shown in the drawings, a wearable robot according to an embodiment of the present invention includes a first fixing part 110, a second fixing part 120, a driving part 130, and a connecting member 140. Also, the first fixing part 110 of the wearable robot according to an embodiment of the present invention may be a waist wearing part. Therefore, in the following description, the drawing number 110 will be referred to as the first fixing part or the waist wearing part.

[0189] For convenience of explanation, the front direction or the walking direction of the user wearing the wearable robot is defined as the x-axis direction, the both side surface directions of the user wearing the wearable robot are defined as the y-axis direction, and the vertical direction is defined as the z-axis direction.

[0190] In an embodiment of the present invention, the first fixing part 110 may be fixed to the waist part located above the hip joint of the user, the second fixing part 120 may be fixed to the thigh part located below the hip joint of the user, and the connecting member 140 that connects the driving part 130 provided on the first fixing part 110 side and the second fixing part 120 can provide an assisting force to the movement of the thigh part centered on the hip joint while rotating around the y-axis by the driving of the driving part 130.

[0191] The first fixing part 110 and the second fixing part 120 are respectively fixed to the body parts on both sides of the joint part, and may be in the form of a band or a belt that can cover the body part, and fixing means such as hook-and-loop fasteners that can be fixed to each other may be provided at both ends.

[0192] The driving part 130 may be provided on the first fixing part 110 and may be composed of a motor or an actuator for providing a rotational torque centered on the y-axis, and may include a speed reducer for increasing the torque.

[0193] The drive unit 130 includes a driver 131 that generates power for assisting force, and may be worn in front of or behind the waist. A battery 136 for supplying power to the driver 131 may be mounted together with the drive unit 130. However, as shown in FIG. 3, the battery 136 may be included, and the control board 137 may be formed separately from the drive unit 130 and may be worn on other parts of the waist.

[0194] The first fixing part 110 is composed of a normal belt (or scrap) and a buckle (or hook-and-loop fastener), etc., to fix the drive unit 130, and can be wound around the waist to wear the drive unit 130 in front of the wearer's waist (see FIG. 20) or behind the waist (see FIG. 4). At this time, the length around the first fixing part 110 can be adjusted to fit the body size of the wearer.

[0195] When the drive unit 130 is worn behind the waist, the connecting member 140 can be located behind (see FIG. 4) or in front of (see FIG. 11) the thigh, and is not necessarily limited to this. As shown in FIG. 11, when the connecting member 140 is located in front of the thigh, as shown in FIGS. 12 and 13, the connecting member 140 can be coupled to the drive unit 130 in a state where the portion coupled to the drive unit 130 extends.

[0196] The connecting member 140 is rotatably coupled to both sides of the device drive unit 130, and each may extend along both thighs and be worn on the thighs. At this time, the connecting member 140 may be disposed in front of or behind the thigh according to the fixed position of the device drive unit 130. The connecting member 140 can rotate in the front-rear direction around the rotation axis by the operation of the driver 131 of the drive unit 130 and transmit the assisting force to the thigh.

[0197] The connecting member 140 may be formed in a long bar shape, and the inner surface that contacts the thigh may be formed in a curved surface according to the shape of contact with the thigh so as to be in close contact with the thigh. Alternatively, as in the illustrated embodiment, the connecting member 140 is rotatably coupled to the driving unit 130, and includes an extension frame 145 that extends long with a square or circular cross section, and a fixing frame 146 that is fixed to the lower end of the extension frame 145 and has a relatively wide contact area with the thigh and whose inner surface is formed in a curved surface according to the shape of contact with the thigh, and is configured to include a second fixing portion 120 that fixes the connecting member 140 to the thigh.

[0198] The second fixing portion 120 is connected to the lower end of the connecting member 140 and can fix the lower end of the connecting member 140 to the thigh. Similar to the first fixing portion 110, the second fixing portion 120 may be composed of a belt (or strap) and a buckle (or hook-and-loop fastener), etc. In the drawings, the second fixing portion 120 is formed at the lower end of the connecting member 140, but it may be formed at other positions or additionally formed at other positions other than the lower end of the connecting member 140.

[0199] Further, it may include a motion sensing sensor 147 that senses the movement or posture of the wearer's thigh. The control board 137 receives the signal of the sensing sensor, predicts the movement of the wearer, and thereby controls the driver 131 of the driving unit 130 to drive the connecting member 140 to assist the thigh movement.

[0200] The movement sensing sensor 147 can be an inertial sensor, an angle sensor, a limit sensor, or the like. The movement sensing sensor 147 is mounted within the main body housing 134 and can sense the angle of the upper body of the wearer. Further, the movement sensing sensor 147 can be mounted on the rotational joint portions 170a, 170b on one side or both sides to measure the angle in the front-rear direction of each leg of the wearer. Alternatively, after sensing only the angle of one leg, the angle of the other leg can be calculated through the relative angle between both legs. Further, the movement sensing sensor 147 can be mounted on the connecting member 140 to sense the angles in the front-rear direction and the left-right rotation direction of each leg of the wearer. The sensed angle in the left-right rotation direction may be used when calculating information regarding the balance of the wearer.

[0201] Further, the movement sensing sensor 147 can be an encoder, a resolver, a hall sensor, or the like that can measure the amount and direction of rotation of a motor. The movement sensing sensor 147 can sense the rotation of the motor shaft and measure the rotational variable. Further, a sensor capable of measuring acceleration and angular velocity can be arranged on the second fixing portion 120.

[0202] The general structure of a conventional wearable robot for assisting walking is such that there are drivers (motors) on both sides of the hip joint, and the battery and control board are arranged at the waist, and the assisting force is transmitted by connecting members extending from the drivers on both sides of the hip joint to the side surface of the thigh. Since the connecting members are arranged to extend along the side surface of the thigh, it is difficult for the connecting members to effectively transmit the assisting force to the thigh.

[0203] However, in one embodiment of the present invention, the driving unit 130 including the driver 131 is disposed in front of or behind the waist, and since the connecting member 140 is positioned in the front - rear direction in which the thigh moves during walking, the connecting member 140 can effectively transmit the assisting force of the connecting member 140 to the thigh. Therefore, the assisting force can be transmitted more effectively compared to the existing structure, so a driver 131 having relatively small power can be used. Further, as will be described later, since the assisting force can be transmitted to both thighs using a single driver 131, the weight of the device can be reduced.

[0204] Referring to FIG. 1, one end of the connecting member 140 is connected to the driving unit 130, and the other end is connected to the second fixing portion 120. While rotating by the driving unit 130, the driving force provided from the driving unit 130 is transmitted to the second fixing portion 120, and it is configured such that the length is adjusted corresponding to the distance between the driving unit 130 and the second fixing portion 120, which is changed according to the magnitude of the movement of the joint portion. According to a specific embodiment, each of the connecting members 140 on both the left and right sides is provided with rotary joint portions 170a, 170b, and the rotary joint portions 170a, 170b are connected to both the left and right ends of the driving unit 130. Thus, the driving force for rotating about the y - axis by the driving unit 130 can be directly transmitted to the connecting member 140. Such a driving force can be transmitted to the second fixing portion 120 via the connecting member 140.

[0205] Referring to FIG. 15, such a connecting member 140 may include a first member 141, a second member 142, a third member 143, and an elastic member 144. One end of the first member 141 is connected to the driving part 130. The second member 142 is movable along the length direction of the first member 141. The second member 142 may overlap with the first member 141. According to one embodiment, the second member 142 may be inserted into the first member 141. The entire second member 142 may be inserted into the first member 141. The third member 143 may include a protruding portion 143b. Also, one end of the third member 143 is movable along the length direction of the second member 142, and the other end is fixed to the second fixing part 120. Both ends of the elastic member 144 are respectively fixed to the first member 141 and the second member 142, and provide an elastic force in the direction in which the first member 141 and the second member 142 overlap.

[0206] Also, as shown in FIG. 26, it may include an interlocking part 150 that moves the second member 142 in conjunction with the movement of the third member 143.

[0207] First, the third member 143 is inserted inside the second member 142 and configured to be movable along the length direction inside the second member 142, and a connector for connection with the second fixing part 120 may be formed on one surface.

[0208] The second member 142 is composed of a tubular length member in which a passage into which the third member 143 can be inserted is formed, and a second slit 142c for the movement of the connector is formed along the length direction on one surface. Both ends of the second member 142 can be closed by a second-1 end cap 142a and a second-2 end cap 142b respectively, whereby both ends of the second slit 142c are provided in a closed form.

[0209] The second member 142 may be entirely inserted into the first member 141. Also, the third member 143 may be entirely inserted into the second member 142. Thereby, it is possible to minimize the length in the contracted state. Also, it is excellent in transportation and portability. Also, since they completely overlap, the rigidity is complemented.

[0210] The first member 141 is composed of a tubular length member in which a passage into which the second member 142 can be inserted is formed. On one surface, a first slit 141c that can communicate with the second slit 142c of the second member 142 in a state where the second member 142 is inserted inside is formed along the length direction. Both ends of the first member 141 can be closed by a first-1 end cap 141a and a first-2 end cap 141b, respectively. An opening communicating with the first slit 141c is formed in the first-2 end cap 141b that is coupled to the end where the second member 142 is inserted, so that one side end of the first slit 141c is provided in an open form.

[0211] On the other hand, in one embodiment of the present invention, although the first member 141 has been described by way of example as being composed of a tubular length member, it is also possible to be in the form of a housing. In this case, a passage for guiding the movement of the second member 142 may be formed inside or outside the housing, and a first slit 141c communicating with the second slit 142c may be formed on one surface of the housing.

[0212] On the other hand, both ends of the connecting member 140 are preferably rotatably connected to the driving unit 130 and the second fixing unit 120, respectively. For example, the first member 141 may be rotatably connected to the driving unit 130 via a first hinge shaft so as to rotate left and right, and the third member 143 may also be rotatably connected to the second fixing unit 120 via a second hinge shaft so as to rotate left and right. Also, each of the connecting members 140 on both the left and right sides is provided with rotary joint portions 170a, 170b, and the rotary joint portions 170a, 170b are connected to both the left and right ends of the driving unit 130. Thus, the driving force for rotating about the y-axis by the driving unit 130 can be directly transmitted to the connecting member 140.

[0213] On the one hand, the connecting member 140 may include a first length adjustment part and a second length adjustment part. The first length adjustment part is realized by the second member 142 moving along the first member 141. The second length adjustment part is realized by the third member 143 moving along the second member 142. Among the movable range of the joint part, in a predetermined range (referred to as the first region), the length is adjusted by the first length adjustment part, and in a range other than the predetermined range (referred to as the second region), the length may be adjusted by the second length adjustment part. The movable range may be, for example, a range of a predetermined angle forward to a predetermined angle backward with respect to the vertical axis of the main body part. For example, the first region may be a region where length adjustment is required when the user walks. The second region may be a region where length adjustment is required in a wide range such as when the user sits.

[0214] According to another embodiment, the first length adjustment part and the second length adjustment part can operate sequentially. According to still another embodiment, the first length adjustment part and the second length adjustment part can operate in parallel.

[0215] The frictional force exerted on the first member 141 during the movement of the second member 142 may be set relatively smaller than the frictional force exerted on the second member 142 during the movement of the third member 143. Thereby, during the process in which the distance between the drive unit 130 and the second fixing unit 120 changes due to the operation of the joint part, the first length adjustment unit and the second length adjustment unit can operate sequentially in the connecting member 140. For example, when the user walks, the length is adjusted by the first length adjustment unit, and when the user sits during walking, the length can be adjusted by the second length adjustment unit, so that they can operate sequentially. According to this, during walking, the resistance feeling of the wearer can be minimized by the movement between the second member 142 and the first member 141 with small friction. On the contrary, when the movable angle of the hip joint is large or the frequency of operations such as sitting and ascending stairs is low, the third member 143 will move away from the second member. Therefore, by sequentially operating the first length adjustment unit and the second length adjustment unit, a wide range of length adjustment is possible, and the resistance feeling of the wearer can be minimized.

[0216] On the other hand, the first length adjustment unit and the second length adjustment unit do not necessarily have to operate sequentially, and there may be a period during which the operations of both overlap for a certain time. Such an embodiment is also included in the scope of the present invention. In addition, a mode in which the first length adjustment unit and the second length adjustment unit generally operate in parallel is also possible, and such an embodiment is also included in the scope of the present invention. That is, although it is common for the first length adjustment unit to operate first, not only does the body structure vary from person to person, but considering the magnitude and direction of the forces applied to each member constituting the connecting member, the first length adjustment unit and the second length adjustment unit can operate organically. Thus, even when the first length adjustment unit and the second length adjustment unit operate in parallel, when the frictional force between the second member 142 and the first member 141 increases due to torsion during the wearing and operation of the wearable robot, the resistance feeling of the wearer can also be reduced by the third member moving in parallel with the second member.

[0217] The interlocking part 150 may include a first cable 151 and a second cable 152. One end of the first cable 151 may be fixed to the first end of the first member 141, and the other end may be fixed to the third member 143 via the second end of the second member 142. One end of the second cable 152 may be fixed to the second end of the first member 141, and the other end may be fixed to the third member 143 via the first end of the second member 142. The first end refers to the end portion of the first member or the second member in the overlapping direction when the first member 141 and the second member 142 overlap, and the second end refers to the end portion of the first member or the second member in the direction opposite to the overlapping direction.

[0218] The first cable 151 serves to move the second member 142 in the contraction direction in conjunction with the movement of the third member 143 during the process of the third member 143 moving in the contraction direction. The second cable 152 serves to move the second member 142 in the expansion direction in conjunction with the movement of the third member 143 during the process of the third member 143 moving in the expansion direction. The moving distance of the second member 142 by the first cable 151 and the second cable 152 may be set to 1 / 2 of the moving distance of the third member 143.

[0219] In addition, a second pulley 142f for supporting the first cable 151 may be disposed on the second - 2 end cap 142b coupled to the expansion - side end of the second unit member 142, and a third pulley 142g for supporting the second cable 152 may be disposed on the second - 1 end cap 142a coupled to the contraction - side end of the second member 142.

[0220] One end of the elastic member 144 is fixed to the first - 1 end cap 141a of the first member 141, and the other end is fixed to the second - 2 end cap 142b of the second member 142. It elastically deforms during the process of the second member 142 moving in the expansion direction with respect to the first member 141 due to an external force, and provides an elastic force to move the second member 142 in the contraction direction while elastically restoring when the external force applied to the second member 142 is released. Such an elastic member 144 may be in the form of a tension spring, an elastic thread, or the like.

[0221] In one embodiment of the present invention, the elastic member 144 has been described by way of example as connecting the first member 141 and the second member 142 and elastically supporting the second member 142 in the contraction direction. However, the present invention is not limited thereto. Even when the first member 141 and the third member 143 are connected to elastically support the third member 143 in the contraction direction, it will be possible to prevent the second member 142 connected to the third member 143 via the interlocking portion 150 from moving in the expansion direction due to its own weight.

[0222] For example, a plurality of rollers 142d that respectively contact the upper inner wall surface and the lower inner wall surface of the first member 141 may be provided on the second - 1 end cap 142a coupled to the end portion of the second member 142 inserted into the passage of the first member 141, and a sliding pad 143a having a relatively large frictional force compared to the rollers 142d and performing a sliding movement on the contact surface with the second member 142 may be disposed on the outer surface of the third member 143.

[0223] On the other hand, the sliding pad 143a may be provided in a form covering the outer surface of the third member 143 inserted into the passage of the second member 142, and may be assembled to the third member 143 in a detachable form for maintenance such as replacement.

[0224] That is, when an operation in a small range (first region) similar to a walking motion is performed, the second member 142 having a relatively small frictional force compared to the third member 143 moves along the first member 141, and the length of the connecting member 140 is adjusted.

[0225] Further, when an operation in a large range (second region) such as a sitting motion or stair walking is performed, within the operation range belonging to the first region, the second member 142 moves along the first member 141 and the length of the connecting member 140 is adjusted. Then, in the operation range of the second region exceeding the first region, the third member 143 moves along the second member 142 and the length of the connecting member 140 is adjusted.

[0226] When the connecting member 140 is configured in multiple stages in this way, it is possible to shorten the overall length in the contracted state, while providing a large stroke. Further, by configuring the second member 142 and the third member 143 provided on the connecting member 140 to operate sequentially instead of simultaneously, the frictional force generated during the operation can be dispersed.

[0227] On the other hand, in one embodiment of the present invention, although an example has been described in which the length of the connecting member 140 is adjusted by the linear reciprocating motion of the second member 142 and the third member 143 respectively, the connecting member 140 is composed of a plurality of members that are rotatably coupled to each other, and the rotational angles of the plurality of members are adjusted according to the distance between the driving unit 130 and the second fixing unit 120 while the length between both ends of the connecting member 140 is adjusted. It would also be possible to configure it in this way.

[0228] As shown in FIG. 33, when the first fixing portion is embodied in the form of the waist wearing portion 110, the waist wearing portion 110 may include a waist belt 113 and a waist wearing frame 116. Both ends of the waist belt 113 can be coupled to both ends of the waist wearing frame 116. The length of the waist belt 113 may be adjusted according to the size of the wearer's waist.

[0229] As shown in FIG. 34, the waist wearing frame 116 may include a lower stage mechanism portion 117a, an upper stage mechanism portion 117b, and a detachable button 118. On the other hand, on one surface of the main body housing 134 of the driving unit 130 described later, a lower stage hook 134a and an upper stage hook 134b may be included.

[0230] The lower stage mechanism portion 117a can be coupled to the lower stage hook 134a. The upper stage mechanism portion 117b can be coupled to the upper stage hook 134b. Thereby, the waist wearing portion 110 and the driving unit 130 can be coupled.

[0231] As shown in Fig. 36, when the detachment button 118 is pressed, the upper mechanism part 117b and the upper hook 134b can be separated. Thereby, the lower mechanism part 117a and the lower hook 134a can be easily separated, and the drive part 130 and the waist-wearing part 110 can be easily worn / removed.

[0232] As shown in Fig. 37, when the second fixing part is embodied in the form of the thigh wearing part 120, the thigh wearing part 120 may include a strap part 123 and a plate 126. The strap part 123 may include a second button 129 coupled to one end of the strap part 123. Both ends of the strap part 123 can be coupled to both ends of the plate 126. The length of the strap part 123 may be adjusted according to the size of the wearer's thigh.

[0233] As shown in Fig. 38, the plate 126 may include a plate frame 127 and a first button 128. The plate frame 127 may include an opening 127a. Also, the third member 143 may include a protruding part 143b. At this time, the opening 127a of the plate 126 can be coupled to the protruding part 143b of the third member 143.

[0234] When the first button 128 is pressed, the plate 126 and the third member 143 may be separated. When the second button 129 is pressed, the plate 126 and the strap part 123 may be separated. In this way, the plate 126 and the strap part 123 or the plate 126 and the third member 143 can be easily separated, and the wearable robot can be easily worn / removed.

[0235] On the one hand, as shown in FIGS. 42 to 44, a wearing part elastic member 148 may be disposed between the waist wearing part 110 and the thigh wearing part 120. In this case, a ring (not shown) or an opening (not shown) of the waist wearing part 110 may be coupled to one end of the wearing part elastic member 148, and a ring (not shown) or an opening (not shown) of the plate frame 127 in the thigh wearing part 120 may be coupled to the other end of the wearing part elastic member 148. Such a coupling may be implemented in various ways, not limited to rings and openings. Also, as shown in FIG. 42(b), one end of the wearing part elastic member 148 may be coupled to the rotary joint part 170, and the other end may be coupled to the thigh wearing part 120.

[0236] In the above-described coupled state, the length of the wearing part elastic member 148 can be adjusted. On the other hand, due to the tension generated in the wearing part elastic member 148, the wearing part elastic member 148 can substitute for the function of the elastic member 144 with the connecting member 140. Thereby, it is possible to implement the wearable robot while omitting the elastic member 144 in the connecting member 140.

[0237] When wearing a wearable robot including the wearing part elastic member 148, the wearable robot wearing method according to an embodiment of the present invention includes the steps of wearing the waist wearing part 110 and the thigh wearing part 120 and adjusting the length of the wearing part elastic member 148. The wearable robot wearing method according to an embodiment of the present invention includes the steps of coupling the driving part 130 and the waist wearing part 110 and coupling the connecting member 140 and the thigh wearing part 120.

[0238] When the wearing part elastic member 148 connects between the waist wearing part 110 and the thigh wearing part 120, it is possible to prevent the thigh wearing part 120 from slipping down. Further, if the length of the wearing part elastic member 148 is adjusted according to the body shape of the wearer, the tension of the wearing part elastic member 148 can be minimized. Thereby, the force by which the thigh wearing part 120 pulls down the waist wearing part 110 can be minimized, and the sense of weight felt by the wearer can be minimized. Also, the elastic force of the elastic member 144 can be minimized within the connecting member 140. Further, the structure of the connecting member 140 can be simplified by omitting the configuration of the elastic member 144 from the connecting member 140.

[0239] Embodiment of Driving Unit The detailed configuration of the wearable robot according to the first embodiment of the present invention will be described.

[0240] FIG. 5 is an exploded perspective view of the drive unit of the wearable robot according to an embodiment of the present invention, FIG. 6 is a drawing for explaining the sliding operation of the connecting member 140 according to an embodiment of the present invention, FIG. 7 is a drawing for explaining the link operation of the connecting member 140 according to an embodiment of the present invention, FIG. 8 is a drawing for explaining the movement of the left - right direction hinge of the connecting member 140 according to an embodiment of the present invention, FIG. 9 is a drawing for explaining the operation during walking of the wearable robot according to an embodiment of the present invention, and FIG. 10 is a drawing for explaining the operation of the wearable robot according to an embodiment of the present invention accompanying the movement and posture of the wearer.

[0241] The drive unit 130 may be configured to include a single driver 131, a driver frame 133, and a main body housing 134.

[0242] The driver 131 may be configured by a rotary motor capable of changing the rotation direction. A connecting member 140a attached to one thigh is connected to the motor shaft 132 of the rotary motor, and the connecting member 140a can rotate back and forth about a left - right rotation axis by the power of the rotary motor.

[0243] The drive frame 133 is long and cylindrical, houses the driver 131 inside, and rotates in the horizontal axial direction. As will be described later, the drive frame 133 does not rotate via a separate driver 131 such as a rotary motor. On the other hand, if the drive frame 133 is not provided separately, the drive frame 133 and the driver 131 can be integrated to form the driver 131 itself.

[0244] The main body housing 134 houses the drive frame 133 inside. In one embodiment of the present invention, the main body housing 134 may be divided into a region where a cylindrical hole 135 is formed horizontally to house the drive frame 133 inside, and a region where the battery 136 and the control board 137 are mounted.

[0245] A bearing 138 may be mounted between the outside of the drive frame 133 and the cylindrical hole 135 so that the drive frame 133 rotates in the axial direction within the cylindrical hole 135 formed in the main body housing 134.

[0246] The driver 131 located inside the drive frame 133 may be fixed inside the drive frame 133. Therefore, when the drive frame 133 rotates, the driver 131 can also rotate together.

[0247] A connecting member 140b to be attached to the other thigh on the other end of the drive frame 133 is connected. When the drive frame 133 rotates, the connecting member 140b can rotate back and forth around the rotation axis in the left - right direction together.

[0248] As shown in the figure, a rotary joint portion 170b may be coupled to the other end of the drive frame 133, and the connecting member 140b may be fixed to the rotary joint portion 170b. Also, a rotary joint portion 170a may be coupled to the motor shaft 132 of the rotary motor. In one embodiment of the present invention, a bush 139 is separately coupled to the end of the motor shaft 132, and the rotary joint portion 170a is coupled to the bush 139.

[0249] A bearing 138b may be separately mounted between the outer surface of the motor shaft 132 and the cylindrical hole 135 of the main body housing 134, or between the outer surface of the bush 139 and the cylindrical hole 135 of the main body housing 134.

[0250] At the lower ends of the rotary joint parts 170 on both the left and right sides, a connecting member 140 may be hinged so as to be rotatable in the left - right direction about a rotary axis in the front - rear direction. One side of the upper end of the rotary joint part 170 may be coupled to the other end of the driver frame 133 or the bush 139. The lower end of the rotary joint part 170 is formed in a shape where both sides extend in a plate - like form (a "U" - shaped form when viewed from the side), and the upper end of the connecting member 140 may be hinged between the plates on both sides so as to be rotatable in the left - right direction about a rotary axis in the front - rear direction. Therefore, as shown in FIG. 8, the connecting member 140 can rotate in the left - right direction about the upper end of the connecting member 140 between the plates on both sides.

[0251] Therefore, the connecting member 140 can rotate in the left - right direction by hinge connection and can also rotate in the front - rear direction about a rotary axis in the left - right direction by the rotation of the rotary joint part 170.

[0252] Also, the length of the connecting member 140 may be variable. In one embodiment of the present invention, the driving part 130 is mounted on the waist instead of the hip joint. Therefore, like when sitting on a chair or bending the waist, the straight - line distance between both sides of the driving part 130 and the lower end of the connecting member 140 can change according to the posture or movement of the wearer. At this time, if the length of the connecting member 140 is fixed, the connecting member 140 can limit (interfere with) the movement of the wearer. At this time, in one embodiment of the present invention, the length of the connecting member 140 is adapted to change according to the posture or movement of the wearer, so that the connecting member 140 can be prevented from restricting the movement of the wearer.

[0253] As shown in FIG. 6, the connecting member 140 may be formed of a plurality of frames that are superimposed and slide. Therefore, the lengths of both ends of the connecting member 140 may be variable in accordance with the posture or movement of the wearer.

[0254] Alternatively, as shown in FIG. 7, the connecting member 140 may be formed of a plurality of links and configured to be bent or expanded adaptively as the wearer moves. At this time, the links may be linked so as to be bent in the front-rear direction or in the left-right direction. Therefore, since the amount of bending of the links changes adaptively as the posture or movement of the wearer changes, it is possible to prevent the connecting member 140 from restricting the movement of the wearer.

[0255] The wearable robot according to an embodiment of the present invention configured as described above supports and generates an assisting force in a manner of assisting one thigh based on the other thigh. That is, the connecting member 14b of the other thigh is connected to the driver frame 133, and the connecting member 140a of one thigh can be directly connected to the motor shaft of the driver 131, for example, so as to directly receive the rotational force of the driver 131 and directly rotate by the output of the driver 131. Therefore, when the driver 131 generates power, the connecting member 140a of one thigh will operate in a direction of spreading the one thigh (leg) forward or pulling it backward with reference to the other thigh (leg).

[0256] Therefore, as shown in FIG. 9, the output generated by the driver 131 is transmitted to one thigh through the connecting member 140a of one thigh, and the reaction force against the rotational force (output) of the driver 131 may be transmitted to the assisting force on the other thigh. That is, it is possible to simultaneously transmit the assisting forces to both thighs (legs) in opposite rotational forces using a single driver 131. At this time, the rotational output of the driver 131 acting on the connecting member 140a of one thigh and the rotational reaction force acting on the connecting member 140b of the other thigh against the rotational force of the driver 131 may be offset from each other by the driver frame 133, and only the reaction force against the assisting force may be transmitted to the wearer. Therefore, only a small force is transmitted to the driving unit 130, the repulsive force felt by the wearer is small, and the wearing feeling can be improved structurally.

[0257] Also, as shown in FIG. 10, the driver frame 133 can rotate back and forth around the rotation axis in the left - right direction within the cylindrical hole 135 of the main body housing 134. At this time, the driver 131 fixed inside the driver frame 133 can also rotate together with the driver frame 133. Therefore, with respect to the main body housing 134 whose position is fixed to the waist for various postures and movements of the wearer, the reference position in the rotation direction of the driver frame 133 can be adaptively changed, so that the wearing comfort of the wearer can be improved.

[0258] For example, as shown in FIG. 10(a), when walking on flat ground, as shown in FIG. 10(b), when going up or down stairs, as shown in FIG. 10(c), when sitting on a chair, the operation reference angle of the driver frame 133 with respect to the main body housing 134 whose position is fixed to the waist can be adaptively changed according to the posture. As shown in FIG. 10(c), when sitting on a chair, since there is no relative movement of both feet, only free rotation of the driver frame 133 within the main body housing 134 occurs without the output of the driver 131 (without the generation of auxiliary force).

[0259] Also, as described above, the connecting member 140 is hinged and can also rotate left and right. The length of the connecting member 140 is variably formed or formed in a link structure. For various postures of the wearer (such as bending the waist back and forth or sitting on a chair), and postures of the thighs that are spread or contracted left and right, the connecting member 140 does not restrict the movement, but moves adaptively, so that the auxiliary force transmission efficiency and wearing comfort of the wearable robot can be improved.

[0260] In the above-described embodiment, the auxiliary force is directly transmitted to the connecting member 140a fixed to one thigh by a single driver 131, and the auxiliary force is transmitted to the connecting member 140b fixed to the other thigh by the reaction force of the supported leg. Although not shown, a structure may be provided in which two drivers are provided and each driver rotates the connecting members 140 on both sides. At this time, since the driving unit 130 is fixed to the wearer's waist and the connecting member 140 is disposed in front of or behind the thigh, the power transmission efficiency of the auxiliary force is good, and a relatively small-power driver can be used.

[0261] Embodiment of Connecting Member Hereinafter, the operation method according to the second embodiment of the wearable robot described above will be described. Among the accompanying drawings, FIGS. 18 to 23 are drawings showing the operating state of the wearable robot according to an embodiment of the present invention.

[0262] As shown in FIG. 18, the first fixing portion 110 may be fixed to the waist portion located above the hip joint, the second fixing portion 120 may be fixed to the thigh portion located below the hip joint, and the connecting member 140 may be fixed to the first fixing portion 110 side in a state of being disposed in front of the user to connect the driving portion 130 and the second fixing portion 120.

[0263] In such an arrangement structure, the connecting member 140 can provide an auxiliary force in a direction of lifting or lowering the second fixing portion 120 fixed to the thigh while rotating about the y-axis by the driving portion 130. Therefore, it is possible to prevent inward rotation, outward rotation, or torsion of the rotation center of the joint portion due to the provision of the auxiliary force. Even when the thigh moves left and right in a state of being lifted by the auxiliary force, the connecting member 140 can rotate left and right in accordance with this, so that the movable range of the joint portion is not limited.

[0264] In addition, the connecting member 140 is configured such that its length can be adjusted according to the distance between the driving unit 130 and the second fixing unit 120. By configuring the connecting member 140 to be telescopically extended and retracted in multiple stages, it is possible to provide a large stroke while minimizing the length in the state where the members are overlapped. Therefore, auxiliary force can be transmitted from an operation with a small range of motion of the joint part such as walking to an operation with a large range of motion of the joint part such as sitting or walking up stairs.

[0265] As shown in FIG. 19, one end of the first member 141 of the connecting member 140 is fixed to the driving unit 130 provided on the first fixing unit 110, and the second member 142 is connected to the first member 141 so as to be movable along the length direction. The third member 143 fixed to the second fixing unit 120 is connected to the second member 142 so as to be movable along the length direction. Both ends of the elastic member 144 are fixed to the second member 142 and the first member 141, and provide an elastic force to the second member 142 in the direction in which the first member 141 and the second member 142 overlap.

[0266] Here, the driving force for rotation about the y-axis by the driving unit 130 may be directly transmitted to the first member 141. Such a driving force may be transmitted to the second fixing unit 120 connected to the third member 143 through the second member 142 movable along the length direction of the first member 141 and then the third member 143 movable along the length direction of the second member 142.

[0267] Here, the moving length of the second member 142 of the connecting member 140 is set to be able to correspond to the change in the distance between the driving unit 130 and the second fixing unit 120 accompanying a small movement of the joint part as shown in FIGS. 20 and 21, and the moving length of the third member 143 is set to be able to correspond to the change in the distance between the driving unit 130 and the second fixing unit 120 accompanying a large movement of the joint part as shown in FIGS. 22 and 23.

[0268] FIG. 18 shows a state in which a user is wearing a wearable robot according to an embodiment of the present invention and standing at a predetermined position. In such a state, the distance between the drive unit 130 disposed at the waist portion above the hip joint and the second fixing unit 120 fixed to the lower thigh portion is maximized. As a result, as shown in FIG. 19, the connecting member 140 disposed between the drive unit 130 and the second fixing unit 120 will have the second member 142 and the third member 143 moving in the expanding direction respectively, and in this process, the elastic member 144 will be in a state of being elastically pulled by an external force.

[0269] Subsequently, FIG. 20 shows a state in which the distance between the drive unit 130 and the second fixing unit 120 has changed due to a small movement of the joint portion. The movement range of the joint portion during the walking process is limitedly established only within the first region which is a part of the movable range. The connecting member 140 is set so that the moving position of the second member 142 can be adjusted in response to the change in the distance between the drive unit 130 and the second fixing unit 120 accompanying the small movement of the joint portion.

[0270] That is, as shown in FIG. 21, the connecting member 140 may be adjusted to a length corresponding to the distance between the drive unit 130 and the second fixing unit 120 accompanying the small movement of the joint portion by moving the second member 142 in the contracting direction along the first member 141 in a state where the second member 142 supports the third member 143.

[0271] Here, the second member 142 and the third member 143 can move in the contracting direction corresponding to the reduction in the distance between the drive unit 130 and the second fixing unit 120. However, since the second member 142 is in a state of being elastically supported in the contracting direction with respect to the first member 141 by the elastic member 144, the second member 142 will move along the first member 141 prior to the third member 143 moving along the second member 142. Note that since the second member 142 is in a state of being elastically supported in the contracting direction by the elastic member 144, it is possible to prevent the second member 142 from arbitrarily moving in the expanding direction due to its own weight in the state of having moved in the contracting direction.

[0272] Note that the second member 142 is supported in a state where it can roll relative to the first member 141 via a plurality of rollers 142d, and the third member 143 is supported in a state where it can slide relative to the second member 142 via a sliding pad 143a. The sliding pad 143a is designed to have a relatively large frictional force compared to the rollers 142d. Therefore, since the second member 142 can move with a smaller frictional force than the third member 143, the second member 142 can move along the first member 141 while supporting the third member 143, prior to the third member 143 moving along the second member 142.

[0273] Subsequently, FIG. 22 shows the change in the distance between the drive unit 130 and the second fixing unit 120 accompanying a large movement of the joint portion. The movement range of the joint portion during the sitting movement or the process of walking up stairs extends to a second region exceeding the first region, and the connecting member 140 is set such that the moving position of the third member 143 can be adjusted together with the second member 142 in response to the change in the distance between the drive unit 130 and the second fixing unit 120 accompanying a large movement of the joint portion.

[0274] That is, as shown in FIG. 21, the connecting member 140 is in a state where the second member 142 has completely moved in the contraction direction along the first member 141 while supporting the third member 143. As shown in FIG. 23, as the third member 143 moves in the contraction direction along the second member 142, it may be adjusted to a length corresponding to the distance between the drive unit 130 and the second fixing unit 120 accompanying a large movement of the joint portion.

[0275] At this time, a part of the third member 143 moves in a state where it is partially exposed to the outside through a second slit 142c formed on one surface of the second member 142. Since a first slit 141c communicating with the second slit 142c is formed on one surface of the first member 141, the third member 143 can move in the contraction direction along the second member 142 even when the second member 142 overlaps the first member 141.

[0276] As shown in FIGS. 18 to 23, the wearable robot according to an embodiment of the present invention can move the thigh upward while the connecting member rotates clockwise about the y-axis by the forward drive of the drive unit, and can provide an assisting force for the movement of the joint portion. In this process, the connecting member 140 can contract corresponding to the distance between the drive unit 130 and the second fixing portion 120.

[0277] Conversely, the connecting member 140 can move the thigh downward while rotating counterclockwise about the y-axis by the reverse drive of the drive unit, and can provide an assisting force for the movement of the joint portion. In this process, it can expand corresponding to the distance between the drive unit 130 and the second fixing portion 120. Since the expansion process of the connecting member 140 is the reverse order of the above-described contraction process, a specific description thereof is omitted.

[0278] Hereinafter, the wearable robot according to the third embodiment of the present invention will be described. Among the attached drawings, FIG. 24 is an operation diagram of the connecting member according to the third embodiment of the wearable robot of the present invention.

[0279] The connecting member 140 according to the third embodiment of the wearable robot according to the present invention includes a first member 141, a second member 142, a third member 143, and an elastic member 144 as shown in FIG. 24. The first permanent magnet M1 and the second permanent magnet M2 are provided on the opposing surfaces of the second member 142 and the third member 143. When the third member 143 completely moves in the expansion direction, the first permanent magnet M1 and the second permanent magnet M2 are attached to each other, which is different from the configuration of the second embodiment.

[0280] The remaining configuration except for the first permanent magnet M1 and the second permanent magnet M2 is the same as that of the second embodiment described above, so a specific description of the same configuration is omitted.

[0281] Specifically, a first permanent magnet M1 is disposed on the surface of the second-2 end cap 142b that closes the extended side end of the second member 142 and faces the third member 143, and a second permanent magnet M2 that can attach to the first permanent magnet M1 is disposed on the surface of the third member 143 that faces the second-2 end cap 142b. The self-fixing force between the first permanent magnet M1 and the second permanent magnet M2 is preferably set to such an extent that it cannot be arbitrarily separated by the elastic restoring force of the elastic member 144.

[0282] That is, as shown in FIG. 24(a), with the first member 141, the second member 142, and the third member 143 each moved in the extending direction, the elastic member 144 connecting the first member 141 and the second member 142 is elastically pulled, and the first permanent magnet M1 of the second member 142 and the second permanent magnet M2 of the third member 143 will attach by themselves.

[0283] Subsequently, as shown in FIG. 24(b), when the distance between the driving unit 130 and the second fixing unit 120 decreases due to a small movement of the joint part, the third member 143 connected to the second fixing unit 120 will move in the contracting direction. At this time, the third member 143 is fixed to the second-2 end cap 142b of the second member 142 by the first permanent magnet M1 and the second permanent magnet M2, and the second member 142 is elastically supported in the contracting direction by the elastic member 144. Therefore, the second member 142 will move in the contracting direction on the first member 141 while supporting the third member 143.

[0284] Subsequently, as shown in FIG. 24(c), when the distance between the driving unit 130 and the second fixing unit 120 decreases due to a large movement of the joint part, the third member 143 connected to the second fixing unit 120 will additionally move in the contracting direction. At this time, the second member 142 is in a state where it has completely moved in the contracting direction with respect to the first member 141 and additional movement is restricted. As a result, the third member 143 will move in the contracting direction on the second member 142 while the first permanent magnet M1 and the second permanent magnet M2 are being separated by an external force.

[0285] On the one hand, in the present embodiment, the description has been given by taking as an example the case where the pair of permanent magnets are used. However, it would also be possible to configure either one of the first permanent magnet M1 and the second permanent magnet M2 with a magnetic material.

[0286] Also, a buffer material (not shown) may be disposed between the first permanent magnet M1 and the second permanent magnet M2. The buffer material may be disposed on one surface of either one of the permanent magnets or on one surface of each of the permanent magnets. When the third member 143 moves from (c) to (b) in FIG. 24 within the second member 142, the first permanent magnet M1 and the second permanent magnet M2 are coupled. In this case, the buffer material can prevent noise and damage to the permanent magnets.

[0287] Hereinafter, the wearable robot according to the fourth embodiment of the present invention will be described. Among the attached drawings, FIG. 25 is an operation diagram of a connecting member according to the fourth embodiment of the wearable robot according to the present invention.

[0288] As shown in FIG. 25, the connecting member 140 according to the fourth embodiment of the wearable robot of the present invention includes a first member 141, a second member 142, a third member 143, and an elastic member 144. In the second-2 end cap 142b that closes the extended end of the second member 142, a first pulley 142e capable of supporting the elastic member 144 in a movable state is disposed. The elastic member 144 has a difference in configuration from the above-described embodiment in that one end portion in the form of an elastic thread is fixed to the first member 141, and the other end portion is fixed to the third member 143 while being wound around the first pulley 142e.

[0289] On the other hand, the remaining configuration excluding the first pulley 142e and the elastic member 144 is the same as that of the second embodiment described above, and thus the specific description of the same configuration will be omitted.

[0290] As shown in Fig. 25(a), when the first member 141, the second member 142, and the third member 143 are each moved in the expansion direction, the elastic member 144 is elastically deformed and pulled, and the second-2 end cap 142b of the second member 142 may be maintained in a state of being elastically pressed toward the third member 143 by the elastic force of the elastic member 144.

[0291] Subsequently, as shown in Fig. 25(b), when the distance between the drive unit 130 and the second fixing unit 120 decreases due to a small movement of the joint part, the third member 143 connected to the second fixing unit 120 moves in the contraction direction. At this time, the second member 142 is pressed in the contraction direction by the elastic force of the elastic member 144 on the first member 141, and the third member 143 is pressed in the expansion direction by the elastic force of the elastic member 144 on the second member 142. Therefore, the second member 142 moves in the contraction direction on the first member 141 while supporting the third member 143.

[0292] As shown in Fig. 25(c), when the distance between the drive unit 130 and the second fixing unit 120 further decreases due to a large movement of the joint part, the third member 143 moves in the contraction direction on the second member 142 due to the external contraction force acting on the third member 143 via the second fixing unit 120.

[0293] At this time, since one end of the elastic member 144 is fixed to the first member 141 and the other end is fixed to the third member 143 while being supported by the first pulley 142e, the third member 143 is elastically pulled as it moves in the contraction direction on the second member 142. That is, since the second member 142 is elastically supported in the contraction direction by the elastic member 144, it is possible to prevent the second member 142 from arbitrarily moving in the expansion direction due to its own weight.

[0294] Hereinafter, the operation of the fifth embodiment of the wearable robot according to the present invention will be described. Among the attached drawings, FIG. 18 is a drawing showing the worn state of the wearable robot according to an embodiment of the present invention, FIG. 27 is a cross-sectional view of a connecting member in the wearable robot according to an embodiment of the present invention, FIG. 28 is an enlarged view of the "A" portion of FIG. 27, FIG. 29 is an enlarged view of the "B" portion of FIG. 27, and FIGS. 20, 22, 30, and 31 are drawings showing the operating states of the wearable robot according to the embodiments of the present invention.

[0295] As shown in FIG. 18, the first fixing portion 110 may be fixed to the waist portion located above the hip joint, and the second fixing portion 120 may be fixed to the thigh portion located below the hip joint. However, the connecting member 140 can connect the driving portion 130 fixed to the first fixing portion 110 side and the second fixing portion 120 in a state of being disposed in the front portion of the user.

[0296] In such an arrangement structure, the connecting member 140 can provide an auxiliary force in a direction of lifting or lowering the second fixing portion 120 fixed to the thigh portion while rotating up and down around the y-axis by the driving portion 130. Therefore, it is possible to prevent the rotation center of the joint portion from rotating inward, outward, or twisting due to the provision of the auxiliary force. Even when the thigh portion moves left and right in a state where it is moved by the auxiliary force, the connecting member 140 can rotate accordingly, so that the movable range of the joint portion is not restricted.

[0297] Further, the connecting member 140 is configured such that its length is adjusted corresponding to the distance between the driving portion 130 and the second fixing portion 120. By configuring the connecting member 140 to be telescopically extended in multiple stages, it is possible to provide a large stroke while minimizing the length in the contracted state. Therefore, it is possible to transmit the auxiliary force from an operation with a small movement range of the joint portion such as walking to an operation with a large movement range of the joint portion such as sitting or walking on stairs.

[0298] As shown in FIGS. 27 to 29, one end of the first member 141 of the connecting member 140 is connected to the driving portion 130 provided at the first fixing portion 110. The second member 142 is inserted inside the first member 141 and connected in a state where it is movable along the length direction of the first member 141. The third member 143 connected to the second fixing portion 120 is inserted inside the second member 142 and coupled in a state where it is movable along the length direction of the second member 142. The interlocking portion 150 causes the second member 142 and the third member 143 to interlock with each other. The elastic member 144 has both ends fixed to the first member 141 and the second member 142, and provides an elastic force in the contracting direction to the second member 142. Here, the driving force for rotation about the y-axis by the driving portion 130 may be directly transmitted to the first member 141. Such a driving force may be transmitted to the second fixing portion 120 connected to the third member 143 via the second member 142 movable along the length direction of the first member 141 and then the third member 143 movable along the length direction of the second member 142.

[0299] Here, one end of the first cable 151 constituting the interlocking portion 150 is fixed to the first - 1 end cap 141a of the first member 141, and the other end is fixed to the third member 143 via the second pulley 142f assembled to the second - 2 end cap 142b of the second member 142. One end of the second cable 152 is fixed to the first - 2 end cap 141b of the first member 141, and the other end is fixed to the third member 143 via the third pulley 142g assembled to the second - 1 end cap 142a of the second member 142.

[0300] That is, with respect to the contraction - direction movement of the third member 143, the first cable 151 connected to the third member 143 moves the second pulley 142f coupled to the expanding - side end of the second member 142 in the contraction direction, so that the second member 142 moves in the contraction direction. Conversely, with respect to the expanding - direction movement of the third member 143, the second cable 152 connected to the third member 143 moves the third pulley 142g coupled to the contracting - side end of the second member 142 in the expanding direction, so that the second member 142 moves in the expanding direction.

[0301] Further, in the second member 142, rollers 142d respectively arranged on the upper side and the lower side of the contraction-side end portion roll along the inner surface of the first member 141, so that the frictional force against the first member 141 can be minimized. In the third member 143, a sliding pad 143a arranged to cover the outer surface slides along the inner surface of the second member 142, so that the frictional force against the second member 142 can be minimized.

[0302] FIG. 18 shows a state where a user wears a wearable robot according to an embodiment of the present invention and stands at a predetermined position. In such a state, the distance between the drive unit 130 arranged at the waist portion above the hip joint and the second fixing unit 120 fixed to the lower thigh portion is maximized. As a result, in the connecting member 140 arranged between the drive unit 130 and the second fixing unit 120, as shown in FIG. 27, the third member 143 connected to the second fixing unit 120 moves in the expanding direction, and in this process, the second member 142 connected to the third member 143 via the second cable 152 of the interlocking unit 150 moves in the expanding direction in conjunction with the third member 143. In this process, the elastic member 144 connecting the first member 141 and the second member 142 is elastically pulled by an external force and is in a stretched state.

[0303] Subsequently, FIGS. 20 and 30 show a state where the distance between the drive unit 130 and the second fixing unit 120 changes due to a movement in a small range same as the walking motion. The connecting member 140 can lift the second fixing unit 120 upward while rotating by the drive of the drive unit 130 to provide an assisting force for the walking motion of the user. At this time, since the connection position between the drive unit 130 and the connecting member 140 does not coincide with the rotation center of the joint portion, the distance between the second fixing unit 120 and the drive unit 130 changes in the process of the thigh portion rotating upward. In response to such a change in the distance, the length of the connecting member 140 may be adjusted.

[0304] Specifically, as shown in FIG. 20, when the thigh rotates upward about the hip joint, the distance between the second fixing portion 120 located on the thigh and the driving portion 130 located on the waist portion decreases. During this process, an external force acts on the connecting member 140 connected to the second fixing portion 120 in the contraction direction.

[0305] That is, as shown in FIG. 30, if the third member 143 arranged to be movable along the length direction on the second member 142 moves in the contraction direction by an external force, the end of the first cable 151 connected to the third member 143 will be pulled in the contraction direction. During this process, a force acts on the second pulley 142f supporting the first cable 151 in the contraction direction, so that the second member 142 arranged to be movable along the first member 141 moves in the contraction direction together with the third member 143.

[0306] Subsequently, FIGS. 22 and 31 show a state where the distance between the driving portion 130 and the second fixing portion 120 changes due to large-range movements such as sitting down or walking up stairs. The connecting member 140 can lift the second fixing portion 120 upward while rotating by the drive of the driving portion 130 to provide an assisting force for operations such as the user's sitting-down or walking-up-stairs operations. Since it is configured with multiple ends, has a short length in the contracted state, and can provide a large stroke, it can effectively respond to large-range movements of the joint portion.

[0307] Specifically, the third member 143 of the connecting member 140 will move in the contraction direction by the external force applied through the second fixing portion 120 during the process of the thigh rotating upward about the hip joint. During this process, while the end of the first cable 151 connected to the third member 143 is being pulled in the contraction direction, a force acts on the second pulley 142f supporting the first cable 151 in the contraction direction, so that the second member 142 arranged to be movable along the first member 141 moves in the contraction direction together with the third member 143. Here, the third member 143 moves with a part thereof being exposed to the outside through a second slit 142c formed on one surface of the second member 142. Since a first slit 141c communicating with the second slit 142c is formed on one surface of the first member 141, the third member 143 can move in the contraction direction along the second member 142 even when the second member 142 overlaps the first member 141.

[0308] Further, the second member 142 may be configured such that, in a state of moving in the contraction direction, the contraction-side end portion contacts the first - 1 end cap 141a of the first member 141, thereby restricting further movement in the contraction direction. In such a state, the movement of the third member 143 connected to the second member 142 via the first cable 151 and the second cable 152 in the contraction direction may also be restricted.

[0309] On the other hand, since the second member 142 is configured to be interlocked with respect to the movement of the third member 143 in both directions by the first cable 151 and the second cable 152 that connect the first member 141 and the third member 143, it may be prevented from arbitrarily moving in the expansion direction due to its own weight in a state of moving in the contraction direction.

[0310] According to an embodiment of the present invention, as shown in FIGS. 20, 22, 30, and 31, the wearable robot can move the thigh portion upward while the connecting member rotates clockwise about the y-axis by driving in the forward direction of the driving unit, thereby providing an assisting force for the movement of the joint portion. In this process, the connecting member 140 can contract corresponding to the distance between the driving unit 130 and the second fixing portion 120.

[0311] Conversely, the connecting member 140 can move the thigh portion downward while rotating counterclockwise about the y-axis by driving in the reverse direction of the driving unit, thereby providing an assisting force for the movement of the joint portion. In this process, it may be expanded corresponding to the distance between the driving unit 130 and the second fixing portion 120.

[0312] That is, the third member 143 of the connecting member 140 will move in the expanding direction by the external force applied through the second fixing portion 120 during the process in which the thigh portion rotates downward about the hip joint. At this time, the end portion of the second cable 152 connected to the third member 143 will be pulled in the expanding direction, and in this process, a force acts in the expanding direction on the third pulley 142g that supports the second cable 152, so that the second member 142 disposed movably along the first member 141 can move in the expanding direction together with the third member 143.

[0313] According to the present embodiment as described above, the second member 142 can be moved in the contracting direction with respect to the movement of the third member 143 in the contracting direction through the first cable 151 of the interlocking portion 150, and the second member 142 can be moved in the expanding direction with respect to the movement of the third member 143 in the expanding direction through the second cable 152 of the interlocking portion 150. In this way, by making the second member 142 and the third member 143 move in conjunction with each other by the interlocking portion 150, it is of course possible to provide elastic forces to the second member 142 and the third member 143 respectively using one elastic member 144, and it is also possible to prevent some of the many members constituting the connecting member 140 from operating arbitrarily.

[0314] Hereinafter, a wearable robot according to the sixth embodiment of the present invention will be described. FIG. 32 among the attached drawings is an operation diagram of a connecting member according to the sixth embodiment of the wearable robot of the present invention. For the configurations common to the previous embodiments, illustration can be omitted.

[0315] As shown in FIG. 32, the connecting member 140 of the wearable robot according to the sixth embodiment of the present invention includes a first member 141, a second member 142, a third member 143, an interlocking portion 150, and an elastic member 144. The interlocking portion 150 has a configuration difference from the fifth embodiment in that it includes a rack 153 disposed along the length direction on the inner surface of the first member 141, a pinion 154 disposed at the contracting end of the second member 142 and meshing with the rack 153, a first pulley 155 that rotates together with the pinion 154, a second pulley 156 disposed at the expanding end of the second member 142, and a belt 157 wound around the first pulley 155 and the second pulley 156 and having both ends fixed to the third member 143.

[0316] The remaining configuration except for the interlocking portion 150 is the same as that of the fifth embodiment described above, so the specific description of the same configuration is omitted.

[0317] As shown in FIG. 32(a), with the first member 141, the second member 142, and the third member 143 each moving in the expanding direction, the pinion 154 coupled to the contracting end of the second member 142 meshes with the rack 153 provided on the inner surface of the first member 141, and the third member 143 is fixed to the belt 157 wound around the first pulley 155 and the second pulley 156 of the second member 142, and the first pulley 155 is configured to rotate together with the pinion 154.

[0318] In such a state, as shown in FIGS. 32(b) and (c), in the process of the third member 143 moving in the contracting direction by an external force, the belt 157 fixed to the third member 143 causes the first pulley 155 and the second pulley 156 to rotate counterclockwise respectively. At this time, the pinion 154 supported by the second member 142 and meshing with the rack 153 of the first member 141 rotates counterclockwise together with the first pulley 155, so that the second member 142 moves in the contracting direction in conjunction with the movement of the third member 143 in the contracting direction.

[0319] Embodiment of Waist Wearing Portion Hereinafter, the detailed configuration of the waist-wearing part 110 according to an embodiment of the present invention will be described.

[0320] FIG. 2 is a perspective view of a wearable robot with a waist-wearing part (first fixing part) 110 and a thigh-wearing part (second fixing part) according to an embodiment of the present invention. FIG. 33 is a perspective view of a state where a waist belt 113 and a waist-wearing frame 116 are coupled. FIGS. 34 to 36 are drawings for showing the process of attaching / detaching the waist-wearing part 110 of the wearable robot.

[0321] The waist-wearing part 110 according to an embodiment of the present invention may include a waist belt 113 and a waist-wearing frame 116. Also, both ends of the waist belt 113 can be coupled to both ends of the waist-wearing frame 116. The length of the waist belt 113 may be adjusted according to the size of the wearer's waist.

[0322] The waist-wearing frame 116 may include a lower-stage mechanism part 117a, an upper-stage mechanism part 117b, and a detachment / attachment button 118. One surface of the main body housing 134 of the drive part 130 may include a lower-stage hook 134a and an upper-stage hook 134b.

[0323] The lower-stage mechanism part 117a is coupled to the lower-stage hook 134a, and the upper-stage mechanism part 117b is coupled to the upper-stage hook 134b, so that the waist-wearing part 110 and the drive part 130 can be coupled.

[0324] When the detachment / attachment button 118 is pressed, the upper-stage mechanism part 117b and the upper-stage hook 134b are separated, and thereby, the lower-stage mechanism part 117a and the lower-stage hook 134a can be easily separated, and the drive part 130 and the waist-wearing part 110 can be easily attached / detached.

[0325] Hereinafter, the operation of the waist-wearing part 110 when the drive part 130 is attached / detached according to an embodiment of the present invention will be described.

[0326] When wearing a wearable robot, the method of wearing the wearable robot according to an embodiment of the present invention includes, as shown in FIG. 34, wearing the waist wearing part 110 on the waist of the wearer and bringing the driving part 130 close to the waist wearing part 110. The method of wearing a wearable robot according to an embodiment of the present invention includes, as shown in FIG. 35, locking the lower hook 134a inside the main body housing 134 to the lower part 117a of the mechanism part of the waist wearing frame 116. The method of wearing a wearable robot according to an embodiment of the present invention includes, as shown in FIG. 36, tilting the driving part 130 and locking the upper hook 134b inside the main body housing 134 to the upper part 117b of the mechanism part of the waist wearing frame 116.

[0327] At this time, since there is a fixing metal in the upper part 117b of the mechanism part, the upper part 117b of the mechanism part and the upper hook 134b are automatically fastened, and the main body housing 134 and the waist wearing frame 116 are coupled. Thereby, the driving part 130 and the waist wearing part 110 are coupled.

[0328] When removing the wearable robot, the method of removing the wearable robot according to an embodiment of the present invention includes separating the waist wearing part from the waist of the wearer and pressing the detachment button 118 provided on the waist wearing frame 116 of the waist wearing part 110, as shown in FIG. 36. The method of removing a wearable robot according to an embodiment of the present invention includes, as shown in FIG. 35, the upper end of the driving part 130 tilting forward of the wearer due to the self-weight of the driving part 130 while the lower hook 134a is locked to the lower part 117a of the mechanism part. The method of removing a wearable robot according to an embodiment of the present invention includes, as shown in FIG. 34, gently lifting the driving part 130 and moving it forward while separating it from the waist wearing part 110.

[0329] According to an embodiment of the present invention, the driving unit 130 and the waist-wearing unit 110 can be separated, and the volume of the wearable robot can be reduced. Also, it is easy to store the separated driving unit 130 and waist-wearing unit 110 respectively. Further, by wearing the waist-wearing unit 110 separately in advance, the wearing and separation time of the wearable robot can be shortened. Also, by making the waist-wearing unit 110 similar to a belt shape, usability and wearability can be ensured.

[0330] The configuration of the present invention is not limited to the embodiments mentioned above. The waist-wearing unit 110 can be simplified and configured in various ways so as to be separated from the abdomen or from the side. Also, the configuration of the waist-wearing unit 110 can be incorporated into clothing so that the clothing alone can also function as the waist-wearing unit 110, thereby improving the wearability of the wearable robot. Also, the shape of the hooks in the upper / lower part of the main body housing 134 can be changed so that they can be coupled to existing trousers or belts. And even without a separate waist-wearing unit 110, the usability and wearability of the wearable robot can be maintained.

[0331] So far, the configuration of the waist-wearing unit 110 and its fastening part according to a specific embodiment have been mentioned. However, a waist-wearing unit that can be freely separated while being firmly fastened may be implemented through various methods without using some or all of the matters mentioned above.

[0332] That is, an embodiment of the waist-wearing unit 110 described above is not limited to the above-described embodiment and the attached drawings. Also, it will be apparent to those with conventional knowledge in the technical field to which an embodiment of the present invention belongs that various substitutions, modifications, and changes are possible within the scope not departing from the technical idea of the embodiment.

[0333] Embodiment of Thigh Wearing Portion Hereinafter, the detailed configuration of the thigh wearing part 120 according to an embodiment of the present invention will be described. FIG. 2 is a perspective view of a wearable robot on which a waist wearing part (first fixing part) and a thigh wearing part (second fixing part) according to an embodiment of the present invention are worn. FIG. 37 is a perspective view of the thigh wearing part in the wearable robot according to an embodiment of the present invention. FIG. 38 is an exploded perspective view of the thigh wearing part shown in FIG. 37. FIG. 39 is a drawing for showing the process of separation / connection between the plate and the strap part. FIG. 40 is a drawing showing how the first button operates within the plate. FIG. 41 is a drawing for showing the process of separation / connection between the plate and the connecting member.

[0334] The thigh wearing part 120 according to an embodiment of the present invention may include a strap part 123 and a plate 126. The strap part 123 may include a second button 129 coupled to one end of the strap part 123. The second button 129 may be configured in a simple buckle form, or may be configured in a form in which a hook-spring element is coupled. Both ends of the strap part 123 can be coupled to both ends of the plate 126. The length of the strap part 123 may be adjusted according to the size of the wearer's thigh. The length adjustment and separation of the strap part 123 may be performed at both ends where the strap part 123 and the plate 126 are coupled. Also, one end of the two ends to be coupled may be fixed, and the length of the strap part 123 can be adjusted and separated only at the other end. Further, the strap part 123 can be configured by mixing a single elastic material, a non-elastic material, or each of them, or can be configured by different elastic materials.

[0335] The connection method between the plate 126 and the strap part 123 according to an embodiment of the present invention includes a step of bringing one end of the plate 126 into contact with the second button 129 and pushing the second button 129 in the direction of the plate 126 with a predetermined force, as shown in FIG. 39(a). The connection method between the plate 126 and the strap part 123 according to an embodiment of the present invention includes a step of connecting while a groove (not shown) of the second button 129 is locked to the plate 126, as shown in FIG. 39(b).

[0336] The method of separating between the plate 126 and the strap portion 123 according to an embodiment of the present invention includes the step of pressing the second button 129 of the strap portion 123 as shown in FIG. 39(b). The method of separating between the plate 126 and the strap portion 123 according to an embodiment of the present invention includes the step of separating the second button 129 being pushed out from the plate 126 as shown in FIG. 39(a). Thus, the plate 126 and the strap portion 123 can be easily separated, and the wearable robot can be easily worn / removed.

[0337] As shown in FIG. 38, the plate 126 may include a plate frame 127 and a first button 128. The plate frame 127 may include an opening 127a. Also, as shown in FIG. 15, the third member 143 may include a protrusion 143b.

[0338] As shown in FIG. 40(a), when the first button 128 is not pressed, the opening 127a is in an open state. Therefore, the protrusion 143b of the third member 143 can be coupled to the opening 127a. On the contrary, when the first button 128 is pressed, as shown in FIG. 40(b), the first button 128 can push out the protrusion 143b coupled to the opening 127a.

[0339] The method of coupling between the plate 126 and the connecting member 140 according to an embodiment of the present invention may include the step of the protrusion 143b of the connecting member 140 coming into contact with the opening 127a as shown in FIG. 41(b). The method of coupling between the plate 126 and the connecting member 140 according to an embodiment of the present invention may include the step of applying a predetermined force to the connecting member 140 so that the protrusion 143b is completely inserted into the opening 127a as shown in FIG. 41(c).

[0340] The method of separating between the plate 126 and the connecting member 140 according to an embodiment of the present invention includes the step of pressing the first button 128 as shown in (c) of FIG. 41. The method of separating between the plate 126 and the connecting member 140 according to an embodiment of the present invention includes the step of the protruding portion 143b popping out from the opening 127a as shown in (B) of FIG. 41, and the connecting member 140 being in a state where it can be easily separated from the plate 126. Thus, the plate 126 and the connecting member 140 can be easily separated, and the wearable robot can be easily worn / removed.

[0341] When the plate 126, the connecting member 140, and the plate 126 and the strap portion 123 are coupled, the rotational output generated by the driver 131 built in the drive unit 130 can be transmitted to the plate 126 and the strap portion 123 via the connecting member 140 and the third member 143. Through this, the wearable robot transmits the assisting force or the resistance force generated by the drive unit 130 to the wearer's thigh, and can lift or lower the thigh. That is, the action sites where the wearer receives the transmission of the assisting force or the resistance force are the plate 126 and the strap portion 123.

[0342] In addition, one or more degrees of freedom can be imparted between the plate 126 and the connecting member 140. For example, in one embodiment of the present invention, the protruding portion 143b may be spherical. When the protruding portion 143b is coupled to the opening 127a, the connecting member 140 can rotate without coming out of the plate 126. That is, a configuration that functions as a joint portion in the form of a pivot or a joint between the plate 126 and the connecting member 140 imparts degrees of freedom. On the other hand, the protruding portion 143b is not necessarily limited to a spherical shape. Also, degrees of freedom in other axial directions can be imparted in the protruding portion 143b or other configurations. In this case, new degrees of freedom are added to the rotational degrees of freedom existing in the existing connection. Through the degrees of freedom as described above, the wearer can take various motions even when wearing the wearable robot, and the sense of resistance can be minimized when taking various motions.

[0343] According to an embodiment of the present invention, the wearable robot can be separated from the thigh wearing part 120, and the volume of the wearable robot can be reduced. In addition, it is easy to store the separated wearable robot and the thigh wearing part 120 respectively. Further, by wearing the thigh wearing part 120 separately in advance, the wearing and separation time of the wearable robot can be shortened. Further, by appropriately using a non-elastic material and an elastic material for the strap part 123, the usability and wearability of the wearable robot can be ensured.

[0344] The configuration of the present invention is not limited to the embodiments mentioned above. For example, the configuration of the thigh wearing part 120 can be incorporated into clothing so that the function of the thigh wearing part 120 can be achieved by clothing alone. And even without a separate thigh wearing part 120, the usability and wearability of the wearable robot can be maintained.

[0345] In the description related to the thigh wearing part 120 according to the present invention, the thigh wearing part 120 that can be freely separated while being firmly fastened may be implemented through various methods without using some or all of the matters mentioned above. That is, an embodiment of the thigh wearing part 120 will not be limited to the above-described embodiment and the attached drawings.

[0346] Operation Assistance Method According to an Embodiment of the Present Invention Hereinafter, an operation assistance method and system using a state trajectory memory buffer according to an embodiment of the present invention will be described in detail. In the following description, only the parts necessary for understanding the operation assistance method and system using a state trajectory memory buffer according to an embodiment of the present invention will be described, and the description of other parts may be omitted so as not to disturb the gist of the present invention.

[0347] FIG. 45 is a perspective view of an exemplary motion assistance device. As shown in FIG. 45, when worn by a user, the exemplary motion assistance device 1 shown in FIG. 45 senses the user's motion and provides an assisting force corresponding to the user motion. The motion assistance device shown in FIG. 45 can correspond to the wearable robot described above.

[0348] At this time, the assisting force can be provided in the direction of the user's motion to improve the user's motion ability or assist insufficient muscle power, or can be provided in the direction opposite to the user's motion to double the exercise effect. Further, when the motion assistance device is used in combination with a VR device, it can also provide an experience of a virtual environment by providing assisting forces in various directions.

[0349] Such a motion assistance device 1 may include a sensor that senses the user's motion for providing an assisting force, a motion assistance system that determines an assisting force corresponding to the sensed user motion, and a motion unit that provides the determined assisting force to the user.

[0350] Hereinafter, a motion assistance system and a motion assistance method according to an embodiment of the present invention that determine an assisting force corresponding to the sensed user motion will be described in detail.

[0351] FIG. 47 shows a configuration diagram of a motion assistance system 100 according to an embodiment of the present invention. As shown in FIG. 47, a motion assistance system 100 according to an embodiment of the present invention may include a state trajectory memory buffer 103 and a determination unit 106.

[0352] The state trajectory memory buffer 103 is a storage device that sequentially stores the motion state values of the user.

[0353] Specifically, as shown in FIG. 48, when the first motion state value is input, it is stored in the first storage position O of the memory array.

[0354] Next, if a new operation state value is input, the operation state value stored in the first storage position of the memory array moves to the second storage position of the memory array, and the newly input operation state value is stored in the first storage position of the memory array.

[0355] Next, if a new operation state value is input, the operation state values respectively stored in the first and second storage positions of the memory array move to the second and third storage positions of the memory array, and the newly input operation state value is stored in the first storage position of the memory array.

[0356] By repeating such a shift operation, N + 1 operation state values are stored in all the storage positions of the memory array.

[0357] Next, if a new operation state value is input, the operation state value stored in the memory array moves to the next position, but the operation state value stored in the last storage position N where there is no further place to move is deleted from the state trajectory memory buffer.

[0358] By storing the operation state values in such a FIFO (First In First Out) manner, only a preset number of operation state values for the user's most recent movement may be stored in the state trajectory memory buffer 103. Also, the operation state value stored in the state trajectory memory buffer 103 may be a sensing value measured by the sensor or a conversion value of the sensing value that can indicate the user's operation state.

[0359] For example, the hip angle value q0 of the user measured by the sensor of the operation assist device shown in FIG. 46 may be the operation state value.

[0360] Also, the conversion value S0 obtained by converting the measured hip angle value q0 according to the following [Equation 1] may be the operation state value.

[0361]

Number

[0362] Here, A is an arbitrary constant value such as, for example, -2.

[0363] As shown in FIG. 49, the operation state value as described above may be stored in the state trajectory memory buffer as an operation state value reflecting the user's operation state according to the user's operation.

[0364] Also, in the original state variable, the following state variable with an added asymmetry parameter a as in the following [Equation 2] can be used.

[0365]

Number

[0366] Here, if a = 0, it means that there is no degree of asymmetry, and the same torque is symmetrically provided for the left and right steps. If the a value is a negative number, the auxiliary torque increases for the left step in preparation for the right step motion. If the a value is a positive number, the auxiliary torque increases for the right step in preparation for the left step motion. That is, the asymmetric assistance for the left or right step can be adjusted with a single parameter a. The asymmetry between the left / right steps is determined by the sign of the a value, and the degree of asymmetry can be adjusted by the magnitude of the a value. For example, compared with the case where a = 0.10, when a = 0.20, the right-side asymmetric assistance is further strengthened. The a value may be in the range of -1.0 to 1.0, and a value in the range of -0.5 to 0.5 is preferably used. By using the above method, an asymmetric torque can be generated even in a walking assistance device using a single actuator.

[0367] The asymmetric mode may be used to resolve the imbalance in the left / right movement range and improve posture, and may be used for other purposes according to the user and application. For example, when assisting the movement of a person who performs asymmetric walking due to a stroke disease, the asymmetric mode may be usefully used. Also, the asymmetric mode may be utilized for assisting walking navigation. In a complex environment, it would be possible to reduce the torque strength to induce a speed reduction, and in a curve, provide direction guidance through asymmetric assistance, and in a straight distance, increase the speed for wayfinding assistance functions. Also, if a vision sensor is utilized by means such as attaching a smartphone to the exoskeleton device, it may be used for the walking movement of visually impaired persons.

[0368] For example, although FIG. 49 shows the stored operation state values for one cycle of the user's walking, the operation state values stored in the state trajectory memory buffer 103 only need to indicate the user's movement during a recent short period of time (within several seconds, for example, within 1 to 2 seconds). For example, the operation state values stored in the state trajectory memory buffer 103 may only include information about one step of the user (half cycle of walking). Even if the operation state values stored in the state trajectory memory buffer 103 only include one step of the user, that is, only half cycle of walking, the implementation of the present invention is possible. Preferably, the operation state values stored in the state trajectory memory buffer 103 may store the operation state values for the movement including one cycle among the user's repetitive movements.

[0369] Next, the determination unit 106 is a processing device that determines the assisting force provided according to the user's movement.

[0370] The determination unit 106 uses the operation state values stored in the state trajectory memory buffer 103 for determining the assisting force.

[0371] Specifically, the determination unit 106 selects at least one operation state value among the operation state values stored in the state trajectory memory buffer 103, determines the assisting force τ0 by the sum of the weighted values of the selected operation state values, and outputs the determined assisting force so that an appropriate assisting force is provided to the user.

[0372] At this time, the determination unit 106 may be set to select the operation state value stored at the position i determined in advance in the state trajectory memory buffer 103.

[0373] The predetermined position may be any position in the memory array. However, in order to improve the stability of the motion assistance device against sudden changes in the user's motion and to provide a smooth assisting force to the user, it is preferable not to select the operation state value stored at the first storage position O of the memory array that stores the current walking state value.

[0374] For example, when the operation state value is a value generated every 0.01 seconds, the predetermined position i is preferably 20 to 40. Therefore, it can be set so that the operation state values S

[20] to S

[40] are selected. However, it is not necessarily limited to such a range.

[0375] Also, the operation state value may be noise-removed using a low-pass filter before being stored in the state trajectory memory buffer 103. However, the determination unit 106 can select two or more operation state values in consideration of the possibility that noise is included in the stored operation state values. At this time, the two or more operation state values are preferably consecutive operation state values (for example, S[i], S[i + 1],...) rather than operation state values stored separately in the memory array.

[0376] Also, the determination unit 106 can also adaptively change the predetermined position i for selecting the operation state value according to the user's movement. However, also in this case, it is preferable to set a changeable range of the position for selecting the operation state value (for example, i is 10 to 50) for providing a stable assisting force.

[0377] At this time, if the determination unit 106 has to recognize the user's movement speed, cadence, phase, etc. as in the prior art in order to grasp the user's movement, it is necessary to analyze at least 2 to 3 steps' worth of walking state values, and it is impossible to immediately respond to changes in the user's movement due to the time required for the analysis.

[0378] However, for the determination unit 106 to grasp the user's movement, it only needs to use the walking state values stored in the state trajectory memory buffer 103 and change the position where the operation state value is selected according to the grasped result, and it can provide an assisting force that immediately and adaptively responds to changes in the user's movement.

[0379] So far, an operation assisting system according to an embodiment of the present invention has been described, and such an operation assisting system has been described as a system included in an operation assisting device for control. However, an operation assisting system according to an embodiment of the present invention is also the operation assisting device itself.

[0380] Also, although the assisting force has been described as being provided in the same direction as the user's movement to assist the movement, it may be provided in the opposite direction to the user's movement for the exercise effect.

[0381] Hereinafter, an operation assisting method using a state trajectory memory buffer according to an embodiment of the present invention will be described in detail.

[0382] FIG. 50 is a flowchart of an operation assisting method according to an embodiment of the present invention. As shown in FIG. 50, an operation assisting method according to an embodiment of the present invention includes an operation state value storage stage (S100), an operation state value selection stage (S200), an assisting force determination stage (S300), and an assisting force output stage (S400).

[0383] The operation state value storage stage (S100) is a stage in which operation state values generated by the operation assisting device 1 or operation state values input to the operation assisting device are stored in the state trajectory memory buffer 103.

[0384] The operation state value is a sensing value obtained by measuring the user's operation state at regular time intervals (e.g., 0.01 seconds), or a conversion value obtained by converting the sensing value using a preset mathematical formula.

[0385] Therefore, the sensing value is either stored directly in the state trajectory memory buffer 103 or stored after being converted using a preset mathematical formula.

[0386] Also, the operation state value may be stored after removing noise using a low-pass filter or the like.

[0387] As described above with reference to FIG. 47, the method of storing and updating the operation state value in the state trajectory memory buffer 103 is such that the operation state values are sequentially stored in the order in which they are input to the state trajectory memory buffer.

[0388] Therefore, the older operation state values are stored from the first storage position to the last storage position of the memory array. When a new operation state value is input, the oldest operation state value (S[N]) is deleted, and only a preset number of operation state values for the user's most recent movement are stored in the state trajectory memory buffer 103 in a FIFO (First In First Out) manner.

[0389] Next, the operation state value selection stage (S200) is a stage of selecting at least one operation state value from among the operation state values stored in the state trajectory memory buffer.

[0390] At this time, the operation state value can be selected such that the operation state value stored at a predetermined position in the memory array is selected (e.g., select S[i], i = 30).

[0391] In another embodiment of the present invention, two or more operation state values can be selected. At this time, the continuously stored operation state values can be selected (e.g., select S[i], S[i + 1], i = 30).

[0392] Next, the auxiliary force determination step (S300) is a step of determining an auxiliary force using the selected operation state value.

[0393] In the auxiliary force determination step, the auxiliary force can be determined by the following [Equation 3] using the sum of the weighted values of the operation state values selected in the operation state value selection step.

[0394]

Equation

[0395] Here, W is the weighted value and S is the operation state value.

[0396] Next, the auxiliary force output step (S400) is a step of outputting the auxiliary force determined in the auxiliary force determination step.

[0397] The output may be in the form of a control signal such that the determined auxiliary force value is output as it is or only the determined auxiliary force drives the drive unit of the operation assist device 1.

[0398] When using the operation assist method according to an embodiment of the present invention as described so far, as shown in FIG. 51, when the user is walking, the auxiliary force determined by the walking motion may be provided to the user.

[0399] Also, as shown in FIG. 52, when the user is in a stopped state, the auxiliary force is 0. As shown in FIG. 53, when the user starts walking again, the operation state value stored at the preselected position i in the memory array remains 0 until the very short time ti (for example, when the operation state value is generated at intervals of 0.01 seconds, ti = 0.01 × i seconds) from the selected position i until the walking state is reached. And the auxiliary force corresponding to the walking motion is provided immediately after the short time ti has elapsed.

[0400] The operation assistance method according to such an embodiment of the present invention can provide assistance force corresponding to a rapid change in the movement of the user within a very short time. Further, there is an effect that a rapid change in the movement of the user is buffered by the state trajectory memory buffer, which not only improves the stability of the device but also can provide a smooth interaction predictable to the user.

[0401] Further, as shown in FIGS. 54 to 56, when selecting two or more operation state values, it is possible to provide a safer and smoother assistance force against sensor noise, and further provide an effect of generating various assistance force profiles. FIG. 57 shows a sequence diagram of the operation assistance method according to an embodiment of the present invention. As shown in FIG. 57, the operation assistance method according to another embodiment of the present invention includes an operation state value storage step (S100), a state trajectory movement distance calculation step (S210), an operation state value selection position change step (S220), an operation state value selection step (S230), an assistance force determination step (S300), and an assistance force output step (S400).

[0402] The operation assistance method according to another embodiment of the present invention is characterized in that, in order to more adaptively respond to a rapid change in the movement of the user than the operation assistance method according to an embodiment of the present invention shown in FIG. 50, a predetermined position i for selecting an operation state value according to the operation state of the user can be changed.

[0403] For this purpose, the operation assistance method according to another embodiment of the present invention further includes a state trajectory movement distance calculation step (S210) and an operation state value selection position change step (S220) between the operation state value storage step (S100) and the operation state value selection step (S230) as shown in FIG. 57.

[0404] The state trajectory movement distance calculation step (S210) is a step of calculating the state trajectory movement distance using the operation state values stored in the state trajectory memory buffer.

[0405] As shown in FIG. 58, the state trajectory movement distance d0 is calculated by summing the differences between the operation state values stored in the state trajectory memory buffer 103.

[0406] Since the operation state values are generated and stored at regular time intervals, it can be seen that the greater the state trajectory movement distance, the more drastic the user's operation change.

[0407] The operation state value selection position change stage (S220) is a stage of changing a predetermined position i for selecting an operation state value according to the calculation result of the state trajectory movement distance d0.

[0408] Specifically, the predetermined position i can be proportionally changed according to the state trajectory movement distance d0.

[0409] That is, the greater the state trajectory movement distance d0, the more the operation state value selection position is changed to the first storage position O side of the memory array from the state trajectory memory buffer, and the smaller the state trajectory movement distance, the more the operation state value selection position is changed to the last storage position N side of the memory array. This means that the more drastic the user's operation change, the more the assist force is determined by the most recently input operation state value.

[0410] In this way, if the operation state value is adaptively selected according to the user's operation change to determine the assist force, it is possible to respond to the user's operation change earlier than when the operation state value selection position is fixed.

[0411] To confirm this, the operation assistance method was executed while performing the action of running after walking. As a result, when the operation state value selection position was fixed, when an operation change occurred from walking to running, a timing delay occurred and an assist force that interfered with running was output (see FIG. 59). On the other hand, as in the operation assistance method according to another embodiment of the present invention, when the operation state value selection position was adaptively changed, it was confirmed that the change in the operation pattern could be responded to even earlier (see FIG. 60).

[0412] Also, even if adaptive control that changes the operation state value selection position according to the state trajectory movement distance is not performed, auxiliary power (positive power) is smoothly generated during walking, but positive power cannot be smoothly generated due to delay during running, and the negative power generation ratio that obstructs the operation increases. On the other hand, when adaptive control is performed, it was confirmed that positive power is smoothly generated even during running, and the negative power generation ratio is relatively very low (see Fig. 61).

[0413] The adaptive control according to the state trajectory movement distance can also be applied to a low-pass filter for filtering the operation state value. That is, the smaller the state trajectory movement distance d0, the lower the cut-off frequency, and by performing adaptive control to increase the cut-off frequency as the state trajectory movement distance d0 increases, the noise that may be included in the operation state value can be more effectively removed.

[0414] The above method increases the auxiliary force transmission efficiency by changing the auxiliary force timing in real time according to the user's movement. On the other hand, a method of fixing the operation state value selection position without adaptively determining the auxiliary force according to the change in the user's movement can be used. This is because it may be necessary to provide the auxiliary force at a fixed timing without being linked to the change in the user's movement. For example, it can be used for the purpose of intentionally applying the auxiliary force at a timing that does not match the user's movement in exercise and rehabilitation to strengthen a specific movement function. This is because by intentionally delaying or advancing the auxiliary timing, an increase in stride or an increase in cadence can be induced. It may also be possible to induce the activation of muscle parts that are difficult to stimulate during normal walking exercise. Or, it can also be used for balance training and virtual environment immersive exercise by intentionally changing the timing so that it is out of sync with the movement.

[0415] So far, the operation assistance method according to an embodiment of the present invention has been described. Such an operation assistance method according to an embodiment of the present invention may be implemented by a computer program, digital electronic circuit, firmware, or hardware stored in a medium, or a combination of one or more of these, and stored and executed in an operation assistance system according to an embodiment of the present invention, so that the operation assistance device can provide an appropriate assistance force for the operation change of the user.

[0416] Safety Mode Providing Method According to an Embodiment of the Present Invention Hereinafter, a method for providing a safety mode according to an embodiment of the present invention will be described in detail.

[0417] Specifically, for the safety of the user of the wearable robot, a method for detecting an abnormal wearing or removing situation between the driving unit 130 and the waist wearing unit 110 or the connecting member 140 and the thigh wearing unit 120, and how the wearable robot device responds will be described.

[0418] The abnormal detachment between the driving unit 130 and the waist wearing unit 110 or the connecting member 140 and the thigh wearing unit 120 includes a situation where the driving unit 130, the waist wearing unit 110 or the connecting member 140, and the thigh wearing unit 120 are separated during the operation of the wearable robot, although the user does not intend to do so. Also, the abnormal detachment includes the case where the user intentionally removes the wearable robot during driving. Also, the abnormal detachment may include the case of connecting the driving unit and the wearing unit for the first use. Also, the abnormal detachment includes the case due to the user's carelessness, such as when wearing the device in a state where the device has been switched to the operation mode. Also, the abnormal detachment may include other situations that may pose a danger to the user. For example, if the device is not completely connected, enter the safety mode based on the inclination of the device to provide safety to the user.

[0419] Such abnormal detachment may occur due to aging of the fastening part between the drive unit 130 and the waist-wearing part 110 or the connecting member 140 and the thigh-wearing part 120, excessive auxiliary force generation in the drive unit 130, interference between the wearing parts 110 and 120 during walking in the wearable robot wearing state, incomplete coupling between the drive unit 130 and the waist-wearing part 110 or the connecting member 140 and the thigh-wearing part 120, etc.

[0420] The wearable robot performs control of the force of the drive unit including a motor to generate an auxiliary force. Since the control target of the wearable robot is a force rather than a position or a speed, when the wearable robot is unintentionally detached, it may cause excessive position or speed change results during the control process. If the fastening part separates during the force control process, the target auxiliary force cannot be measured, so the output of the drive unit will reach the maximum value within a very short time. Since the drive unit 130 and the connecting member 140 separated by the output move greatly without restraint, it may cause inappropriate injury to the user's body. As an example, when unintentional detachment occurs at the connecting member 140 and the thigh-wearing part 120, the thigh strap part may move like a whip.

[0421] In addition to detachment during the use of the wearable robot, if the drive unit 130 and the waist-wearing part 110 or the connecting member 140 and the thigh-wearing part 120 are abnormally worn before the use of the wearable robot, it may enter the safety mode when the power of the wearable robot is turned on. Abnormal wearing refers to a state where one or more fastening parts between the wearing parts 110 and 120 and other components are separated or incompletely coupled. The method of providing the safety mode in the above situation can be divided into a detection stage (S500), an operation stage (S600), a notification stage (S700), and a cancellation stage (S800) as shown in FIG. 62.

[0422] First, in the detection stage (S500), the operating angle output from the drive unit is detected. If the detected operating angle exceeds the maximum movable angle, the wearable robot can be switched to the safe mode. The operating angle may be measured by the hip angle value q0 of the user measured by the sensor of the wearable robot shown in FIG. 46.

[0423] The maximum movable angle refers to the maximum angle at which two connecting members 140 can be extended with respect to the drive unit 130 in a state where the user wears the wearable robot. The maximum movable angle can be estimated based on data of the user's daily life. The data of daily life may be collected through walking, running, stair movement, etc., or collected from the statistics of general data of others.

[0424] Preferably, the maximum movable angle is set to be smaller than the limit value of the mechanical design for the protection of the user using the wearable robot according to the present invention. That is, the wearable robot according to the present invention may be provided with a stopper for restricting the mechanical movable angle for protecting the mechanical structure, but for protecting the user, the maximum movable angle is preferably set to be equal to or less than the range of the mechanical movable angle.

[0425] As one of other methods of detection, the operating speed output from the drive unit 130 is detected, and if the maximum operating speed is exceeded, the device can be switched to the safe mode. The operating speed may be the tip speed at the end of the connecting member 140 to which the thigh wearing part 120 is connected when the wearable robot is driven. The maximum operating speed can be set based on data of the user's daily life. The maximum operating speed can be set through calculation and measurement of the operating speed among the maximum outputs of the drive unit 130. In order to prevent misdetection of the safe mode of the device during normal use, the movable angle and the operating speed can be simultaneously used as a basis for determining the safe mode conversion.

[0426] Also, when the wearable robot is powered on, if an abnormal connection between the drive unit 130 and the waist-wearing unit 110 or the connecting member 140 and the thigh-wearing unit 120 is detected, a safety mode may be provided. The abnormal connection can be detected through measuring the inclination degree between a straight line perpendicular to the ground from the center of gravity of the drive unit 130 main body and one axis from the drive unit 130 main body. The inclination degree can be measured via a motion sensor. As a result of measuring the inclination degree, if the main body of the drive unit 130 is abnormally tilted, the safety mode will be entered. Whether the main body of the drive unit 130 is abnormally tilted can be estimated based on the user's daily life data.

[0427] As one of the other methods of detection, a wired or wireless contact sensor can be built into the thigh fastening part 120. As a result of the contact sensor sensing, if it is a detachment situation, it is possible to enter the safety mode. The contact sensor can be replaced with a short circuit / open sensor that senses the loosening of the thigh strap.

[0428] In the operation stage (S600), while switching to the safety mode, the motor can be short-circuited circuitously to cut off the power supply to the motor, and the rotation of the drive unit can be stopped by the braking force of the motor itself. As a method for providing the safety mode, the wearable robot can be switched to a position or speed control mode to stop the rotation of the motor of the drive unit 130. The position control mode means a method of quickly providing a safe operation to the wearer while the wearer does not feel inconvenience. The speed control mode means a method of quickly transmitting a safe assisting force to the wearer while the wearer does not feel inconvenience. The position and speed control modes can operate individually or simultaneously.

[0429] On the one hand, the stopping phenomenon of the device caused by the drive unit 130 with fixed rotation may cause additional injury to the user. Therefore, after a certain period of time when the rotation is stopped, the braking can be stopped so that the drive unit 130 can move freely. It is appropriate that the certain period of time is set at a level where the drive unit 130 has stopped sufficiently or the inertial force of the thigh strap part has been eliminated. The certain period of time is preferably set short within 1 to 2 seconds.

[0430] Or, when entering the safety mode from an abnormal coupling state between the drive unit 130, the waist wearing part 110 or the connecting member 140, and the thigh wearing part 120 before using the wearable robot, since the wearable robot does not provide assisting force, the state of not providing assisting force can be maintained as it is.

[0431] In the notification stage (S700), if it is switched to the safety mode, the wearable robot can notify the user that it is in the safety mode by vibration, sound or light. The notification method is not limited to the examples mentioned above. One or various means that can notify the user that it is in the safety mode may be used. Also, matters such as the notification method and intensity can be set arbitrarily by the user. It is also possible to omit this stage.

[0432] In the cancellation stage (S800), the wearable robot can be automatically switched to the standby mode after being switched to the safety mode and after a certain period of time has passed. Or, when the user clearly notifies the device that the user has recognized the entry of the wearable robot into the safety mode, the safety mode can be cancelled. And the normal use of the wearable robot can be made possible. The safety mode may be cancelled by pressing a button attached to the wearable robot or operating remotely, etc. Also, the safety mode cancellation method is not necessarily limited to the described method only.

[0433] So far, the operation assistance method and system using the state trajectory memory buffer according to an embodiment of the present invention have been described by being limited with reference to specific embodiments. However, it should be understood that the present invention is not limited to such specific embodiments, and various changes and modifications can be made without departing from the spirit and scope of the invention claimed in the claims.

[0434] Charging Method According to an Embodiment of the Present Invention Hereinafter, a charging method for a wearable robot according to an embodiment of the present invention will be described.

[0435] Conventional wearable walking assistance devices have been developed with a focus only on the function of assisting the user's walking. Therefore, by being commercialized limited to existing limited purposes such as walking assistance, treatment, and rehabilitation, there has been a problem that the range of users is very narrow.

[0436] However, as the range of use of wearable robots is expanding, there has been a need to develop wearable robots that can implement various functions other than the walking assistance function. In addition, since a wearable robot is only worn by a user, it needs to be minimized as much as possible. However, there is a problem that the battery for driving the wearable robot necessarily corresponds to a necessary configuration, and an increase in volume and weight accompanies an increase in the battery capacity.

[0437] In order to solve such problems, the present invention presents a method of operating in an assistance mode and a motion mode. In addition, the present invention proposes a wearable robot that can independently charge electrical energy during the motion mode.

[0438] The wearable robot according to the present invention can operate in an assistance mode and a motion mode. The assistance mode is a mode that provides an assisting force to assist the user's movement. The motion mode is a mode that induces the user's movement by providing a resistance force.

[0439] The assisting force provided to the user in the assisting mode and the resistance force provided to the user in the exercise mode can be provided to various parts of the user's body according to the structure and operation method of the wearable robot, as shown in FIG. 63.

[0440] FIG. 63 shows various forms of wearable robots to which the driving mode according to the present invention can be applied. When the wearable robot according to the present invention operates in an assisting mode for assisting walking and an exercise mode for inducing lower body movement as shown in FIG. 63(a), the assisting force provided in the assisting mode and the resistance force provided in the exercise mode may be applied to the lower body part of the user.

[0441] Also, when the wearable robot according to the present invention operates in an assisting mode for providing an assisting force to the lumbar muscles and an exercise mode for inducing lumbar movement as shown in FIG. 63(b), the assisting force provided in the assisting mode and the resistance force provided in the exercise mode may be applied to the lumbar part of the user.

[0442] Also, when the wearable robot according to the present invention operates in an assisting mode for providing an assisting force to the upper body (e.g., shoulders, back) and arms and an exercise mode for inducing upper body movement and arm movement as shown in FIG. 63(c), the assisting force provided in the assisting mode and the resistance force provided in the exercise mode may be applied to the upper body part of the user.

[0443] Thus, in the present invention, the assisting force provided to the user in the assisting mode and the resistance force provided to the user in the exercise mode are provided at various positions on the body according to the structure and operation method of the wearable robot. However, for the sake of explanation and understanding below, it is assumed and described that the wearable robot operates in an assisting mode for assisting walking and an exercise mode for inducing lower body movement.

[0444] In the wearable robot according to the present invention, a first fixing part is fixed to a lumbar part located above the hip joint of the user, a second fixing part is fixed to a thigh part located below the hip joint of the user, and a driving part (including a motor) provided on the first fixing part side and the second fixing part are connected by a connecting member.

[0445] In the walking assistance mode, the driving of the driving unit (rotation of the motor) causes the connecting member to rotate while providing an assisting force to the movement of the user's thigh around the hip joint.

[0446] On the contrary, in the exercise mode, the resistance force that obstructs the user's movement is transmitted to the lower body of the user through the connecting member, and the user can achieve an exercise effect by performing movements that repel the resistance force.

[0447] At this time, the resistance force provided to the user in the exercise mode may be generated by adjusting the rotational torque of the driving unit (motor), or may be generated by the backdrivability of the motor.

[0448] To help understand the charging method of the wearable robot according to the present invention, first, a boost converter (Step-up Converter) will be described. FIG. 64 shows the circuit of the boost converter, and the flow of current due to the on / off of the switch is indicated by arrows. The boost converter is a circuit for obtaining an output voltage higher than the input voltage. The battery can be charged only when a higher voltage is applied thereto, and the charging current is determined by the difference between the battery voltage and the applied voltage and the magnitude of the internal resistance. The present invention charges the battery by generating a voltage higher than the voltage of the battery using the principle of the boost converter.

[0449] FIG. 65 is a graph showing the inductor current and voltage due to the on / off of the switch of the boost converter.

[0450] The inductor voltage VL can be expressed by the following [Equation 4]. i L is the current flowing through the inductor, and L is the inductance.

[0451]

Number

[0452] At this time, the output voltage V out can be expressed by the following [Equation 5]. D represents the duty ratio, which is the ratio of the interval within one cycle f during which the switch is on and the inductor is charged with electrical energy. T represents time, and V in represents the input voltage.

[0453]

Equation

[0454] TIFF2025517112000007.tif1029

[0455] Based on [Equation 2], the output voltage V out becomes larger as the duty ratio increases, that is, as it approaches 1. Conversely, it can be seen that it is similar to the input voltage V in when the duty ratio is small.

[0456] Focusing on the principle of such a boost converter, the present invention presents an optimal charging circuit applicable to wearable robots. To increase the high voltage conversion rate of the boost converter, it is necessary to increase the charging time of electrical energy to the inductor.

[0457] FIG. 66 shows the charging circuit section of the wearable robot according to the present invention. The wearable robot according to the present invention can operate in either one of a motion mode and an auxiliary mode, and may include a driving unit for driving this.

[0458] Either one of the driving modes of the exercise mode and the assistance mode may be selected by the user. In this case, the wearable robot according to the present invention may further include an input unit (not shown) for receiving an input of the driving mode from the user. In other embodiments, either one of the driving modes of the exercise mode and the assistance mode may be automatically selected based on the user's movement pattern and operation pattern.

[0459] More specifically, the driving mode selection signal is transmitted to a charging circuit unit described later, and the charging circuit unit performs an operation corresponding to the driving mode. The driving mode selection signal may be generated in various ways. For example, the driving mode selection signal may be generated by operating a driving mode selection switch provided in the wearable robot. That is, when the user operates the driving mode selection switch to drive in the exercise mode, the exercise mode selection signal is transmitted to the charging circuit unit, and the switching unit 510 of the charging circuit unit described later is controlled to be in an off state corresponding to the exercise mode. On the contrary, when the user operates the driving mode selection switch to drive in the assistance mode, the assistance mode selection signal is transmitted to the charging circuit unit, and the switching unit 510 of the charging circuit unit described later is switched to an on state corresponding to the assistance mode, and power is supplied from the battery unit 510 to the motor unit 560. The driving mode selection switch may be implemented by mechanical means such as a mechanical switch or a button, or may be implemented by electronic means such as a touch pad or a touch screen.

[0460] In still other embodiments, the driving mode selection signal may be automatically generated based on the user's movement that is not the user's input signal. For example, when the motor unit 560 rotates due to the user's movement, and as a result, a back electromotive force equal to or greater than a preset threshold value is generated, it can be determined that the operation is in the exercise mode, and the exercise mode selection signal can be generated.

[0461] As shown in FIG. 66, the charging circuit unit 500 includes a battery unit 510, a capacitor 520, a diode 530, a switching unit 540, a motor unit 560, and first to fourth MOSFETs (551 to 554). To facilitate understanding of the charging circuit unit 500, assume and explain a first node N1 between the battery unit 510 and the switching unit 540, a second node N2 between the switching unit 540 and the first MOSFET 551, a third node N3 between the first MOSFET 551 and the second MOSFET 552, and a fourth node between the third MOSFET 553 and the fourth MOSFET 554. In other embodiments, a larger number of MOSFETs may be provided. In the following description, a boost converter circuit, a driver circuit for motor modeling and forward / reverse rotation is assumed, and it is described that four MOSFETs are required. However, since it can also be applied to three-phase motor inverter circuits such as BLDC (Brushless DC Motor) and PMSM (Permanent Magnet Synchronous Motor), a larger number of MOSFETs (e.g., six MOSFETs) may be used.

[0462] On the other hand, here, the switch is described by limiting it to a MOSFET, but this is only for the convenience of explanation and understanding, and the switch can be implemented with various elements such as a BJT (Bipolar Junction Transistor), SiC MOSFET, IGBT (Insulated Gate Bipolar mode Transistor), etc. other than the MOSFET.

[0463] The diode 530 that guides the current in one direction is connected in parallel with the switching unit 540. Thereby, when the switching unit 540 is in the on state, the current between the first node N1 and the second node N2 flows only through the switching unit 540, and when the switching unit 540 is in the off state, the current between the first node N1 and the second node N2 flows only through the diode 530.

[0464] The on / off state of the switching unit 540 may be determined based on a user input signal (drive mode selection signal) transmitted from the input unit (not shown). In other embodiments, the drive mode may be automatically selected based on the user's movement pattern and operation pattern, and the on / off state of the switching unit 540 may be determined based on the selected drive mode.

[0465] The first to fourth MOSFETs (551 to 554) may be selected from various semiconductor elements such as n-MOSFET, p-MOSFET, and CMOS, but are not limited thereto, and any element may be adopted as long as it can implement a switching operation.

[0466] The capacitor 520 is connected in parallel with the battery unit 510, and the motor unit 560 is provided between the third node and the fourth node. That is, the first to fourth MOSFETs (551 to 554) form a bridge circuit, and the motor unit 560 is provided between the third node between the first and second MOSFETs 551 and 552 and the fourth node between the third and fourth MOSFETs 553 and 554. The presence or absence and direction of the current supplied to the motor unit 560 can be controlled by turning on and off the first to fourth MOSFETs (551 to 554).

[0467] FIG. 67 shows the current flow in each drive mode. As shown in FIG. 5, when operating in the assist mode among the drive modes of the wearable robot, the switching unit 540 is turned on, and the current supplied from the battery unit 510 flows through the switching unit 540. On the contrary, when operating in the exercise mode among the drive modes of the wearable robot, the switching unit 540 is turned off, and the current flows toward the battery unit 510 through the diode 530.

[0468] FIG. 68 is a drawing for explaining the operation of the charging circuit unit when the wearable robot according to the present invention operates in the assist mode.

[0469] When the wearable robot operates in the assist mode, the switching unit 540 is turned on. That is, when driving in the assist mode, the switching unit 540 is in the on state, and the battery unit 510 supplies driving power to the motor unit 560. Therefore, in FIG. 68, the first node and the second node are shown as being connected.

[0470] Specifically, when the wearable robot is driven in the assist mode, the first MOSFET 551 and the fourth MOSFET 554 are turned on, and the second MOSFET 552 and the third MOSFET 553 are turned off, so that a forward current is supplied from the battery unit 510 to the motor unit 560. The motor unit 560 rotates in the first direction by the forward current.

[0471] On the contrary, if the first MOSFET 551 and the fourth MOSFET 554 are turned off and the second MOSFET 552 and the third MOSFET 553 are turned on, a reverse current is supplied from the battery unit 510 to the motor unit 560. The motor unit 560 rotates in the second direction opposite to the first direction by the reverse current. At this time, a controller for controlling the on / off of the first to fourth MOSFETs (551 to 554) may be separately provided.

[0472] That is, in the assist mode, the first to fourth MOSFETs (551 to 554) may be controlled so that the power of the battery unit 510 is supplied to the motor unit 560, and the motor unit 560 can rotate based on the power received from the battery unit 510.

[0473] FIG. 69 is a drawing for explaining the operation of the charging circuit unit when the wearable robot according to the present invention operates in the exercise mode. When the wearable robot operates in the exercise mode, the switching unit 540 is controlled to be in the off state. Therefore, in FIG. 69, a diode 530 is shown as being provided between the first node and the second node.

[0474] When the wearable robot operates in the motion mode, the switching unit 540 is in the OFF state, so the electrical connection between the diode 530 and the motor unit 560 may be determined based on the on / off states of the first to fourth MOSFETs.

[0475] Specifically, the first MOSFET 551 and the third MOSFET 553 are controlled to be OFF, and the second MOSFET 552 and the fourth MOSFET 554 are controlled to be ON. At this time, the motor unit 560 will rotate according to the user's movement, and a back electromotive force (BEMF) will be generated by the rotation of the motor unit 560. The electrical energy will be stored in the inductor included in the motor unit 560 by the back electromotive force BEMF. In other words, when the diode 530 and the motor unit 560 are not electrically connected, electrical energy may be generated and stored by the rotational movement of the motor unit 560. At this time, the magnitude of the back electromotive force BEMF may be determined by the rotational speed of the motor unit 560 due to the user's movement (walking, arm movement, waist movement).

[0476] After that, if the first MOSFET 551 and the fourth MOSFET 554 are controlled to be ON, and the second MOSFET 552 and the third MOSFET 553 are controlled to be OFF, according to the principle of the boost converter described in FIG. 64, a larger voltage will be generated and the current will flow from the inductor of the motor unit 5600 along the direction of the diode 530 and be stored in the capacitor 520, and the battery unit 510 connected in parallel with the capacitor 520 will be charged. In other words, when the diode 530 and the motor unit 560 are electrically connected, the electrical energy (boosted) converted based on the electrical energy BEMF generated by the motor unit 560 will be stored in the capacitor 520 through the diode 530, thereby charging the battery unit 510.

[0477] Here, the duty ratio may mean the ratio between the state where the first / third MOSFETs are off and the second / fourth MOSFETs are on, and the state where the first / fourth MOSFETs are on and the second / third MOSFETs are off. The duty ratio can be maximized within a range without battery damage and may be within 90 - 99%.

[0478] The mechanical principle is explained in relation to the structure of the wearable robot according to the present invention. The motor unit 560 is connected to one end of a connecting member, and the other end of the connecting member may be fixed to various parts of the user's body such as the legs (thighs), back, shoulders, arms (wrists), etc. At this time, the movement (rotation, turning, etc.) of the connecting member may be made in conjunction with the user's movements such as walking, running, bending the waist, rotating the shoulders, and arm movements, and the motor unit 560 connected to the other end of the connecting member will rotate. The rotation of the motor unit 560 will generate a back electromotive force, and since the magnitude of the back electromotive force corresponds to the rotation speed of the motor unit 560, the magnitude of the back electromotive force may be determined according to the speed of the user's movement. The charging method of the wearable robot according to the present invention will be understandable in relation to the structure of the wearable robot described in detail below.

[0479] When electrical energy is stored in the inductor included in the motor unit 560, by controlling the first MOSFET 551 and the fourth MOSFET 554 to be on (ON) and the second MOSFET 552 and the third MOSFET 553 to be off (OFF), the battery unit 510 is charged using the electrical energy stored in the inductor included in the motor unit 560.

[0480] The magnitude of the output voltage and the charge amount of the battery unit may be determined by the time ratio of charging and discharging the electrical energy of the inductor included in the motor unit 560, and the magnitude of the exercise load provided to the user may be determined according to the time ratio.

[0481] According to the wearable robot of the present invention, it is possible to provide a safe load without using motor drive (providing a motion mode), and at this time, a braking resistance proportional to the speed can be applied to give a motion effect similar to underwater motion. Also, when acting as a walking assist device, it is possible to provide a safe muscle exercise with a passive motion load proportional to the walking speed.

[0482] To explain further, this is an important difference compared to the dynamic method of providing resistance by motor output. Unintended forces are not applied in the opposite direction of the motion. Since the user does not move or moves slowly, the resistance is less, so the movement is not obstructed and the operation can be changed safely. If a greater resistance is desired, move faster.

[0483] In particular, the use time of the wearable robot can be greatly increased through the charging function according to the present invention, and the magnitude of the motion load can also be controlled through adjustment of the charging capacity. That is, control is possible in relative concepts to each other. To increase the battery charge amount, if the charging time ratio (duty ratio) of electrical energy is increased, the resistance proportional to the user's operation speed increases, and the motion load increases. To increase the motion load, the time ratio (duty ratio) during which the motor is short-circuited must be increased, but if so, a high back electromotive force is generated, the input voltage of the boost converter increases, and the charge amount increases.

[0484] By using the matching of the charging capacity setting and the motion load according to the present invention, various motion programs can be established, and battery charging can be performed only with the existing motor-based hardware without separate charging hardware.

[0485] FIG. 70 is a schematic diagram showing a method of charging an external device using the electric energy generated by the wearable robot according to the present invention. Above, the function of generating and charging a voltage higher than the battery voltage has been mainly described, but a converter (not shown) may be further provided to appropriately convert the generated electric energy to match the voltage required by the external device. For example, if the charging applied voltage of the external device is fixed low, the converter (not shown) can convert it to a low voltage and transmit it to the external device.

[0486] The wearable robot according to the present invention may further include a wired terminal part (not shown) for wiredly transmitting the electric energy generated by the charging circuit part 500 to an external device such as a smartphone. The wired terminal part (not shown) is electrically connected to the battery part 510 and the capacitor 520, and the other end may be embodied in a form capable of connecting appropriate terminals such as a C type, 8 pins, and 5 pins.

[0487] Also, the wearable robot according to the present invention may further include a wireless charging part (not shown) for wirelessly transmitting the electric energy from the charging circuit part 500 to an external device. In this case, the wireless charging part (not shown) can use an induction method or a resonance method, and may include a charging coil for interacting with the internal coil of the external device.

[0488] On the other hand, in another embodiment, when the wearable robot is in a low power state, a charging terminal for charging the wearable robot using an external charging device may be further included. The charging terminal is electrically connected to the battery part 510, supplies the power supplied from the external charging device to the battery part 510, can charge the battery part 510, or directly transmit the power required to drive the motor part 560.

[0489] Above, as shown in FIG. 71(a), an embodiment in which the wearable robot includes a charging circuit part has been described.

[0490] Hereinafter, as shown in FIG. 71(b), an embodiment in which a charging device and a wearable robot are provided separately will be described. As shown in FIG. 71(b), when a charging device and a wearable robot are provided separately, the motor unit may be included in the wearable robot, and the charging device may include a charging circuit unit including a battery. Through the physical and electrical coupling between the wearable robot and the charging device, a circuit as shown in FIG. 66 is completed, enabling power supply and charging to be performed.

[0491] The wearable robot charging device includes a charging circuit unit 500 that charges electrical energy while operating in a motion mode. The charging circuit unit 500 may include a battery unit 510 and a switching unit 540. The switching unit 540 turns on and off corresponding to the drive mode of the wearable robot. The battery unit 510 receives the transmission of the electrical energy generated by the motor unit 560 provided in the wearable robot and performs charging.

[0492] At this time, it may further include a signal receiving unit (not shown) that receives a drive mode selection signal for either the motion mode or the auxiliary mode from the wearable robot. According to the present invention, in the case of operating in the auxiliary mode based on the drive mode selection signal, the battery unit 510 supplies power to the motor unit 560 of the wearable robot, and for this purpose, the switching unit 540 is controlled to be turned on. Conversely, when operating in the motion mode, the battery unit 510 is charged from the electrical energy generated by the motor unit 560 of the wearable robot, and at this time, the switching unit 540 is controlled to be turned off.

[0493] On one hand, a coupling part (not shown) for physically coupling the wearable robot and the charging device may be provided. When the charging device is inserted and mounted inside the wearable robot, the coupling part of the charging device may include a coupling groove and a fixing part for coupling to the wearable robot. When the charging device is mounted in a form locked to the outside of the wearable robot, the coupling part of the charging device may include a protruding part and a fixing part for being mounted on a locking piece provided on the wearable robot. When coupled using a separate coupling tool such as a bolt or a screw, the coupling part of the charging device may include a through hole through which a bolt or a screw can pass. In this way, the wearable robot and the charging device can be physically coupled in various ways.

[0494] The wearable robot charging device may further include a coupling part (not shown) that makes an electrical connection with the motor part 540 of the wearable robot. The coupling part (not shown) may be composed of a wire, a pad, a connector, a terminal, etc. Through the coupling part (not shown), the motor part 540 of the wearable robot may be electrically connected to the first to fourth MOSFETs (551 to 554) of the charging device.

[0495] As described above, the charging circuit part includes the first to fourth MOSFETs (551 to 554), and includes the first node N1 between the battery part 510 and the switching part 540, the second node N2 between the switching part 540 and the first MOSFET 551, the third node N3 between the first MOSFET 551 and the second MOSFET 552, and the fourth node between the third MOSFET 553 and the fourth MOSFET 554. However, the part between the third node N3 and the fourth node N4 is provided in an open form.

[0496] At this time, when the charging device and the wearable robot are physically coupled by the method described above, at the same time, the motor part 540 of the wearable robot is electrically connected between the third node N3 and the fourth node N4.

[0497] Through the physical and electrical coupling of the charging device and the wearable robot, ultimately, a circuit structure as shown in FIG. 66 is generated. Since the operation mode after that is the same as that described above, duplicate explanations will be omitted.

[0498] On the other hand, the first to fourth MOSFETs (N1 to N4) determine the current direction from the battery unit 510 to the motor unit 560 of the wearable robot, and the charging device may further include a diode 530 connected in parallel with the switching unit 540 and a capacitor 510 connected in parallel with the battery unit 510.

[0499] While the wearable robot is operating in the motion mode, the inductor included in the motor unit 560 of the wearable robot stores electrical energy due to the rotational motion, and the battery unit 510 of the charging device is charged based on the electrical energy. While the wearable robot is operating in the auxiliary mode, the battery unit 510 of the charging device and the motor unit 560 of the wearable robot are supplied with driving power to apply an auxiliary force.

[0500] The charging circuit unit may be controlled by a controller that generally controls the wearable robot according to the present invention. That is, the controller can generate a control signal for turning on and off the switching unit and the first to fourth MOSFETs included in the charging circuit unit according to the driving mode while driving the wearable robot in the auxiliary mode or the motion mode.

[0501] According to the present invention, the wearable robot can be operated in the auxiliary mode and the motion mode, and when driven in the motion mode, it can independently generate electrical energy to charge the battery or an external device.

Description of Reference Numerals

[0502] 1: Operation assistance device or wearable robot 100: Operation assistance system 103: State trajectory memory buffer 106: Decision unit 110: First fixing part or hip-wearing part 113: Hip belt 116: Hip-wearing frame 117a: Lower part of mechanism 117b: Upper part of mechanism 118: Detachable button 120: Second fixing part or thigh-wearing part 123: Strap part 126: Plate 127: Plate frame 127a: Opening 128: First button 129: Second button 130: Driving part 131: Driver 132: Motor shaft 133: Driver frame 134: Main body housing 134a: Lower hook 134b: Upper hook 135: Hole 136: Battery 137: Control board 138: Bearing 139: Bush 140: Connecting member 141: First member 141a: First-1 end cap 141b: First-2 end cap 141c: First slit 142: Second member 142a: Second-1 end cap 142b: Second-2 end cap 142c: Second slit 142d: Roller 142e: First pulley 142f: Second pulley 142g: Third pulley 143: Third member 143a: Sliding pad 143b: Protrusion 144: Elastic member M1: First permanent magnet M2: Second permanent magnet 145: Extension frame 146: Fixed frame 147: Motion sensing sensor 148: Wearable part elastic member 150: Interlocking part 151: First cable 152: Second cable 153: Rack 154: Pinion 155: First pulley 156: Second pulley 157: Belt 170: Rotation joint part 500: Charging circuit part 510: Battery 52: Capacitor 530: Diode 540: Switching part 551 to 554: First to fourth MOSFETs 560: Motor part N1 to N5: First to fifth nodes

Claims

1. A first fixing part mounted on a body part on one side of a joint part, a second fixing part mounted on a body part on the other side of the joint part, a driving part connected to the first fixing part, a connecting member that connects the driving part and the second fixing part and transmits the driving force provided from the driving part to the second fixing part, and the connecting member has a length adjusted corresponding to the distance between the driving part and the second fixing part, a wearable robot.

2. The connecting member includes a first member supported by the driving part, and a second member movably connected to the first member and supported by the second fixing part. The wearable robot according to claim 1.

3. The wearable robot according to claim 2, further including a third member movably connected to the second member and supported by the second fixing part.

4. The connecting member includes one or more length adjusting parts arranged in a row between the driving part and the second fixing part. The wearable robot according to claim 1.

5. The connecting member includes a permanent magnet capable of fixing the position in a state where the third member moves in an expanding direction from above the second member. The wearable robot according to claim 3.

6. The connecting member further includes an interlocking part that connects a plurality of unit members. The wearable robot according to claim 3.

7. The interlocking part includes a first cable supported at an expanding side end of the second member with one end fixed to the first member and the other end fixed to the third member, and a second cable supported at a contracting side end of the second member with one end fixed to the first member and the other end fixed to the third member. The wearable robot according to claim 6.

8. A second pulley for supporting the first cable is arranged at an expanding side end of the second member, and a third pulley for supporting the second cable is arranged at a contracting side end of the second member. The wearable robot according to claim 7.

9. The interlocking part includes a rack arranged along the length direction on the first member, a pinion arranged at a contracting side end of the second member and meshing with the rack, a first pulley rotating together with the pinion, a second pulley arranged at an expanding side end of the second member, and a belt wound around the first pulley and the second pulley with both ends fixed to the third member. The wearable robot according to claim 6.

10. The first fixing part includes a waist belt and a waist - wearing frame, The waist - wearing frame includes a lower mechanism part, an upper mechanism part, and a detachable button, The driving part includes a main body housing, Inside the main body housing, it further includes a lower hook and an upper hook, and the lower mechanism part is coupled to the lower hook, and the upper mechanism part is coupled to the upper hook. The wearable robot according to claim 1.

11. Storing operation state values sequentially in a state - trajectory memory buffer; Selecting at least one operation state value among the operation state values stored in the state - trajectory memory buffer; Determining an assisting force using the selected operation state value; Outputting the determined assisting force. An operation - assisting method including these steps.

12. The step of storing the operation state values stores only a preset number of operation state values in a FIFO (First In First Out) manner. The operation - assisting method according to claim 11.

13. In the step of determining the assisting force, the assisting force is determined by the sum of the weighted values of the selected operation state values. The operation - assisting method according to claim 11.

14. The step of selecting the at least one operation state value selects the operation state value stored at a preset position among the operation state values stored in the state - trajectory memory buffer. The operation - assisting method according to claim 11.

15. A driving part for driving a wearable robot in one of a motion mode and an assisting mode; A charging circuit part for performing charging while being driven in the motion mode, including The charging circuit part a battery part; a switching part that turns on and off corresponding to the driving mode; a diode connected in parallel with the switching part; a motor part that generates electrical energy based on rotational motion while being driven in the motion mode. A wearable robot including these components.

16. When driven in the assisting mode, the switching part is in an on state and the battery part supplies driving power to the motor part. The wearable robot according to claim 15.

17. The charging circuit part further includes first to fourth MOSFETs connected to the motor part. The wearable robot according to claim 15.

18. When driving in the movement mode, the switching unit is in the off state, and the electrical connection between the diode and the motor unit is determined by the on / off of the first to fourth MOSFETs. The wearable robot according to claim 16.

19. When the diode and the motor unit are not electrically connected, electrical energy is generated by the rotational movement of the motor unit. The wearable robot according to claim 18.

20. When the diode and the motor unit are electrically connected, the electrical energy boosted based on the electrical energy generated by the motor unit is transmitted to the battery unit through the diode. The wearable robot according to claim 18.

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