Wearable robot that assists lower back muscle strength, or wearable robot operating device

Abstract

The present invention relates to a wearable robot that assists waist muscle strength, comprising: an upper wearing part worn on the upper body; a waist muscle strength assisting part that can be fixed to the upper wearing part; and a lower wearing part connected to a lower end of the waist muscle strength assisting part, wherein the waist muscle strength assisting part comprises: a housing that can be fixed to the upper wearing part; a plurality of elastic members arranged in series or parallel inside the housing; a moving part that is connected to the lower parts of the elastic members and connected to the lower wearing part to perform vertical sliding movement; and a stiffness adjusting part that adjusts the stiffness of the elastic members.

Description

[Technical Field]

[0001] The present invention relates to a wearable robot that assists lower back muscle strength, or an operating device for a wearable robot. [Background technology]

[0002] The wearable robot market is showing high growth rates, especially in the fields of assistance and rehabilitation for the elderly and physically disabled, while demand for robots to improve productivity in industrial settings is also increasing significantly.

[0003] With the aim of preventing musculoskeletal disorders, reducing fatigue, and improving productivity, interest in and practical application of wearable robots is spreading to industries such as logistics, construction, manufacturing, and services.

[0004] In particular, wearable robots are a technology that is likely to spread across industries due to the positive effects they have on industrial sites, such as enabling flexible responses to different working environments, increasing productivity, and reducing worker risks and fatigue. For example, world-renowned automobile companies such as Ford of the United States, BMW and Audi of Germany, and Renault of France have preemptively applied wearable robots to their automobile production lines.

[0005] As such, while there is great interest and demand for wearable robots to assist in industrial settings and daily life, the high price, heavy weight, and inconvenient wearing comfort of the wearable robots currently being developed are acting as obstacles to their popularization, preventing their widespread adoption.

[0006] Therefore, there is a need to overcome the limitations that limit the popularization of wearable robots, such as high price, heavy and complicated systems, and inconvenient wearing experience, and develop simple / lightweight wearable robots that are inexpensive, have light and simple systems, and are comfortable to wear.

[0007] In addition, in logistics, distribution, construction, manufacturing, and other work, support for specific parts of the body such as the arms, shoulders, and waist is required, and it is important to come up with a plan that can effectively support specific body parts with a simple structure that has reduced weight and flexible characteristics, in order to make it light, comfortable, and low in manufacturing cost.

[0008] For wearable robots to reach the commercialization stage, issues such as product unit price, weight reduction, and efficiency must be addressed, and they must be developed as wearable robots that only assist the joints / parts that are essential, rather than full-body wearable robots that assist the entire joint. In particular, in the case of work-assistance wearable robots, unless they are handling heavy objects, manual mechanisms such as small actuators or springs can be applied to assist with light / medium-weight work in logistics, manufacturing, construction sites, etc., thereby creating a system that is lightweight and can be worn for long periods of time.

[0009] At the same time, it is necessary to adjust the magnitude of the assistive force according to the work environment, and the range of motion within which the assistive force can be transmitted by the wearable robot can be limited to transmit the assistive force more efficiently.

[0010] Therefore, the present invention proposes a lightweight work assistance robot that can be worn for long periods of time by applying a small drive or manual mechanism and a mechanical locking function. Summary of the Invention [Problem to be solved by the invention]

[0011] Therefore, an object of the present invention is to provide a wearable robot that can adjust stiffness and assists waist muscle strength in order to solve the above-mentioned conventional problems.

[0012] The problems to be solved by the present invention are not limited to those mentioned above, and other problems not mentioned will be clearly understood by those skilled in the art from the description below. [Means for solving the problem]

[0013] The present invention provides a wearable robot for assisting waist strength, comprising an upper wearing part worn on the upper body, a waist muscle strength assisting part that can be fixed to the upper wearing part, and a lower wearing part connected to a lower end of the waist muscle strength assisting part, wherein the waist muscle strength assisting part comprises: a housing that can be fixed to the upper wearing part; a plurality of elastic members arranged in series or parallel inside the housing; a moving part that is connected to lower parts of the elastic members and connected to the lower wearing part to perform vertical sliding movement; and a stiffness adjusting part that adjusts the stiffness of the elastic members.

[0014] The present invention includes a wearable robot that assists waist muscle strength, further including a clutch unit that limits the downward movement range of the moving unit, the clutch unit including: a wire that wraps horizontally around the moving unit and extends to the left and right upper parts; a first fixing unit that fixes one end of the wire; and a second fixing unit that wraps and fixes the other end of the wire in a circumferential direction and has a reel spring attached to a rotating shaft so as to elastically rotate.

[0015] The present invention includes a wearable robot that assists waist muscle strength, wherein the plurality of elastic members of the waist muscle strength assistance unit include a first elastic member and a second elastic member, an upper end of the first elastic member is fixed to the housing and a lower end of the first elastic member is fixed to the slider, and an upper end of the second elastic member is fixed to the slider and a lower end of the second elastic member is fixed to the moving unit.

[0016] The present invention includes a wearable robot that assists waist muscle strength, in which the elastic modulus value of the second elastic member is greater than the elastic modulus value of the first elastic member.

[0017] The present invention provides a wearable robot that assists waist muscle strength, wherein a locking piece is formed on an upper end surface of the slider in a moving direction of the slider, and the stiffness adjustment unit further includes a sliding cam that moves horizontally from above the slider in the moving direction of the slider, and a locking unit that contacts or releases the contact with the locking piece depending on whether the sliding cam comes into contact with the sliding cam as the sliding cam moves, thereby restricting or releasing the restriction on the movement of the slider.

[0018] The present invention provides a wearable robot for assisting waist muscle strength, wherein the stiffness adjustment unit further includes a cable connected to the slider, and further includes an operating device for pulling and releasing the cable to move the slider.

[0019] The present invention includes a wearable robot that assists waist muscle strength, wherein the clutch operating unit includes a gear train unit in which gears are formed circumferentially on the second fixed part, and a ratchet gear that engages with and disengages from the gears of the gear train unit to restrict and release the rotation of the second fixed part.

[0020] The present invention provides a wearable robot for assisting waist muscle strength, wherein the clutch operating unit further includes a cable connected to the ratchet gear, and further includes an operating device that moves the ratchet gear by pulling or releasing the cable.

[0021] The present invention includes a wearable robot that assists waist muscle strength, wherein a reel spring is attached to a rotation axis of the first fixed part so as to rotate elastically, and the elastic modulus value of the reel spring attached to the first fixed part is smaller than the elastic modulus value of the reel spring attached to the second fixed part.

[0022] The present invention provides a wearable robot that assists with waist muscle strength, further including a posture recognition sensor that is built into the waist muscle strength assistance unit and measures one or more of a waist flexion angle, a waist twist angle, and a waist lateral bending angle of a wearer of the wearable robot.

[0023] The present invention includes a wearable robot that assists waist muscle strength, in which the posture recognition sensor is connected to a user's device or a communication network via a wired or wireless connection and transmits the measured waist flexion angle, waist twist angle, or waist lateral bending angle to a server.

[0024] The present invention provides a wearable robot operating device that assists with waist muscle strength to operate a first operation target part and a second operation target part, the operating device including: an operating device housing; a plurality of first cables, one end of which is connected to the first operation target part and the other end of which is fixed to the operating device housing; a second cable, one end of which is connected to the second operation target part and the other end of which is fixed to the operating device housing; a stiffness adjustment button that can pull or release the tension on the plurality of first cables connected to the first operation target part; and a clutch unit operation button that can pull or release the tension on the second cable connected to the second operation target part, the stiffness adjustment button including a pressure unit that pressurizes the first cables.

[0025] The present invention includes an operating device for a wearable robot that assists the strength of the waist muscles that operate a first operating target part and a second operating target part, wherein the operating device housing includes an upper end support part and a lower end support part that are arranged at a distance from each other in the longitudinal direction of the plurality of first cables, sandwiching the pressure part on the other side of the plurality of first cables.

[0026] The present invention includes an operating device for a wearable robot that assists waist muscle strength, in which the stiffness adjustment button operates a first operating target part and a second operating target part that can simultaneously pressurize at least one of a plurality of first cables.

[0027] The present invention further includes a connecting bar hook, which operates a first operation target part and a second operation target part that can constrain the position of the stiffness adjustment button at a position where the stiffness adjustment button moves in a direction to pressurize the first cable, and includes an operating device for a wearable robot that assists waist muscle strength.

[0028] The present invention includes an operating device for a wearable robot that assists waist muscle strength, in which the stiffness adjustment button and the connecting bar hook each consist of a plurality of pieces, the connecting bar hook is connected to the connecting bar and is integrally formed, and the first operating target part and the second operating target part that can be simultaneously moved in the direction of releasing the constraint are operated by the stiffness adjustment button.

[0029] The present invention includes an operating device for a wearable robot that assists waist muscle strength, which further includes an operating lever that can slide in a direction parallel to the longitudinal direction of the second cable, and operates a first operating target part and a second operating target part that can constrain the position of the operating lever at a position where the operating lever moves in a direction pulling the second cable.

[0030] The present invention includes an operating device for a wearable robot that assists waist muscle strength and operates a first operating target part and a second operating target part, wherein the clutch unit operating button further includes a clutch unit operating button hook that can restrain the position of the operating lever at a position where the operating lever moves in a direction pulling the second cable.

[0031] The present invention includes an operating device for a wearable robot that assists waist muscle strength and operates a first operating target part and a second operating target part, wherein the clutch unit operating button further includes a release button that can move the clutch unit operating button hook in a direction to release the constraint on the operating lever.

[0032] The present invention provides a method for providing a user interface that displays information regarding a risk of lower back injury to a wearer of a wearable robot that assists lower back muscle strength, the method including the steps of receiving information regarding the wearer's risk of lower back injury, including the wearer's waist flexion angle, waist torsion angle, and lumbar lateral bending angle, from a posture recognition sensor built into the wearable robot; generating information regarding the wearer's risk of lower back injury based on the received information; generating a user interface that visualizes and displays the generated information; and displaying the generated user interface.

[0033] The present invention includes a method for providing a user interface that displays information regarding a risk of lower back injury to a wearer of a wearable robot that assists lower back muscle strength, the method including visualizing and displaying information regarding the wearer's lower back flexion angle, lower back torsion angle, and lower back lateral bending angle in real time in the step of generating the user interface.

[0034] The present invention includes a method for providing a user interface showing information about the risk of lower back injury of a wearable robot that assists lower back muscle strength, wherein the step of generating the user interface provides an x-axis time y-axis waist flexion angle graph user interface or an x-axis time y-axis waist torsion angle graph user interface.

[0035] The present invention includes a method for providing a user interface showing information about a lower back injury risk of a wearer of a wearable robot that assists lower back muscle strength, wherein the step of generating the user interface provides one or more of a user interface for providing information about the wearer's lower back injury risk, a user interface for providing information about the wearer's work pace, a user interface for providing information about the wearer's work balance, and a user interface for providing information about the wearer's lower back injury risk.

[0036] The present invention includes a method for providing a user interface showing information about a risk of lower back injury of a wearer of a wearable robot that assists lower back muscle strength, wherein in the step of generating the user interface, one or more of a user interface providing information about the total number of movements of the wearer in one day, a user interface providing information about the wearer's safe movement ratio, a user interface providing information about the wearer's daily load reduction amount, a user interface providing information about the wearer's wearing time of the wearable robot, and a user interface providing information about the wearer's daily movement safety score are provided.

[0037] The present invention includes a method for providing a user interface that displays information regarding a risk of lower back injury for a wearer of a wearable robot that assists waist muscle strength, wherein the user interface for providing information about the wearer's safe operation ratio is calculated by subtracting, from 100% as a reference, an average of one or more of the values ​​of the user interface for providing information about the wearer's daily excessive waist flexion ratio, the user interface for providing information about the wearer's daily long-term waist flexion ratio, the user interface for providing information about the wearer's daily waist side bending ratio, and the user interface for providing information about the wearer's daily waist twisting ratio, or a combination of two or more of these values. [Effects of the Invention]

[0038] The wearable robot for assisting waist muscle strength according to the present invention has an advantage in that its stiffness can be adjusted according to the type of work requiring waist muscle strength or the intensity of the work that needs to be assisted.

[0039] Another advantage is that it has a clutch function that can limit the wearer's range of movement depending on the type of work.

[0040] Another advantage is that the stiffness adjustment function and the clutch function can be operated independently.

[0041] According to the present invention, there is provided an operation device for a wearable robot that can be controlled to adjust the stiffness of the wearable robot or to limit the range of motion.

[0042] In addition, the present invention provides a wearable robot operating device that can be operated without time restrictions, does not require a separate electronic operating element, is lightweight and durable, and is easy to maintain. Furthermore, the wearable robot has the advantage of being able to realize various rigidities using an actuator provided in the muscle strength assisting unit of the waist of the wearable robot. [Brief explanation of the drawings]

[0043] [Figure 1] 1 is a diagram analyzing the force moment acting on the spine and erector spinae muscles during the action of lifting an object. [Figure 2] 10 is a diagram illustrating an analysis of the force moment acting on the spine and erector spinae muscles when lifting an object while wearing the wearable robot that assists waist muscle strength according to the present invention; [Figure 3] 1 is a diagram illustrating a state in which a wearable robot for assisting waist muscle strength is worn, according to an embodiment of the present invention; [Figure 4] 1 is a diagram illustrating a detailed configuration of a waist muscle strength assisting unit of a wearable robot that assists waist muscle strength according to an embodiment of the present invention. [Figure 5] FIG. 1 is a conceptual diagram showing the main components of a waist muscle strength assisting unit of a wearable robot that assists waist muscle strength according to one embodiment of the present invention. [Figure 6] 6 is a diagram illustrating the change in stiffness of the waist muscle strength assistance unit due to the control operation of the stiffness adjustment unit in FIG. 5. [Figure 7] 6 is a diagram illustrating the change in stiffness of the waist muscle strength assistance unit due to the control operation of the stiffness adjustment unit in FIG. 5. [Figure 8] 6 is a diagram illustrating the change in stiffness of the waist muscle strength assistance unit due to the control operation of the stiffness adjustment unit in FIG. 5. [Figure 9] 6 is a diagram illustrating the change in stiffness of the waist muscle strength assistance unit due to the control operation of the stiffness adjustment unit in FIG. 5. [Figure 10] 1 is a side cross-sectional view of a waist muscle strength assisting portion of a wearable robot that assists waist muscle strength according to one embodiment of the present invention. FIG. [Figure 11] 11 is a diagram showing only the elastic moving portion separately in FIG. 10. [Figure 12] 11 is a diagram illustrating a change in the position of the sliding cam in each mode according to the control operation of the stiffness adjusting unit in FIG. 10. [Figure 13] 10 is a diagram illustrating an operation of restricting and releasing the movement of a slider due to the movement of a sliding cam. [Figure 14] 10 is a diagram illustrating an operation of a clutch unit of a wearable robot for assisting waist muscle strength according to an embodiment of the present invention. [Figure 15] 10 is a view illustrating a clutch unit of a waist muscle strength assisting unit of a wearable robot for assisting waist muscle strength according to another embodiment of the present invention. [Figure 16] 1 is a view showing the wearable robot manipulation device with the front cover of the manipulation device housing removed. [Figure 17] 1 is a view showing the wearable robot manipulation device with the front cover of the manipulation device housing removed. [Figure 18] 1 is a diagram illustrating the configuration of an operating device for a wearable robot according to the present invention. [Figure 19] 10 is a diagram showing a state in which each mode is set by pulling or releasing the first cable using the operating device of the wearable robot of the present invention. [Figure 20] 10 is a diagram showing a state in which each mode is set by pulling or releasing the first cable using the operating device of the wearable robot of the present invention. [Figure 21] 10 is a diagram showing a state in which each mode is set by pulling or releasing the first cable using the operating device of the wearable robot of the present invention. [Figure 22] 10 is a diagram showing a state in which each mode is set by pulling or releasing the first cable using the operating device of the wearable robot of the present invention. [Figure 23]10 is a diagram showing a state in which each mode is set by pulling or releasing the first cable using the operating device of the wearable robot of the present invention. [Figure 24] 10 is a view showing a state in which the tension on the second cable by the operating device for the wearable robot of the present invention is released. [Figure 25] 10 is a diagram showing a state in which each mode is set by pulling or releasing the 1-1 cable or the 1-2 cable of the operating device of the present invention. [Figure 26] 3 is a block diagram illustrating the operation of a first operation target portion and a second operation target portion according to an embodiment of the present invention. FIG. [Figure 27] 1 is a diagram showing a wearable robot in accordance with the present invention, in which a sensor is built into a muscle strength assisting part for the waist. [Figure 28] 1 is a diagram illustrating a real-time wearer movement sensor user interface in a user interface for sensing the movement of a wearable robot wearer according to the present invention; [Figure 29] 1 is a diagram showing a wearer movement analysis user interface in a user interface for analyzing the movement of a wearer of a wearable robot according to the present invention; [Figure 30] 10 is a diagram showing a wearer movement analysis report user interface in the result report user interface regarding the movement of a wearer of a wearable robot according to the present invention. [Figure 31] 10 is a diagram showing a user interface for reporting a wearer's movement safety score in a result report user interface for the movement of a wearable robot wearer according to the present invention; [Figure 32] 1 is a diagram for analyzing the force moment applied to the waist by the upper body of a wearer and a heavy object when lifting an object. [Figure 33] 10 is a diagram illustrating clutch operation and stiffness adjustment operation of each switch of a stiffness adjustment button switch board according to an embodiment of the present invention, according to the operation of a stiffness adjustment button. [Figure 34]10 is a diagram illustrating clutch operations of switches of a stiffness adjustment button switch board according to an embodiment of the present invention, according to the operation of a stiffness adjustment button; DETAILED DESCRIPTION OF THE INVENTION

[0044] Specific details of the embodiments are included in the detailed description and the drawings.

[0045] The advantages and features of the present invention, and methods for achieving them, will become clearer with reference to the following detailed description of the embodiments in conjunction with the accompanying drawings. However, the present invention is not limited to the embodiments disclosed below, and may be embodied in various different forms. However, the present embodiments are provided so that the disclosure of the present invention will be complete and will fully convey the scope of the invention to those skilled in the art to which the present invention pertains. The present invention is defined only by the scope of the claims. The same reference numerals refer to the same elements throughout the specification.

[0046] Hereinafter, the present invention will be described with reference to the drawings illustrating a wearable robot for assisting waist muscle strength according to an embodiment of the present invention.

[0047] Principles of the Invention FIG. 1 is a diagram analyzing the force moment acting on the spine and erector spinae muscles when lifting an object, and FIG. 2 is a diagram analyzing the force moment acting on the spine and erector spinae muscles when lifting an object while wearing the wearable robot according to the present invention.

[0048] As shown in Figure 1, when lifting an object, the relationship between the force moment acting on the spine and the erector spinae muscles is as follows:

[0049]

number

[0050] Looking at the above equation in detail, when lifting an object, a moment force that can overcome the moment force due to the weight of the upper body and the weight of the object must be exerted by the spine and erector spinae muscles in order to lift the object.

[0051] When lifting an object, the moment arm of the spinal joints is very small, so the spine and erector spinae muscles must withstand a very large force to lift the object, which can cause strain on the musculoskeletal system during heavy or repetitive work.

[0052] As shown in Figure 2, when lifting an object while wearing an elastic or inelastic band around the back and waist, the relationship between the force moment acting on the spine and erector spinae muscles is as follows:

[0053]

number

[0054] Therefore, comparing the two equations, when lifting an object, the force acting on the band can be transmitted as an auxiliary force, so that the object can be lifted using less force in the spine and erector spinae muscles.

[0055] Hereinafter, the detailed configuration and operation of the wearable robot for assisting spinal muscle strength according to the present invention will be described.

[0056] FIG. 3 is a diagram showing the state in which a wearable robot for assisting waist muscle strength according to one embodiment of the present invention is worn, FIG. 4 is a diagram showing a detailed configuration of a waist muscle strength assistance unit of a wearable robot for assisting waist muscle strength according to one embodiment of the present invention, and FIG. 5 is a conceptual diagram showing the main parts of the waist muscle strength assistance unit of a wearable robot for assisting waist muscle strength according to one embodiment of the present invention.

[0057] A wearable robot for assisting waist muscle strength according to one embodiment of the present invention may include an upper wearable part 110 , a waist muscle strength assisting part 200 , and a lower wearable part 120 .

[0058] The upper wearing part 110 is worn on the upper body and fastens the waist muscle support part 200. As shown in the figure, the upper wearing part 110 is fastened to the shoulders by shoulder straps on both sides, but the fastening form, fastening position, and fastening method of the upper wearing part 110 are not limited to the illustrated form. The upper wearing part 110 may be made of a lightweight and comfortable woven material or a material with cushioning properties.

[0059] The waist muscle strength support part 200 is fixed to the upper wearing part 110 and rests on the back and waist, and supports the waist muscles when bending and straightening the waist.

[0060] The lower wearing part 120 is worn below the waist and connected to the lower end of the waist muscle support part 200. The lower wearing part 120 may include a connecting part 124 that connects the wearing part 122 worn on the body and the waist muscle support part 200. The connecting part 124 may be formed of a strap made of a non-elastic material, but is not limited to this and may also be formed of an elastic material.

[0061] 3, the wearing part 122 is configured to be wrapped around the calves of both legs in a belt-like manner and fastened with a buckle or hook-and-loop fastener, but the fastening form, fastening position, and fastening method are not limited to the illustrated form. For example, the fastening position of the lower wearing part 120 may be the feet, thighs, or calves.

[0062] In addition, the lower end of the waist muscle strength assisting part 200 and each of the wearing parts 122 on both legs may be connected by a connecting part 124 of the lower wearing part 120. The connecting part 124 may be formed of a strap made of a non-elastic material, but is not limited to this and may also be formed of an elastic material.

[0063] According to one embodiment of the present invention, an operating device 401 may be arranged in front of the body to operate a stiffness adjustment unit 230 that adjusts the stiffness of the waist muscle strength assistance unit 200 and to operate a clutch unit 390. In this embodiment, the operating device 401 may be arranged with a stiffness adjustment button 310 and a clutch unit operation button 320 that adjust the stiffness of the waist muscle strength assistance unit 200 to MODE 0, MODE 1, MODE 2, and MODE 3. The operating device 401 and the waist muscle strength assistance unit 200 may be connected by a cable 330, the detailed configuration of which will be described later.

[0064] According to the present invention, the waist muscle support unit 200 may include a first elastic member 205, a second elastic member 208, a moving unit 210, a stiffness adjusting unit 230, and a housing 290. It may also include a clutch unit 390. Specifically, the housing 290 may be fixed to the upper wearing part 110 or may be detachable, but is not limited thereto.

[0065] According to one embodiment of the present invention, the waist muscle support part 220 may be separate from the upper wearing part 110, but may also be formed integrally therewith.

[0066] According to an embodiment of the present invention, the first elastic member 205 and the second elastic member 208 may be a plurality of elastic members arranged in series or in parallel.

[0067] According to the present invention, the moving part 210 is connected to the lower end of the second elastic member 208 and the upper end of the connecting part 124 of the lower wearing part 120, and is located between the second elastic member 208 and the connecting part 124 of the lower wearing part 120, and can slide up and down within the housing 290 in accordance with the movement of the waist. Unless otherwise specified in the following description, the upper and lower directions refer to the upper and lower directions based on the axial direction of the waist when the waist strength assisting part 200 is seated on the back and waist.

[0068] 4, the housing 290 may be configured to guide the vertical sliding movement of the moving part 210. As the moving part 210 slides up and down, the first elastic member 205 or the second elastic member 208 is stretched, and an elastic force can be stored in the first elastic member 205 or the second elastic member 208, and the elastic force can return the moving part 210 to its original position.

[0069] According to the present invention, the stiffness adjusting unit 230 can adjust the overall stiffness formed by the first elastic member 205 or the second elastic member 208 when the moving unit 210 moves. In this embodiment, stiffness refers to the elastic coefficient.

[0070] According to the present invention, if the rigidity formed by the first elastic member 205 or the second elastic member 208 is low, the moving part 210 moves with a relatively small force when the hips move, and the assisting force is relatively small. Conversely, if the rigidity formed by the first elastic member 205 or the second elastic member 208 is high, the moving part 210 moves with a relatively large force when the hips move, and the assisting force is relatively large. In other words, the assisting force can be adjusted according to the rigidity. Therefore, in the present invention, the rigidity can be adjusted according to the type of work the wearer is doing or the intensity of the work that needs to be assisted.

[0071] 4 and 5, the first elastic member 205 may be connected in series with the second elastic member 208. In this case, the upper end of the first elastic member 205 may be fixed to the housing 290, and the lower end may be fixed to the slider 220, and the upper end of the second elastic member 208 may be fixed to the slider 220, and the lower end of the second elastic member 208 may be fixed to the moving part 210. The first elastic member 205, the slider 220, and the second elastic member 208 constitute an elastic moving part, and the drawings show an embodiment in which three elastic moving parts are arranged in parallel. The number of elastic moving parts arranged in parallel is not limited to this, and only one may be arranged.

[0072] Specifically, as shown in FIG. 5, the first elastic member 205 may include a 1-1 elastic member 205a, a 1-2 elastic member 205b, and a 1-3 elastic member 205c, and the slider 220 may include a first slider 220a, a second slider 220b, and a third slider 220c. Therefore, the upper ends of the 1-1 elastic member 205a, the 1-2 elastic member 205b, and the 1-3 elastic member 205c may be fixed to the housing 290, the lower end of the 1-1 elastic member 205a may be fixed to the first slider 220a, the lower end of the 1-2 elastic member 205b may be fixed to the second slider 220b, and the lower end of the 1-3 elastic member 205c may be fixed to the third slider 220c.

[0073] Furthermore, the second elastic member 208 may include a 2-1 elastic member 208a, a 2-2 elastic member 208b, and a 2-3 elastic member 208c, and the lower ends of the 2-1 elastic member 208a, the 2-2 elastic member 208b, and the 2-3 elastic member 208c may be fixed to the moving part 210, the upper end of the 2-1 elastic member 208a may be fixed to the first slider 220a, the upper end of the 2-2 elastic member 208b may be fixed to the second slider 220b, and the upper end of the 2-3 elastic member 208c may be fixed to the third slider 220c.

[0074] In this way, the elastic moving part has a configuration in which the first elastic member 205 and the second elastic member 208 are connected in series with the first slider 220a, the second slider 220b, and the third slider 220c sandwiched therebetween, and the upper end of the first elastic member 205 is fixed to the housing 290, and the lower end of the second elastic member 208 is fixed to the moving part 210. Therefore, the first slider 220a, the second slider 220b, and the third slider 220c can move up and down between the first elastic member 205 and the second elastic member 208.

[0075] According to the present invention, when the first slider 220a, the second slider 220b, and the third slider 220c are able to move up and down freely without constraint, the elasticity of the first elastic member 205 and the second elastic member 208 can act simultaneously when the moving part 210 moves up and down. For example, in the case of the leftmost elastic moving part shown in Fig. 5, when the first slider 220a is able to move up and down freely without constraint, the elastic coefficient k1 of the first-1st elastic member 205a and the elastic coefficient k4 of the second-1st elastic member 208a act simultaneously, so the overall elastic coefficient of the leftmost elastic moving part shown in Fig. 5 may decrease.

[0076] Conversely, if the movement of the first slider 220a, the second slider 220b, and the third slider 220c is restricted so that the first slider 220a, the second slider 220b, and the third slider 220c cannot move up and down, in the case of the leftmost elastic moving part shown in FIG. 5, when the moving part 210 moves up and down, only the elasticity of the 2-1 elastic member 208a acts, and the overall elastic modulus of the leftmost elastic moving part shown in FIG. 5 may be larger than when the first slider 220a moves up and down freely without any restriction.

[0077] In this way, the stiffness adjusting unit 230 can adjust the stiffness by restricting or releasing the movement of the first slider 220a, the second slider 220b, and the third slider 220c.

[0078] As shown in Figures 5 to 9, three elastic moving parts may be arranged in parallel, but by making the constraint conditions of the first slider 220a, the second slider 220b, and the third slider 220c different, the overall elastic modulus can be adjusted more variably.

[0079] In this case, the elastic modulus of the first-first elastic member 205a, the first-second elastic member 205b, and the first-third elastic member 205c may be smaller than the elastic modulus of the second-first elastic member 208a, the second-second elastic member 208b, and the second-third elastic member 208c. Preferably, the elastic modulus of the first-first elastic member 205a, the first-second elastic member 205b, and the first-third elastic member 205c may be so small that the position of the moving part 210 can be restored to its original state.

[0080] In this case, if the rigidity adjustment unit 230 releases the constraints on the first slider 220a, the second slider 220b, and the third slider 220c, allowing the first slider 220a, the second slider 220b, and the third slider 220c to move up and down freely without constraint, the value of the overall elastic modulus of the elastic moving unit in which the first elastic member 205 and the second elastic member 208 are connected in series becomes very small due to the 1-1 elastic member 205a, the 1-2 elastic member 205b, and the 1-3 elastic member 205c having very small elastic moduli, and the rigidity of the moving unit 210 may become very small when it moves.

[0081] Conversely, if the stiffness adjustment unit 230 restricts the movement of the first slider 220a, the second slider 220b, and the third slider 220c, and the first slider 220a, the second slider 220b, and the third slider 220c cannot move up and down, only the elastic force of the second elastic member 208, which has a large elastic modulus, acts when the moving unit 210 moves, which can result in a relatively large stiffness.

[0082] In this embodiment, the first elastic member 205 and the second elastic member 208 may be formed of any one of a spring, an elastic band, and an elastic beam. Here, the elastic beam means a bar-shaped member made of an elastic material.

[0083] Hereinafter, the change in stiffness due to the operation of the stiffness adjusting part 230 in the structure in which three elastic moving parts are arranged in parallel will be described with reference to FIGS.

[0084] 6 to 9 are diagrams illustrating the change in stiffness of the waist muscle strength assisting unit 200 according to the control operation of the stiffness adjusting unit 230 in FIG.

[0085] As shown in the figure, when the wearer bends their waist, the lengths of the first elastic member 205 and the second elastic member 208 change, and accordingly, the movable portion 210 can move in the up and down direction guided by the housing 290. At this time, the control operation of the stiffness adjustment portion 230 can variably adjust the overall stiffness formed by the first elastic member 205a, the first-second elastic member 205b, the first-third elastic member 205c, the second-first elastic member 208a, the second-second elastic member 208b, and the second-third elastic member 208c when the movable portion 210 moves.

[0086] 6, in MODE 0, the stiffness adjustment unit 230 does not restrict the movements of the first slider 220a, the second slider 220b, and the third slider 220c of the three elastic moving units. Therefore, when the moving unit 210 moves, the elastic coefficients k1, k2, and k3 of the first-first elastic member 205a, the first-second elastic member 205b, and the first-third elastic member 205c, which have elastic coefficients below the critical value, act on the moving unit 210, resulting in a stiffness mode with the lowest overall elastic coefficient value among MODE 0, MODE 1, MODE 2, and MODE 3.

[0087] 7, in MODE 1, the stiffness adjustment unit 230 restricts only the movement of the second slider 220b, but does not restrict the movement of the first slider 220a and the third slider 220c. Therefore, the elastic movement unit including the first slider 220a and the third slider 220c may have elastic coefficients similar to the k1 and k3 of the first-1 elastic member 205a and the first-3 elastic member 205c, which have elastic coefficients below a relatively small critical value, and the elastic coefficient of the elastic movement unit including the second slider 220b may have the elastic coefficient k5 of the second-2 elastic member 208b, which has an elastic coefficient above a relatively large critical value.

[0088] Therefore, the values ​​of k1 and k3 for the three parallel-arranged elastic moving parts have almost no effect on the overall stiffness, so the overall elastic modulus value is close to the value of k5, resulting in a medium-low stiffness mode that is stiffer than MODE 0. Specifically, in MODE 1, the stiffness adjusting part 230 restricts only the movement of the second slider 220b, which will be described in detail below with reference to FIG.

[0089] 8, in MODE 2, the stiffness adjustment unit 230 does not restrict the movement of the second slider 220b, but can restrict the movement of the first slider 220a and the third slider 220c. Therefore, the elastic coefficients of the elastic movement unit including the first slider 220a and the third slider 220c have the elastic coefficients k4 and k6 of the second-first elastic member 208a and the second-third elastic member 208c, respectively, which have elastic coefficient values ​​equal to or greater than the relatively large critical value, and the elastic coefficient of the elastic movement unit including the second slider 220b has an elastic coefficient close to k2 of the first-second elastic member 205b, which has an elastic coefficient value equal to or less than the very small critical value.

[0090] Therefore, the value of k2 has almost no effect on the overall stiffness of the three parallel-arranged elastic movement units, so the overall elastic coefficient has a value close to k4+k6, resulting in a medium-strong stiffness mode that is stronger than MODE 1. Specifically, in MODE 2, the stiffness adjustment unit 230 does not restrict the movement of the second slider 220b, but restricts the movement of the first slider 220a and the third slider 220c, which will be described in detail below with reference to FIG.

[0091] As shown in FIG. 9, in MODE 3, the stiffness adjustment unit 230 can restrict all of the movements of the first slider 220a, the second slider 220b, and the third slider 220c. Therefore, the elastic coefficients of the three elastic moving units have elastic coefficient values ​​k4, k5, and k6 of the second-first elastic member 208a, the second-second elastic member 208b, and the second-third elastic member 208c, respectively, which have elastic coefficients equal to or greater than the critical value. Therefore, the overall elastic coefficient for the three parallel-arranged elastic moving units has a value of k4 + k5 + k6, resulting in the strongest stiffness mode, which is stiffer than MODE 2. More specifically, restricting all of the movements of the first slider 220a, the second slider 220b, and the third slider 220c in MODE 3 by the stiffness adjustment unit 230 will be described in detail below with reference to FIG. 13.

[0092] For reference, the left-hand diagram (a) and the right-hand diagram (b) in FIGS. 6 to 9 show the cases where the moving part 210 is positioned at the top and the bottom in each mode.

[0093] Hereinafter, the structure of the stiffness adjusting part 230 according to this embodiment will be described in more detail.

[0094] FIG. 10 is a side cross-sectional view of a waist muscle strength assistance unit of a wearable robot that assists waist muscle strength according to one embodiment of the present invention, FIG. 11 is a diagram separately showing only the elastic movement unit in FIG. 10, FIG. 12 is a diagram explaining the position change of the sliding cam in each mode according to the control operation of the stiffness adjustment unit in FIG. 10, and FIG. 13 is a diagram explaining the operation of restricting and releasing the restriction on the movement of the slider according to the movement of the sliding cam.

[0095] The elastic moving portion of the present invention may include a first elastic member 205 , a second elastic member 208 , and a slider 220 .

[0096] As shown in Figures 10 and 11, the upper ends of the 1-1st elastic member 205a, the 1-2nd elastic member 205b, and the 1-3rd elastic member 205c may be fixed to the upper end of the housing 290, and the lower ends may be fixed to the 1st slider 220a, the 2nd slider 220b, and the 3rd slider 220c, respectively.

[0097] As shown in the figure, the first slider 220a, the second slider 220b, and the third slider 220c may be formed in a long rod shape, and the first-1st elastic member 205a, the first-2nd elastic member 205b, and the first-3rd elastic member 205c may be inserted longitudinally into the first slider 220a, the second slider 220b, and the third slider 220c, respectively, and the lower ends of the first-1st elastic member 205a, the first-2nd elastic member 205b, and the first-3rd elastic member 205c may be fixed inside the first slider 220a, the second slider 220b, and the third slider 220c, respectively. The upper ends of the 2-1 elastic member 208a, the 2-2 elastic member 208b, and the 2-3 elastic member 208c may be connected to the lower ends of the first slider 220a, the second slider 220b, and the third slider 220c, respectively, and the lower ends of the 2-1 elastic member 208a, the 2-2 elastic member 208b, and the 2-3 elastic member 208c may be connected to the moving part 210.

[0098] In this manner, the first elastic member 205 and the second elastic member 208 may be connected in series with the slider 220 interposed therebetween. Also, as described above, the elastic moving unit including the first elastic member 205, the second elastic member 208, and the slider 220 may be arranged in parallel as shown in FIG.

[0099] 13, a locking piece 222 may be formed on the upper end surface of the slider 220 in the moving direction of the slider 220. In this case, as shown in the figure, a plurality of locking pieces 222 may be formed in the longitudinal direction of the slider 220 and may be formed in a gear-like shape.

[0100] As shown, the stiffness adjustment unit 230 may include a sliding cam 232, a locking unit 234, a first cable 330a, and a first cable 330b.

[0101] According to the present invention, the sliding cam 232 moves horizontally above the slider 220 in the movement direction of the slider 220. Here, the "upper side" refers to the upper side when the movement direction of the slider 220 is viewed horizontally. The first cable 330a and the second cable 330b may be connected to one side of the sliding cam 232. The other ends of the first cable 330a and the second cable 330b are connected to the operating device 401, and the first cable 330a and the second cable 330b can be pulled or released in response to operation of the stiffness adjustment buttons 310 of the operating device 401. For example, by pressing one of the stiffness adjustment buttons 310 of the operating device 401, the first cable 330a and the second cable 330b can be pulled or released. The operating device 401 will be described in detail below.

[0102] As shown in FIG. 13, the locking portion 234 is biased counterclockwise in the drawing by a torsion spring on the upper side of the slider 220 around a predetermined axis, and when the sliding cam 232 moves horizontally, the rotation angle of the locking portion 234 changes depending on whether or not it comes into contact with the sliding cam 232, and it can come into contact with the locking piece 222 to restrict the movement of the slider 220, or it can release the contact with the locking piece 222 to release the restriction on the slider 220.

[0103] 13(a), when the first cable 330a is not pulled, the sliding cam 232a may come into contact with the locking portion 234, causing the locking portion 234 to rotate clockwise, thereby releasing the engagement between the locking portion 234 and the engaging piece 222 formed on the upper end surface of the slider 220. Therefore, the slider 220 can move freely.

[0104] 13(b), when the first cable 330a is pulled by the operation of the operating device 401, the sliding cam 232 connected to the first cable 330a may move leftward and be released from contact with the locking part 234. At this time, the elastic force of the torsion spring formed on the rotation shaft of the locking part 234 rotates the locking part 234 counterclockwise, and the locking part 234 and the locking piece 222 formed on the upper end surface of the slider 220 are engaged with each other, thereby restricting the movement of the slider 220b.

[0105] At this time, a sliding cam 232 and a locking portion 234 are arranged for each elastic moving portion, and the restraint of the first slider 220a, the second slider 220b, and the third slider 220c of each elastic moving portion can be individually controlled.

[0106] In this embodiment, the sliding cam 232 is manually moved by operating the stiffness adjustment button 310 to pull or restore the first-first cable 330a and the first-second cable 330b, but the sliding cam 232 can also be moved by the power of a motor. Also, the structure of the stiffness adjustment unit 230, which has the feature of restricting or releasing the movement of the slider 220, is not limited to the structure described above.

[0107] As shown in the figure, when three elastic moving parts are arranged in parallel, three sliding cams 232 can be individually arranged for each elastic moving part to adjust the rigidity, but in this embodiment, two sliding cams 232a and 232b are used to adjust the rigidity.

[0108] 11 are referred to as the first elastic moving unit, the second elastic moving unit, and the third elastic moving unit, from the left, and as shown in FIG. 12, the first sliding cam 232a may be configured to move horizontally above the second slider 220b, and the second sliding cam 232b may be configured to move horizontally above the first slider 220a and the third slider 220c. In this case, the second sliding cam 232b may be formed in a U-shape, with both ends that are horizontal to each other being disposed above the first slider 220a and the third slider 220c, and the first sliding cam 232a may be disposed in the space between the both ends.

[0109] Therefore, as shown in FIG. 12(a), when the 0th stiffness adjustment button 310a of the operating device 401 is pressed, the 1-1 cable 330a connected to the first sliding cam 232a and the 1-2 cable 330b connected to the second sliding cam 232b are not pulled, and the first sliding cam 232a and the second sliding cam 232b come into contact with the three locking portions 234 arranged above the second elastic moving portion through the third elastic moving portion, allowing the first slider 220a, the second slider 220b, and the third slider 220c to move freely.

[0110] Also, as shown in FIG. 12(b), when the first stiffness adjustment button 310b of the operating device 401 is pressed, only the 1-1 cable 330a connected to the first sliding cam 232a is pulled, and only the first sliding cam 232a moves upward in the drawing, and the contact between the first sliding cam 232a and the corresponding locking portion 234 is released, so that only the second slider 220b is restricted from moving, and the first slider 220a and the third slider 220c can move freely.

[0111] Also, as shown in FIG. 12(c), when the second stiffness adjustment button 310c of the operating device 401 is pressed, only the first-second cable 330b connected to the second sliding cam 232b is pulled, and only the second sliding cam 232b moves upward in the drawing, restricting the movement of the first slider 220a and the third slider 220c, while allowing the second slider 220b to move freely.

[0112] Furthermore, as shown in FIG. 12(d), when the third stiffness adjustment button 310d of the operating device 401 is pressed, the first sliding cam 232a and the second sliding cam 232b pull both the 1-1 cable 330a and the 1-2 cable 330b, causing both the first sliding cam 232a and the second sliding cam 232b to move upward in the drawing, thereby restricting the movements of all of the first slider 220a, the second slider 220b, and the third slider 220c.

[0113] When the stiffness adjustment mode is changed by pressing each stiffness adjustment button 310, the first sliding cam 232a or the second sliding cam 232b may be connected to a spring so that the first sliding cam 232a or the second sliding cam 232b, which is moved by the pulling of the first-1 cable 330a and the first-2 cable 330b, can return to its original position.

[0114] That is, when the stiffness adjustment buttons 310 are pressed to pull the No. 1-1 cable 330a and the No. 1-2 cable 330b, causing the sliding cams 232a and 232b to move, elastic energy is stored in the springs. When the stiffness adjustment buttons 310 are pressed to release the tension on the No. 1-1 cable 330a and the No. 1-2 cable 330b, the stored elastic energy can be used to return the sliding cams 232a and 232b to their original positions.

[0115] The shapes and positional relationship between the first sliding cam 232a and the second sliding cam 232b are not limited to those described above, and may be modified in various ways.

[0116] Explanation of the clutch section The clutch unit 390 will be described below with reference to FIGS.

[0117] According to the present invention, the clutch unit 390 limits the downward movement range of the moving unit 210. When the wearer bends over, the moving unit 210 moves downward, but the clutch unit 390 blocks the downward movement of the moving unit 210, preventing bending of the waist beyond a certain range. For example, the clutch function can be used to prevent the upper body from further lowering at a certain posture angle when holding or moving an object, or when performing work that requires leaning forward. Alternatively, the clutch function can be used when greater rigidity than the maximum rigidity provided by the first elastic member 205 and the second elastic member 208 is required.

[0118] FIG. 14 is a diagram illustrating the operation of a clutch unit of a wearable robot for assisting waist muscle strength according to an embodiment of the present invention.

[0119] 14, the clutch unit 390 may include a wire 350, a first fixed unit 260, and a clutch operating unit 280. Specifically, the clutch operating unit 280 may include a second fixed unit 250, a gear train unit 252, and a ratchet gear 270.

[0120] 7, the wire 350 may be wound horizontally around the moving part 210 and extend to the upper left and right sides, and both ends may be fixed to the first fixing part 260 and the second fixing part 250, respectively. Rollers 212 for guiding the movement of the wire 350 may be disposed on both the left and right sides of the moving part 210.

[0121] As shown, the first fixing portion 260 and the second fixing portion 250 are disposed on the left and right sides of the upper end of the housing 290 and respectively fix one end and the other end of the wire 350. In this case, the second fixing portion 250 is formed of a pulley and can fix the other end of the wire 350 by winding it in a circumferential direction. In addition, a reel spring (not shown) may be attached to the rotation shaft of the second fixing portion 250 to allow elastic rotation.

[0122] Therefore, as the movable part 210 moves downward, the wire 350 wound around the second fixed part 250 is unwound, and the length of the wire 350 extending to the upper left and right parts of the movable part 210 can be increased. At this time, since the second fixed part 250 rotates elastically, the wire 350 does not loosen and can maintain tension even when the movable part 210 moves due to an elastic force acting in the opposite direction.

[0123] According to one embodiment of the present invention, the clutch operating unit 280 performs a clutch operation by restricting or releasing the rotation of the second fixed unit 250. When the moving unit 210 is in a predetermined position, if the clutch operating unit 280 blocks the rotation of the second fixed unit 250, the moving unit 210 can move upward from that position, but downward movement may be restricted by the wire 350. Therefore, the clutch operating unit 280 can control the rotation of the second fixed unit 250 to restrict the downward movement range of the moving unit 210.

[0124] 14, one embodiment of the clutch operating part 280 may include a gear train part 252 having gears formed in the circumferential direction on the second fixed part 250, and a ratchet gear 270. Specifically, the ratchet gear 270 moves in a linear direction or rotates around one side to engage with or disengage from the gears of the gear train part 252.

[0125] In the drawing, the ratchet gear 270 is configured to rotate around one side, and a second cable 330c is connected to one side of the ratchet gear 270, and the other end of the second cable 330c may be connected to the operating device 401. As with the stiffness adjustment button 310, pressing or releasing the clutch unit operation button 320 pulls or releases the second cable 330c, thereby rotating the ratchet gear 270. Therefore, the gear engagement between the ratchet gear 270 and the gear train unit 252 is controlled by the rotation of the ratchet gear 270, and the rotation of the second fixed unit 250 can be constrained or released.

[0126] In this embodiment, the clutch function is controlled manually by operating the clutch section operation button 320, but it is also possible to use a motor to rotate the ratchet gear 270 or to use a motor to directly control the rotation of the second fixed section 250 to cause deformation.

[0127] According to one embodiment of the present invention, the first fixed part 260 is also formed of a pulley like the second fixed part 250, and a reel spring is preferably attached to the rotation shaft so that the first fixed part 260 can resiliently rotate. As described above, since the second fixed part 250 resiliently rotates, when the moving part 210 moves, the wire 350 does not loosen but maintains tension, and the wire 350 wound around the second fixed part 250 can be unwound or wound.

[0128] However, when the rotation of the second fixed part 250 is blocked by the operation of the clutch part 390, the length of the wire 350 between the first fixed part 260 and the second fixed part 250 is fixed, but if the first fixed part 260 does not wind the wire, the wire 350 may become loose when the moving part 210 moves upward, causing the wire 350 to become tangled or to deviate from its placement path. Therefore, in the present invention, the first fixed part 260 is also formed as a pulley and rotates elastically, so that when the clutch function is activated, the first fixed part 260 winds the wire 350, preventing the wire 350 from becoming loose.

[0129] At this time, it is preferable that the elastic modulus value of the reel spring attached to the first fixing part 260 is smaller than the elastic modulus value of the reel spring attached to the second fixing part 250 .

[0130] Because the elastic modulus of the reel spring attached to the first fixed part 260 is small, when the moving part 210 moves downward with the clutch function released, the reel spring of the second fixed part 250 must exert a force greater than the force pulling the wire 350, causing the wire 350 wound around the second fixed part 250 to unwind and the moving part 210 to move downward. Conversely, when the moving part 210 moves upward, the second fixed part 250 pulls the wire 350 with an elastic force stronger than that of the first fixed part 260, so the wire 350 can be wound around the second fixed part 250. At this time, the wire 350 is not wound around the first fixed part 260.

[0131] Furthermore, when the clutch function is activated, the second fixed part 250 does not rotate due to the clutch operating part 280, so the range in which the moving part 210 moves downward is limited, and when the moving part 210 moves upward, the first fixed part 260 rotates due to the elastic force of the reel spring of the first fixed part 260, and the wire 350 is wound around the first fixed part 260, so that the wire 350 does not become loose and can maintain tension.

[0132] In the present invention, the stiffness adjusting function of the stiffness adjusting section 230 and the clutch function of the clutch section 390 can be operated independently.

[0133] Sensor FIG. 27 is a diagram showing that the posture recognition sensor of the wearable robot according to the present invention is built into the muscle strength assisting part of the waist.

[0134] As shown in the figure, a posture recognition sensor 201 may be built into the waist muscle strength assistance unit 200 of the wearable robot. Specifically, the posture recognition sensor 201 can set a three-dimensional coordinate system on the upper body of the wearer of the wearable robot and measure the angle and angular velocity of the coordinate system.

[0135] Figures 28 and 29 According to an embodiment of the present invention, the posture recognition sensor 201 may be connected via wire or wireless to a separate user device or a separate communication network, thereby allowing a user of the user interface to observe the state of the wearer of the wearable robot through the user interface and recognize the risk of injury to the wearer's waist. As a specific example, the posture recognition sensor 201 may be connected to a wide area communication network such as LoRa or Sigfox, and data measured via the posture recognition sensor 201 may be transmitted to an external server.

[0136] FIG. 28 is a diagram showing a wearer movement sensor user interface in a user interface for sensing the movement of a wearer of a wearable robot according to the present invention.

[0137] As shown in the figure, a wearer motion sensor user interface 500 and a wearer motion analysis user interface 500' may be provided on the top bar of the user interface, and when a user taps the wearer motion sensor user interface 500, a waist flexion angle measurement user interface 501, a waist torsion angle measurement user interface 502, and a waist lateral bending angle measurement user interface 503 can be provided.

[0138] Specifically, when the posture recognition sensor 201 measures the wearer's waist flexion angle, the waist flexion angle measurement user interface 501 can display the wearer's waist flexion angle in real time. In a predetermined area of ​​the waist flexion angle measurement user interface 501, the wearer's waist flexion angle can be expressed in Arabic numerals, and in another predetermined area of ​​the waist flexion angle measurement user interface 501, the waist flexion angle can be visualized and displayed in a graphic. In this case, a part of the graphic can be displayed so as to be distinguished to correspond to the waist flexion angle or the Arabic numerals, but the expression method is not limited thereto, and the graphic may be, but is not limited to, a circle, an ellipse, or a polygon.

[0139] According to yet another embodiment, the waist torsion angle measurement user interface 502 can display the wearer's waist twisting angle or angular velocity in real time when the posture recognition sensor 201 measures the wearer's waist twisting angle or angular velocity. The waist torsion angle or angular velocity can be expressed in Arabic numerals in a predetermined area of ​​the waist torsion angle measurement user interface 502, and the waist torsion angle or angular velocity can be visualized and displayed in a graphic in another predetermined area of ​​the waist torsion angle measurement user interface 502. In this case, a portion of the graphic can be displayed to correspond to the waist torsion angle or angular velocity or the Arabic numeral, but the representation method is not limited thereto, and the graphic can be, but is not limited to, a circle, an ellipse, or a polygon. In addition, the left and right directions of the wearer's waist twisting angle or angular velocity can be expressed using positive and negative numerical values.

[0140] According to yet another embodiment, the lumbar flexion angle measurement user interface 503 can display the lumbar flexion angle on the wearer's left-right plane in real time when the posture recognition sensor 201 measures the lumbar flexion angle on the wearer's left-right plane. The lumbar flexion angle on the wearer's left-right plane can be expressed in Arabic numerals in a predetermined area of ​​the lumbar flexion angle measurement user interface 503. Another predetermined area of ​​the lumbar flexion angle measurement user interface 503 can visualize the lumbar flexion angle on the wearer's left-right plane and display it graphically. In this case, a portion of the graphic can be displayed to correspond to the lumbar flexion angle or the Arabic numerals on the left-right plane. However, the graphic representation is not limited thereto, and the graphic may be, but is not limited to, a circle, an ellipse, or a polygon. Furthermore, the lumbar flexion angle on the wearer's left-right plane can be expressed in positive and negative numbers to distinguish between the left and right directions.

[0141] FIG. 29 is a diagram showing a wearer movement analysis user interface in a user interface for analyzing the movement of a wearer of a wearable robot according to the present invention.

[0142] As shown in the figure, a wearer movement sensor user interface 500 and a wearer movement analysis user interface 500' may be provided on the top bar of the user interface, and when a user taps on the wearer movement analysis user interface 500', an x-axis time y-axis waist flexion angle graph user interface 501' and an x-axis time y-axis waist torsion angle graph user interface 502' may be provided.

[0143] According to one embodiment of the present invention, when a user taps on the wearer's movement analysis user interface 500′, an x-axis-time-y-axis waist flexion angle graph user interface 501′ is provided. The x-axis-time-y-axis waist flexion angle graph user interface 501′ can show the waist flexion angle measurement value of the wearer's upper body movement over time, and simultaneously display the reference waist flexion angle value set by the user of the user interface or the wearer, and can visually show whether the reference value of the wearer's movement has been exceeded based on the change over time.

[0144] As a specific example, if the reference waist flexion angle value set by the user or wearer of the user interface is 30 degrees, the x-axis time / y-axis waist flexion angle graph user interface 501' can count the number of times the waist flexion angle value exceeds 30 degrees during the wearer's movement analysis time and express the number of times the exceedance occurs in Arabic numerals, etc. As shown in the example of FIG. 29, if the number of times the waist flexion angle value exceeds 30 degrees during the wearer's movement analysis time is 31, the number 31 can be expressed in Arabic numerals, but this is merely an example and is not limited to this.

[0145] According to one embodiment of the present invention, as in the example mentioned above, if the reference waist flexion angle value set by the user or wearer of the user interface is 30 degrees, the x-axis time / y-axis waist flexion angle graph user interface 501′ can use the sound generation function to notify the wearer or user if the waist flexion angle value exceeds 30 degrees during the wearer's movement analysis time.

[0146] According to yet another embodiment of the present invention, when a user taps on a wearer's movement analysis user interface 500', an x-axis / time / y-axis waist torsion angle graph user interface 502' is provided. The x-axis / time / y-axis waist torsion angle graph user interface 502' may display the waist torsion angle measurement value of the upper body movement of the wearable robot wearer over time, and may simultaneously display the reference waist torsion angle value set by the user of the user interface or the wearable robot wearer, visually indicating whether the reference value of the wearer's movement has been exceeded based on the change over time. For example, if the reference torsion angle values ​​set by the user of the user interface or the wearer are 40 degrees and -40 degrees on the left and right, the x-axis / time / y-axis waist torsion angle graph user interface 502' may count the number of times the waist torsion angle value of the wearable robot wearer exceeds 40 degrees and -40 degrees on the left and right and display the number using Arabic numerals, etc. As shown in the example of FIG. 29, if the waist twisting angle value of the wearable robot wearer exceeds 40 degrees on the left and right and exceeds -40 degrees 21 times, the number 21 can be expressed in Arabic numerals, but this is merely an example and is not limited to this.

[0147] According to one embodiment of the present invention, as in the example mentioned above, when the reference twisting angle values ​​set by the user or wearer of the user interface are 40 degrees and -40 degrees on the left and right, the x-axis time and y-axis waist twisting angle graph user interface 502' can use the sound generation function to notify the wearer or user if the waist twisting angle value of the wearable robot wearer exceeds 40 degrees and -40 degrees on the left and right.

[0148] According to the present invention, the reference waist flexion angle value set by the user of the user interface or the wearable robot wearer, or the reference waist torsion angle value set by the user of the user interface or the wearable robot wearer, can be adjusted and set arbitrarily by the user of the user interface or the wearable robot wearer, and can also be set in multiple stages.

[0149] Specifically, when the set angle value is divided into a number of step angles, it can be expressed as a level of musculoskeletal injury that may occur during a waist bending movement, and specific examples include displaying "safe," "caution," "danger," etc. Furthermore, as in the x-axis time / y-axis waist twisting angle graph user interface 502', a set angle value for a movement having positive and negative measurement values ​​may be simultaneously applied to a set angle value for quantity and a set angle value for sound, and may be used as a basis for determining whether the wearable robot wearer is performing a movement within a range of movement with a low risk of musculoskeletal injury.

[0150] A posture recognition sensor-based method for assessing lower back injury risk FIG. 32 is a diagram for analyzing the force moment applied to the waist by the wearer's upper body and a heavy object when lifting an object.

[0151] As shown in FIG. 32, the moments and forces applied to the wearer's waist may specifically mean calculating the moments and forces applied to the wearer's waist L5 / S1 joint 510, and the muscle distance vector 512 shown in FIG. 32 may be assumed to be 0.1 m.

[0152]

number

number

number

number

[0153] Figures 30 and 31 FIG. 30 is a diagram showing a wearer movement analysis report user interface in the result report user interface regarding the movement of a wearable robot wearer according to the present invention.

[0154] As shown in FIG. 30, a wearer movement report user interface 500'' may be provided on the top bar of the user interface, and when the user taps on the wearer movement report user interface 500'', a wearer's lower back injury risk user interface 520, a wearer's work pace information providing user interface 521, a wearer's work balance information providing user interface 522, and a wearer's lower back injury risk information providing user interface 523 can be provided.

[0155] According to one embodiment of the present invention, a wearer movement report user interface 500'' may be provided on the top bar of the user interface, and when a user taps on the wearer movement report user interface 500'', a wearer's lower back injury risk user interface 520 may be provided.

[0156] Specifically, the wearer's lower back injury risk user interface 520 can visually indicate which side, the left or right side, of the wearer's lower back L5 / S1 joint 510, has a higher injury risk due to a waist twisting motion. Specifically, when the wearer's waist flexion angle is 30 degrees or greater, the waist twisting angle can be extracted and normalized within the range of an average twisting range, from a positive angle of 40 degrees to a negative angle of 40 degrees. After that, the ratio of the injury risk added to the left and right sides of the wearer's lower back L5 / S1 joint 510 is calculated based on the wearer's lower back L5 / S1 joint 510, and the ratio can be displayed on the wearer's lower back injury risk user interface 520.

[0157] According to yet another embodiment of the present invention, a wearer movement report user interface 500'' may be provided on the top bar of the user interface, and when the user taps on the wearer movement report user interface 500'', a wearer's work pace information providing user interface 521 can be provided.

[0158] Specifically, the user interface for providing information on the wearer's work pace 521 may estimate the amount of work done by the wearer for one hour and provide work pace information. For example, if the wearer takes 15 seconds to perform one operation such as bending the waist, the wearer will perform the operation 240 times in one hour, and therefore, the user interface for providing information on the wearer's work pace 521 may provide information such as 240 lifts / hour, as shown in FIG.

[0159] According to yet another embodiment of the present invention, a wearer movement report user interface 500'' may be provided on the top bar of the user interface, and when the user taps on the wearer movement report user interface 500'', a wearer work balance information providing user interface 522 may be provided.

[0160] Specifically, it is possible to indicate the ratio of injury risks applied to the left and right sides of the wearer's waist L5 / S1 joint 510 based on the wearer's waist L5 / S1 joint 510 in the above-described wearer's waist injury risk user interface 520. As shown in Fig. 30, when the ratio of injury risks applied to the left and right sides of the wearer's waist L5 / S1 joint 510 based on the wearer's waist L5 / S1 joint 510 is 4:6 on the left side and 6:6 on the right side, it can be expressed as 4 / 6.

[0161] According to yet another embodiment of the present invention, a wearer movement report user interface 500'' may be provided on the top bar of the user interface, and when the user taps on the wearer movement report user interface 500'', a user interface 523 for providing information on the wearer's lower back injury risk may be provided. Specifically, the lower back injury risk may be calculated by calculating the moment M using the moment calculation formula described above and substituting it into the following formula:

number

[0162] The above formula is used to calculate the micro-damage rate D of the lower back. After calculating the micro-damage rate D of the lower back by substituting the moment M into the formula, the risk of injury R of the lower back can be calculated by substituting the rate D into the following formula and performing linear regression.

[0163]

number

number

[0164] As shown in FIG. 31 , a wearer movement report user interface 500″ may be provided on the top bar of the user interface, and when a user taps on the wearer movement report user interface 500″, a user interface providing information on the wearer's total number of movements in one day 530, a user interface providing information on the wearer's safe movement ratio 531, a user interface providing information on the wearer's daily load saving amount 532, a user interface providing information on the wearer's wearable robot wearing time 533, a user interface providing information on the wearer's daily movement safety score 534, a user interface providing information on the wearer's daily excessive waist flexion ratio 535, a user interface providing information on the wearer's daily long-term waist flexion ratio 536, a user interface providing information on the wearer's daily waist side bending ratio 537, and a user interface providing information on the wearer's daily waist twisting ratio 538 can be provided.

[0165] According to one embodiment of the present invention, a wearer's movement report user interface 500'' may be provided on the top bar of the user interface, and when a user taps the wearer's movement report user interface 500'', a user interface 530 providing information on the wearer's total number of movements per day may be provided, and the user interface 530 providing information on the wearer's total number of movements per day may be provided in the form of Arabic numerals by calculating the total number of movements per day of the wearer. As shown in FIG. 31 , if the wearer moves a total of 1,186 times per day, the user interface 530 providing information on the wearer's total number of movements per day may be provided as 1,186.

[0166] According to one embodiment of the present invention, a wearer movement report user interface 500'' may be provided on the top bar of the user interface, and when a user taps on the wearer movement report user interface 500'', a wearer safe movement ratio information providing user interface 531 may be provided.

[0167] Specifically, the wearer's safe operation ratio information providing user interface 531 can be calculated by subtracting the average of the ratios of the wearer's daily excessive waist flexion ratio information providing user interface 535, the wearer's daily long-term waist flexion ratio information providing user interface 536, the wearer's daily waist side bending ratio information providing user interface 537, and the wearer's daily waist twisting ratio information providing user interface 538, with 100% as the reference.

[0168] More specifically, the user interface 535 for providing information on the wearer's daily excessive waist flexion ratio can visualize the ratio of the degree of excessive waist flexion, and as shown in FIG. 31, if the excessive waist flexion ratio is 35% of the case of non-excessive waist flexion, it can be represented by a bar graph.

[0169] In addition, the wearer's daily long-term waist flexion ratio information providing user interface 536 can be represented by a bar graph as shown in FIG. 31 if the ratio of the time the wearer maintains waist flexion for 1 second or more compared to the time the wearer maintains waist flexion for less than 1 second is 30%; the wearer's daily waist side bending ratio information providing user interface 537 can be represented by a bar graph if the wearer's waist flexion ratio in the lateral direction is 20% compared to the time the wearer bends the waist in the forward direction; and the wearer's daily waist twisting ratio information providing user interface 538 can be represented by a bar graph if the ratio of the wearer twisting the waist is 60% compared to the time the wearer moves their body itself and does not twist the waist.

[0170] According to one embodiment of the present invention, a wearer movement report user interface 500'' may be provided on the top bar of the user interface, and when a user taps on the wearer movement report user interface 500'', a user interface 532 providing information on the wearer's daily load savings may be provided.

[0171] Specifically, the user interface for providing information on the wearer's daily load reduction amount 532 may display a value obtained by multiplying the Arabic numerals in the user interface for providing information on the wearer's daily total number of actions 530, which is the total number of actions the wearer takes in one day, by 6.64 kg, which is the load reduction effect of the wearable robot. However, since the load reduction effect of the wearable robot is not limited to 6.64 kg, if the value of the load reduction effect of the wearable robot changes, the value provided in the user interface for providing information on the wearer's daily load reduction amount 532 may also change.

[0172] According to an embodiment of the present invention, a wearer's movement report user interface 500'' may be provided on the top bar of the user interface, and when a user taps the wearer's movement report user interface 500'', a user interface 533 for providing information on the wearer's wearable robot wearing time may be provided. Specifically, the user interface 533 for providing information on the wearer's wearable robot wearing time may provide information on the time the wearer has worn the wearable robot.

[0173] According to one embodiment of the present invention, a wearer movement report user interface 500'' may be provided on the top bar of the user interface, and when a user taps on the wearer movement report user interface 500'', a user interface 534 for providing information on the wearer's daily movement safety score may be provided.

[0174] Specifically, the user interface 534 for providing wearer's daily action safety score information may provide a value obtained by subtracting the daily average of the wearer's lower back injury risk provided in the user interface 523 for providing wearer's lower back injury risk information from 100. For example, if the daily average of the wearer's lower back injury risk provided in the user interface 523 for providing wearer's lower back injury risk information is 48, the value may be displayed as 52 in the user interface 534 for providing wearer's daily action safety score information, as shown in FIG.

[0175] FIG. 15 is a view illustrating a clutch unit of a waist muscle strength assisting unit of a wearable robot for assisting waist muscle strength according to another embodiment of the present invention.

[0176] In the above-described embodiment, the first elastic member 205 and the second elastic member 208, which are passive elements, transmit an assist force to the muscles of the lower back to adjust the stiffness, whereas in this embodiment, a small actuator 420 is used to transmit an assist force to the muscles of the lower back and simultaneously adjust the stiffness.

[0177] In this embodiment, the wearable robot for assisting waist muscle strength includes an upper wearing part 110, a waist muscle strength assisting part 200, a lower wearing part 120, and may further include a clutch part 390.

[0178] The upper wearing part 110, the lower wearing part 120, and the clutch part 390 are the same as those in the above-described embodiment, and therefore, detailed description thereof will be omitted.

[0179] FIG. 15 is a view illustrating a clutch unit of a waist muscle strength assisting unit of a wearable robot for assisting waist muscle strength according to another embodiment of the present invention.

[0180] According to one embodiment of the present invention, the waist muscle strength assisting unit 200 may include a wire 410 , a moving unit 210 , and an actuator 420 .

[0181] 15 , the lower end of the wire 410 may be connected to the moving part 210, and the upper end may be connected to the actuator 420. As in the above-described embodiment, the moving part 210 may move up and down according to the movement of the waist, and the connecting part 124 of the lower wearing part 120 may be connected to the moving part 210.

[0182] According to an embodiment of the present invention, the actuator 420 may actively adjust the stiffness of the wire 410 by adjusting the tension of the wire 410. Specifically, the actuator 420 may be configured with a motor, a pneumatic actuator, a hydraulic actuator, or the like. In this case, more diverse stiffnesses than those in the above-described embodiments may be realized.

[0183] 15, when the moving part 210 moves up and down according to the wearer's movements, the length of the wire 420 between the actuator 420 and the moving part 210 is variable, and when the length of the wire 420 changes, a certain tension can be applied by the actuator 420. At this time, the value of the tension can be changed to adjust the stiffness.

[0184] Explanation of the operation device 401 The operating principle of the operating device 401 will be described in detail below.

[0185] The operating device 401 relates to an operating device 401 for a wearable robot for controlling the movements of a first operating object part 400 and a second operating object part 4100 provided on the wearable robot, and the first operating object part 400 may include a waist muscle strength assist part 200 of the wearable waist assist robot, and the second operating object part 400' may include a clutch part 390 of the wearable waist assist robot.

[0186] 16 and 17 are views showing the wearable robot manipulation device with the front cover of the manipulation device housing 300a removed. Fig. 18 is a view for explaining the configuration of the wearable robot manipulation device of the present invention.

[0187] As shown in Figures 16 and 17, the operating device 401 may include an operating device housing 300a, a first cable 330a, a first cable 330b, a second cable 330c, a clutch section operation button 320, an operating lever 340, and a stiffness adjustment button 310.

[0188] FIG. 26 is a block diagram illustrating the operation of the first operation target portion and the second operation target portion according to one embodiment of the present invention.

[0189] As shown in FIG. 26, the first operation target unit 400 may be selected to one of MODE1, MODE2, and MODE3 by pulling at least one of the 1-1 cable 330a and the 1-2 cable 330b, and may be selected to MODE0 by releasing all pulling on the 1-1 cable 330a and the 1-2 cable 330b.

[0190] According to an embodiment of the present invention, the operating device housing 300a movably supports the first stiffness adjustment button 310b, the second stiffness adjustment button 310c, the third stiffness adjustment button 310d, the zeroth stiffness adjustment button 310a, the operating lever 340, and the clutch unit operation button 320, and may have through holes formed at the top end for introducing the first cables 330a, 330b and the second cable 330c into the internal space. The operating device housing 300a is preferably designed in a shape that can be easily grasped by a user's hand.

[0191] As shown in the figure, the first cable 330a and the first cable 330b may be arranged parallel to each other, one end of which may be connected to the first operation target unit 400, and the other end of which may be fixed to the lower end of the operating device housing 300a. Preferably, the other ends of the first cable 330a and the first cable 330b may be introduced into the operating device housing 300a through the upper end through-hole and fixed to the lower end of the operating device housing 300a. Thus, the first cable 330a and the first cable 330b may be arranged to pass through the internal space of the operating device housing 300a. The first stiffness adjustment button 310b, the second stiffness adjustment button 310c, the third stiffness adjustment button 310d, and the 0th stiffness adjustment button 310a are arranged parallel to one side of the operating device housing 300a and are movably supported on the operating device housing 300a so that at least one of the 1-1 cable 330a and the 1-2 cable 330b connected to the first operating target part 400 can be pulled or released depending on the moving position.

[0192] 1st stiffness adjustment button According to the present invention, the first stiffness adjustment button 310b may include a first pressure member 310b'. The first pressure member 310b' may be disposed on one side of the first-1 cable 330a. A portion of the first stiffness adjustment button 310b is exposed to the outside of the operating device housing 300a, and while supporting the first pressure member 310b', the first stiffness adjustment button 310b may move in a direction that presses the first-1 cable 330a on the operating device housing 300a. Preferably, the first stiffness adjustment button 310b may move in a direction that intersects with the extension direction of the first-1 cable 330a.

[0193] According to an embodiment of the present invention, when the first stiffness adjustment button 310b moves forward toward the first-1 cable 330a, the first pressure member 310b' presses the first-1 cable 330a, thereby pulling one end of the first-1 cable 330a connected to the first operation target unit 400. When the first stiffness adjustment button 310b returns to its original position, the first pressure member 310b' moves away from the first-1 cable 330a. This releases the tension on the first-1 cable 330a. Preferably, the first stiffness adjustment button 310b may be elastically supported in the backward movement direction by an elastic member (not shown) interposed between the operation device housing 300a and the first stiffness adjustment button 310b.

[0194] Second stiffness adjustment button 18, second stiffness adjustment button 310c may have the same configuration as first stiffness adjustment button 310b. Unlike first stiffness adjustment button 310b, where first pressure unit 310b' may be disposed on one side of cable 1-1 330a, second stiffness adjustment button 310c may have second pressure unit 310c' disposed on one side of cable 1-2 330b. Also, third stiffness adjustment button 310d may have the same configuration as first stiffness adjustment button 310b, where third pressure units 310c' may be disposed on one side of cable 1-1 330a and one side of cable 1-2 330b.

[0195] Third stiffness adjustment button 18, the third stiffness adjustment button 310d may have the same configuration as the first stiffness adjustment button 310b, except that, unlike the first pressure member 310b' and the second pressure member 310c', the third pressure member 310d' may be disposed on one side of the first cable 330a and one side of the first cable 330b, respectively.

[0196] As shown in the figure, the first stiffness adjustment button 310b, the second stiffness adjustment button 310c, and the third stiffness adjustment button 310d may be spaced apart along a first axis direction (z-axis in FIG. 16) that is parallel to the longitudinal direction of the first-1 cable 330a and the first-2 cable 330b. Thus, the first stiffness adjustment button 310b, the second stiffness adjustment button 310c, and the third stiffness adjustment button 310d may be arranged to be movable in a second axis direction (x-axis in FIG. 1) that intersects with the first axis. Therefore, the first-1 cable 330a and the first-2 cable 330b may be spaced apart from each other in a third axis direction (y-axis in FIG. 1) that intersects with the first and second axes.

[0197] Explanation of each mode of the control device 20 to 25 are diagrams showing the states in which each mode is set by pulling or releasing the 1-1 cable 330a or the 1-2 cable 330b of the operating device according to the present invention.

[0198] 20 and 21, an upper end support portion 360a and a lower end support portion 360b may be disposed in the interior space of the operating device housing 300a. Specifically, the upper end support portion 360a and the lower end support portion 360b may support the other side of the first-1 cable 330a and the other side of the first-2 cable 330b on both sides of the portions corresponding to the first pressure portion 310b', the second pressure portion 310c, and the third pressure portion 310d'.

[0199] Specifically, at a position corresponding to the first pressure unit 310b', a spaced apart upper end support unit 360a and a spaced apart lower end support unit 360b can support the other side of the 1-1 cable 330a, at a position corresponding to the second pressure unit 310c', a spaced apart upper end support unit 360a and a spaced apart lower end support unit 360b can support the other side of the 1-2 cable 330b, and at a position corresponding to the third pressure unit 310d', a spaced apart upper end support unit 360a and a spaced apart lower end support unit 360b can support the other side of the 1-1 cable 330a and the 1-2 cable 330b.

[0200] Preferably, the first pressure member 310b', the second pressure member 310c', the third pressure member 310d', and the support member 360 may be in the form of rollers to minimize friction with the first cable 330a or the second cable 330b during the process of pulling or releasing either the first cable 330a or the second cable 330b.

[0201] According to one embodiment of the present invention, the 0th stiffness adjustment button 310a can restrict or release the position of the 1st stiffness adjustment button 310b, the 2nd stiffness adjustment button 310c, or the 3rd stiffness adjustment button 310d when the 1st stiffness adjustment button 310b, the 2nd stiffness adjustment button 310c, or the 3rd stiffness adjustment button 310d presses at least one of the 1-1th cable 330a and the 1-2nd cable 330b.

[0202] According to one embodiment of the present invention, the zeroth stiffness adjustment button 310a can be manually operated to disengage the connecting bar hook 371 from the first stiffness adjustment button 310b, the second stiffness adjustment button 310c, and the third stiffness adjustment button 310d. The connecting bar hooks 371 may have a zeroth connecting bar hook 371a located at a position corresponding to the zeroth stiffness adjustment button 310a, a first connecting bar hook 371b located at a position corresponding to the first stiffness adjustment button 310b, a second connecting bar hook 371c located at a position corresponding to the second stiffness adjustment button 310c, and a third connecting bar hook 371d located at a position corresponding to the third stiffness adjustment button.

[0203] Preferably, when the first stiffness adjustment button 310b, the second stiffness adjustment button 310c, or the third stiffness adjustment button 310d is moved in the pressure direction and is engaged with its respective connecting bar hook 371, the zeroth stiffness adjustment button 310a can be moved in a direction to release the engagement between the first stiffness adjustment button 310b, the second stiffness adjustment button 310c, or the third stiffness adjustment button 310d and its respective connecting bar hook 371.

[0204] 20 , the connecting bar hooks 371 may be connected to one another by a connecting bar 370 and integrated into one piece. According to an embodiment of the present invention, when the first stiffness adjustment button 310b, the second stiffness adjustment button 310c, or the third stiffness adjustment button 310d is pressed and moved forward, the connecting bar hooks 371 may descend from the first position to the second position and then move back to the first position. Preferably, the first position is a position higher than the second position and may be a position where the first stiffness adjustment button 310b, the second stiffness adjustment button 310c, or the third stiffness adjustment button 310d can be restrained. Furthermore, the second position may be a position where the restraint can be released.

[0205] Therefore, if the zeroth stiffness adjustment button 310a is pressed by an external force while the connecting bar hook 371 is engaged with the first stiffness adjustment button 310b, the second stiffness adjustment button 310c, or the third stiffness adjustment button 310d, the connecting bar hook 371 may descend to the second position, thereby disengaging the connecting bar hook 371 from the first stiffness adjustment button 310b, the second stiffness adjustment button 310c, or the third stiffness adjustment button 310d. Preferably, the connecting bar hook 371 may be elastically supported toward the first position by an elastic member (not shown) interposed between the operating device housing 300a and the connecting bar hook 371.

[0206] Preferably, the zeroth stiffness adjustment button 310a may be elastically supported toward the first position by an elastic member (not shown) interposed between the operating device housing 300a and the connecting bar hook 371. According to the present invention, the zeroth stiffness adjustment button 310a may be pressed by an external force to move the plurality of connecting bar hooks 371a, b, c, and d connected to the connecting bar 370 to the second position. As shown in the drawings, the zeroth stiffness adjustment button 310a may be configured in the same shape as the first stiffness adjustment button 310b, the second stiffness adjustment button 310c, or the third stiffness adjustment button 310d and may be disposed above the first stiffness adjustment button 310b, and the zeroth connecting bar hook 371a may be additionally disposed at a position corresponding to the zeroth stiffness adjustment button 310a.

[0207] That is, the zeroth stiffness adjustment button 310a may move the zeroth connecting bar hook 371a to the second position while advancing toward the zeroth connecting bar hook 371a, and may be elastically supported in the rearward direction by an elastic member (not shown) interposed between the operating device housing 300a and the zeroth stiffness adjustment button 310a. According to an embodiment of the present invention, when one of the first stiffness adjustment button 310b, the second stiffness adjustment button 310c, and the third stiffness adjustment button 310d is advanced, a pressure portion of one of the first stiffness adjustment button 310b, the second stiffness adjustment button 310c, and the third stiffness adjustment button 310d may press one of the 1-1 cable 330a and the 1-2 cable 330b. At this time, a connection ring portion of one of the first stiffness adjustment button 310b, the second stiffness adjustment button 310c, and the third stiffness adjustment button 310d may be engaged with and held by the respective connecting bar hooks 371a, 371b, 371c, and 371d corresponding to the respective stiffness adjustment buttons.

[0208] Subsequently, when another stiffness adjustment button 310 is selected and pressed, the pressed stiffness adjustment button 310 engages with the connecting bar hook 371, and the integrated connecting bar hook 371 simultaneously moves to the second position and then moves back to the first position, whereby the previously constrained stiffness adjustment button 310 is released and the connecting ring portion of the selected stiffness adjustment button 310 is newly constrained. Preferably, the connecting ring portion may be a part connected to the first stiffness adjustment button 310b, the second stiffness adjustment button 310c, and the third stiffness adjustment button 310d having a ring shape, and may be located inside the operating device housing 300a.

[0209] Control of the second operation target unit 400′ FIG. 26 is a block diagram illustrating the operation of the first operation target portion and the second operation target portion according to one embodiment of the present invention.

[0210] As shown in the figure, the operation target unit may include a first operation target unit 400 and a second operation target unit 400'. The first operation target unit 400 may be the waist muscle strength assist unit 200 of the wearable waist assist robot, and the second operation target unit 400' may be set to the clutch unit 390 of the wearable waist assist robot, but is not limited thereto.

[0211] According to the present invention, the second cable 330c is for controlling the second operation target part 400′ of the wearable robot, and one end of the second cable 330c is connected to the second operation target part 400′, and the other end of the second cable 330c may be introduced into the internal space of the operation device housing 300a via a through hole in the operation device housing 300a.

[0212] According to one embodiment of the present invention, the operating lever 340 is arranged on the other side of the operating device housing 300a so as to be movable in a direction parallel to the longitudinal direction of the second cable 330c while fixing the other end of the second cable 330c introduced inside the operating device housing 300a, and can pull or release the second cable 330c connected to the second operating target part 400' depending on the moving position.

[0213] In this embodiment, the operating lever 340 is described as sliding in the longitudinal direction of the second cable 330c to pull or release the tension on the second cable 330c, but various other types of movement, such as rotating or pivoting, may also be applied to pull or release the tension on the second cable 330c.

[0214] As shown in FIG. 24, guide holes 380 that can limit the movement range of the operating lever 340 may be formed spaced apart above and below the operating lever 340 in the operating device housing 300a, and the operating lever 340 can move up and down while being disposed within the plurality of guide holes 380.

[0215] According to one embodiment of the present invention, the clutch section operation button 320 is used to restrain the position of the operating lever 340 when it is pulling the second cable 330c, and the clutch section operation button 320 may include a clutch section operation button hook 320a that can restrain the position of the operating lever 340 when it is moved in the direction of pulling the second cable 330c, and a release button 320b that can move the clutch section operation button hook 320a in a direction to release the restraint on the operating lever 340.

[0216] According to one embodiment of the present invention, the release button 320b can move from one side of the operating device housing 300a in a direction intersecting the longitudinal direction of the second cable 330c. As a result, the clutch unit operating button hook 320a can engage with the operating lever 340 to restrict the position of the operating lever 340 as the operating lever 340 moves downward to pull the second cable 330c, and can release the restriction on the operating lever 340 as the release button 320b advances toward the inside of the housing.

[0217] In addition, the release button 320b may be elastically supported in the reverse direction by an elastic member (not shown) interposed between the operating device housing 300a and the operating lever 340, and the operating lever 340 may be elastically supported in the direction of releasing the tension on the second cable 330c by an elastic member (not shown) interposed between the operating device housing 300a and the operating lever 340.

[0218] Figures 19 to 23 are diagrams showing the state in which each mode is set by pulling or releasing the first cable 330a, b using the operating device for the wearable robot of the present invention, and Figure 24 is a diagram showing the state in which the pulling of the second cable 330c using the operating device for the wearable robot of the present invention is released.

[0219] The process of pulling or releasing the first cable First, the process of pulling or releasing the first cables 330a, 330b will be described with reference to FIGS.

[0220] 19, a user can press a first stiffness adjustment button 310b arranged on one side of the operating device housing 300a to set MODE1 for the first operating target part 400 of the wearable robot. According to an embodiment of the present invention, when the first stiffness adjustment button 310b is moved forward in a direction intersecting with the 1-1 cable 330a by the user's operation, the first pressure part 310b' can move the 1-1 cable 330a arranged in a manner to cross the internal space of the operating device housing 300a sideways while applying pressure thereto.

[0221] At this time, the other side of the first-1 cable 330a pressed by the first pressure unit 310b' is supported by the upper end support unit 360a and the lower end support unit 360b, and therefore, as the first pressure unit 310b' advances through the space between the upper end support unit 360a and the lower end support unit 360b, the length of the first-1 cable 330a located between the upper end support unit 360a and the lower end support unit 360b increases, thereby pulling the first-1 cable 330a connected to the first operation target unit 400 of the wearable robot, and selecting MODE 1. Specifically, the support unit 360 may include the upper end support unit 360a and the lower end support unit 360b, and the upper end support unit 360a and the lower end support unit 360b may simultaneously support both sides of the first pressure unit 310b' as the first pressure unit 310b' advances.

[0222] According to an embodiment of the present invention, the first stiffness adjustment button 310b, which has been moved forward by an external force, is constrained in its forward position by being engaged with the first connecting bar hook 371b while the first pressure unit 310b' is pressing the 1-1 cable 330a, thereby maintaining the MODE1 setting state for the first operation target unit 400. Specifically, in the process of pulling the 1-1 cable 330a using the first stiffness adjustment button 310b, a length change amount n of the 1-1 cable 330a can be calculated as follows:

[0223]

number

number

number

[0224] Furthermore, d may be the distance traveled by the first pressure applying portion 310b' in FIG. 19(b), r1 may be the radius of the upper end support portion 360a and the lower end support portion 360b, and r2 may be the radius of the first pressure applying portion 310b'.

[0225] Furthermore, k may be the length of the 1-1 cable 330a located between the upper end support portion 360a and the lower end support portion 360b when the first pressure member 310b' is pressing the 1-1 cable 330a, as shown in Figure 19(b).

[0226] Furthermore, θ1 may be the angle of the area of ​​the outer circumferential surface of the upper end support portion 360a and the lower end support portion 360b where the 1-1 cable 330a is in contact, θ2 may be 1 / 2 the angle of the area of ​​the outer circumferential surface of the first pressure portion 310b' where the 1-1 cable 330a is in contact, and n may be the amount of change in length of the 1-1 cable 330a.

[0227] 21, a user can press the second stiffness adjustment button 310c disposed on one side of the operating device housing 300a to set MODE2 for the first operation target part 400 of the wearable robot. As shown in FIG. 21, when the second stiffness adjustment button 310c moves forward in a direction intersecting with the first-second cable 330b due to an external force, the second pressure part 310c′ presses the first-second cable 330b, thereby increasing the length of the first-second cable 330b located between the upper end support part 360a and the lower end support part 360b.

[0228] As a result, the first-second cable 330b of the wearable robot may be pulled to select MODE2, and the second stiffness adjustment button 310c, which has moved forward, may be constrained in its forward position by engaging with the second connecting bar hook 371c while the second pressure unit 310c' is pressing the first-second cable 330b, thereby maintaining the MODE2 setting state for the first operation target unit 400. Meanwhile, in the process of selecting MODE2 from the state in which MODE1 is selected as shown in FIG. 20 to the state in which MODE2 is selected as shown in FIG. 21, when the second stiffness adjustment button 310c engages with the second connecting bar hook 371c, the second connecting bar hook 371c may move to the second position and then to the first position. At this time, because the multiple connecting bar hooks 371 may be connected and integrally configured by the connecting bar 370, the first stiffness adjustment button 310b, which was previously constrained, may be released from its constrained state when the second stiffness adjustment button 310c engages with the second connecting bar hook 371c.

[0229] As shown in FIG. 22, the user can press the third stiffness adjustment button 310d located on one side of the operating device housing 300a to set the first operating target part 400 of the wearable robot to MODE3.

[0230] As shown in the drawing, when third stiffness adjustment button 310d is moved forward by an external force, third pressure unit 310d' applies pressure to I-1 cable 330a and I-2 cable 330b, respectively, so that the lengths of I-1 cable 330a and I-2 cable 330b located between upper end support unit 360a and lower end support unit 360b may each increase. As a result, I-1 cable 330a and I-2 cable 330b may be pulled simultaneously to select MODE 3, and the moved forward third stiffness adjustment button 310d may engage with third connecting bar hook 371d to restrict its forward position, so that the MODE 3 setting state for first operation target unit 400 may be maintained.

[0231] Meanwhile, as shown in FIG. 23, the user can press the 0th stiffness adjustment button 310a located on one side of the operating device housing 300a to set MODE0 for the first operating target part 400 of the wearable robot.

[0232] According to an embodiment of the present invention, the 0th stiffness adjustment button 310a, which is moved forward by an external force, can move the 0th connection bar hook 371a to the second position. At this time, since the connection bar hook 371 is connected to the 0th connection bar hook 371a via the connection bar 370, the constraints on the first stiffness adjustment button 310b to the third stiffness adjustment button 310d can be released, and thereby the previously selected MODE1, MODE2, and MODE3 can be released.

[0233] On the other hand, when the external force on the 0th stiffness adjustment button 310a is released, the elastic member that was elastically compressed during the forward movement of the 0th stiffness adjustment button 310a elastically recovers, allowing the 0th stiffness adjustment button 310a to move backward and return to its original position.

[0234] The process of pulling or releasing the second cable The process of pulling or releasing the second cable 330c will be described with reference to FIGS.

[0235] In this embodiment, an example will be given in which the second operation target part 400′ of the wearable robot is deactivated when the second cable 330c is pulled, and is activated when the pulling on the second cable 330c is released. As shown in FIG. 24, the second operation target part 400′ is deactivated by pulling the second cable 330c using the operation lever 340, and as shown in FIG. 25, the second operation target part 400′ is activated by releasing the pulling on the second cable 330c using the clutch part operation button 320.

[0236] As shown in FIG. 24, the user can press the operating lever 340 located on the other side of the operating device housing 300a to deactivate the second operating target portion 400′ of the wearable robot.

[0237] As shown, the operating lever 340 can be moved downward along the guide hole 380 of the operating device housing 300a by the user while fixing the other end of the second cable 330c. As a result, the second cable 330c is pulled by the downward movement of the operating lever 340 while the other end of the second cable 330c is connected to the operating lever 340, thereby deactivating the function of the second operation target unit 400' of the wearable robot.

[0238] Here, the amount of change in length of the second cable 330c is set to be the same as the distance traveled by the operating lever 340, so the length of travel of the operating lever 340 can be easily designed relative to the amount of change in length of the second cable 330c required to deactivate the function of the second operating target part 400'.

[0239] Subsequently, the operating lever 340, which has moved downward, engages with the clutch unit operating button hook 320a while pulling the second cable 330c, thereby restricting the lowered position, thereby maintaining the second operation target unit 400' of the wearable robot in a non-activated state.

[0240] As shown in FIG. 25, the user can press the release button 320b located on one side of the operating device housing 300a to activate the function of the second operating target part 400' of the wearable robot.

[0241] According to the present invention, the release button 320b is arranged to be movable in a horizontal direction intersecting with the second cable 330c, and can be moved forward in a direction to be recessed into the operating device housing 300a by an external force.

[0242] During this process, the clutch unit operating button hook 320a moves together with the release button 320b and separates from the operating lever 340, thereby releasing the constraint on the operating lever 340. At this time, since the operating lever 340 is elastically supported upward by an elastic member (not shown), it can move upward due to the elastic force of the elastic member at the same time as separating from the clutch unit operating button hook 320a. Therefore, tension on the second cable 330c connected to the operating lever 340 can be released, thereby activating the function of the second operation target unit 400' of the wearable robot.

[0243] According to the present embodiment, the operating lever 340 is configured to be manually operated, and the power generated by the operating lever 340 is transmitted to the first operating object 400 and the second operating object 400' via a cable, thereby eliminating the need for electronic components such as a battery and a driving motor. This allows for operation without time limitations, and provides the advantages of lightweighting, durability, and easy maintenance.

[0244] Figures 33 and 34 FIG. 33 is a diagram illustrating clutch operation and stiffness adjustment operation by operating stiffness adjustment buttons on each switch of the stiffness adjustment button switch board according to an embodiment of the present invention.

[0245] FIG. 34 is a diagram illustrating clutch operations of the switches of the stiffness adjustment button switch board according to the embodiment of the present invention, according to the operation of the stiffness adjustment button.

[0246] As shown in FIG. 33, a 0th stiffness adjustment button switch 231a, a 1st stiffness adjustment button switch 231b, a 2nd stiffness adjustment button switch 231c, and a 3rd stiffness adjustment button switch 231d may be located on a stiffness adjustment button switch board 231, and the 0th stiffness adjustment button switch 231a may correspond to the 0th stiffness adjustment button 310a, the 1st stiffness adjustment button switch 231b may correspond to the 1st stiffness adjustment button 310b, the 2nd stiffness adjustment button switch 231c may correspond to the 2nd stiffness adjustment button 310c, and the 3rd stiffness adjustment button switch 231d may correspond to the 3rd stiffness adjustment button 310d.

[0247] According to one embodiment of the present invention, when a user presses the 0th stiffness adjustment button 310a, the 0th stiffness adjustment button switch 231a is pressed, and an electrical signal is transmitted to the stiffness adjustment unit 230 via wired or wireless means. The transmitted electrical signal causes the stiffness adjustment miniature driver module 230' to operate, and the stiffness adjustment miniature driver module 230' can drive the lock unit 234.

[0248] As described above, the locking portion 234 is provided on the upper side of the slider 220 with an elastic force acting counterclockwise in the drawing around a predetermined axis by a torsion spring, and when the sliding cam 232 moves horizontally, the rotation angle changes depending on whether or not there is contact with the sliding cam 232, and the locking portion 234 can come into contact with the locking piece 222 to restrict the movement of the slider 220, or can release the contact with the locking piece 222 to release the restriction on the slider 220.

[0249] 13(a), when the first cable 330a is not pulled, the sliding cam 232a comes into contact with the locking portion 234, causing the locking portion 234 to rotate clockwise, thereby releasing the engagement between the locking portion 234 and the engaging piece 222 formed on the upper end surface of the slider 220. Therefore, the slider 220 can move freely.

[0250] 13(b), when the operating device 401 operates to cause the stiffness adjusting miniature actuator module 230' to drive the locking part 234, the stiffness adjusting miniature actuator module 230' can move the first cable 330a to the left, and the sliding cam 232 connected to the first cable 330a can move to the left and release contact with the locking part 234. At this time, the elastic force of the torsion spring formed on the rotation shaft of the locking part 234 rotates the locking part 234 counterclockwise, and the locking part 234 and the locking piece 222 formed on the upper end surface of the slider 220 are engaged with each other, thereby restricting the movement of the slider 220b.

[0251] At this time, by disposing a sliding cam 232 and a locking portion 234 for each elastic moving portion, it is possible to individually control the restraint of the first slider 220a, the second slider 220b, and the third slider 220c of each elastic moving portion.

[0252] According to yet another embodiment of the present invention, when a user presses the zeroth stiffness adjustment button 310a, the zeroth stiffness adjustment button switch 231a is pressed, and an electrical signal is transmitted to the stiffness adjustment unit 230 via wire or wireless. The transmitted electrical signal operates the stiffness adjustment miniature driver module 230', which can then drive the lock unit 234 itself. As a result, the stiffness adjustment miniature driver module 230' can individually control the restraint of the first slider 220a, the second slider 220b, and the third slider 220c of each elastic moving unit.

[0253] According to one embodiment of the present invention, when a user presses the first stiffness adjustment button 310b, the first stiffness adjustment button switch 231b is pressed, and an electrical signal is transmitted to the stiffness adjustment unit 230 via wired or wireless means. The transmitted electrical signal operates the stiffness adjustment miniature driver module 230', which then drives the lock unit 234. This embodiment may also be applied to the second stiffness adjustment button 310c and the third stiffness adjustment button 310d.

[0254] 33, a clutch unit on button switch 233' and a clutch unit off button switch 235' may be located on a clutch unit operation button switch board 231', and the clutch unit on button switch 233' may correspond to the clutch unit on button 233, and the clutch unit off button switch 235' may correspond to the clutch unit off button 235. Specifically, when the clutch unit on button 233 is pressed, the clutch unit on button switch 233' is pressed, and an electrical signal is transmitted to the clutch operation compact driver module 270' via wired or wireless means. The clutch operation compact driver module 270' operates according to the transmitted electrical signal, and the clutch operation compact driver module 270' can drive the ratchet gear 270. More specifically, the clutch operation miniature driver module 270' can rotate the ratchet gear 270, and the rotation of the ratchet gear 270 controls the gear engagement between the ratchet gear 270 and the gear train part 252, thereby restricting or releasing the rotation of the second fixed part 250.

[0255] 34 is pressed, the clutch unit off button switch 235' is pressed, and an electrical signal is transmitted to the clutch operation compact driver module 270' via wire or wireless, and the clutch operation compact driver module 270' operates according to the transmitted electrical signal, thereby driving the ratchet gear 270. More specifically, the clutch operation compact driver module 270' can rotate the ratchet gear 270, and the rotation of the ratchet gear 270 controls the gear engagement between the ratchet gear 270 and the gear train unit 252, thereby restricting or releasing the rotation of the second fixed unit 250.

[0256] The scope of the present invention is not limited to the above-described embodiments, but may be embodied in various forms within the scope of the appended claims. It is considered that the scope of the claims of the present invention includes various modifications that can be made by anyone with ordinary skill in the art to which the invention pertains without departing from the gist of the present invention as claimed in the claims. [Explanation of symbols]

[0257] 110: Upper wearing part 120: Lower wearing part 122: Wearing part 124:Connection part 200: Waist support 205: First elastic member 208: Second elastic member 210: Mobile unit 212: Laura 220: Slider 222: Locking piece 230: Rigidity adjustment part 230': Small drive module for rigidity adjustment 231: Stiffness adjustment button switch board 231': Clutch operation button switch board 231a: 0th stiffness adjustment button switch 231b: First stiffness adjustment button switch 231c: Second stiffness adjustment button switch 231d: Third stiffness adjustment button switch 232: Sliding Cam 233: Clutch on button 233': Clutch on button switch 234: Rock Club 235: Clutch off button 235': Clutch off button switch 250:Second fixed part 252: Gear train section 260: 1st fixed part 270: Ratchet Gear 270': Small drive module for clutch operation 290: Housing 310: Stiffness adjustment button 320: Clutch operation button 330: Cable 330a: Cable 1-1 330b: Cable 1-2 330c: Second cable 350: Wire 400: First operation target part 440': Second operation target part 401: Operating device 410: Wire 420: Actuator 500: Wearer's motion sensor user interface 500: Wearer movement reporting user interface 500': Wearer's motion analysis user interface 501: User interface for measuring waist flexion angle 501': X-axis time, y-axis waist flexion angle graph user interface 502: User interface for measuring waist twisting angle 502': X-axis time, y-axis waist torsion angle graph user interface 503: User interface for measuring lumbar lateral bending angle 510: Wearer's waist L5 / S1 joint 511: Center of gravity of the wearer's upper body and heavy objects 512: Muscle Distance Vector 520: User interface for determining the wearer's waist injury risk 521: User interface for providing information on the wearer's work pace 522: User interface for providing information on the wearer's work balance 523: User interface for providing information on the wearer's lower back injury risk 530: User interface for providing information on the total number of movements of the wearer per day 531: User interface for providing information on the wearer's safe operation ratio 532: User interface for providing information on the wearer's daily load reduction amount 533: User interface for providing information on wearable robot wearing time 534: User interface for providing wearer's daily safety score information 535: User interface for providing information on the wearer's daily excessive waist bending ratio 536: User interface for providing information on the wearer's daily long-term waist flexion ratio 537: User interface for providing information on the wearer's daily waist bending ratio 538: User interface for providing information on the wearer's daily waist twisting ratio

Claims

1. A wearable robot that assists lower back muscle strength, an upper wearing part worn on the upper body; a waist strength support part that can be fixed to the upper wearing part; a lower wearing part connected to the lower end of the waist muscle strength support part; Including, The waist muscle strength assisting portion is a housing that can be secured to the upper wearing part; a plurality of elastic members arranged in series or parallel inside the housing; a moving part connected to a lower part of the elastic member and connected to the lower wearing part to slide up and down; a rigidity adjusting unit that adjusts the rigidity of the elastic member; Including, Wearable robot.

2. the plurality of elastic members of the waist muscle strength assisting portion further include a first elastic member and a second elastic member, and a slider connecting the first elastic member and the second elastic member; an upper end of the first elastic member is fixed to the housing; The lower end is fixed to the slider, an upper end of the second elastic member is fixed to the slider; The lower end is fixed to the moving part. The wearable robot according to claim 1 .

3. The elastic modulus value of the second elastic member is greater than the elastic modulus value of the first elastic member. The wearable robot according to claim 2 .

4. A locking piece is formed on the upper end surface of the slider in the direction of movement of the slider, The stiffness adjustment unit is a sliding cam that moves horizontally above the slider in the direction of movement of the slider; When the sliding cam moves, it contacts or releases the locking piece depending on whether or not it is in contact with the sliding cam. The slider further includes a locking portion that restricts or releases the movement of the slider. The wearable robot according to claim 2 .

5. The stiffness adjustment unit is The slider further includes a cable connected to the slider. The slider further includes an operating device that moves the slider by pulling or releasing the cable. The wearable robot according to claim 4 .

6. A wearable robot that assists lower back muscle strength, an upper wearing part worn on the upper body; a waist muscle strength support part fixed to the upper wearing part; a lower wearing part connected to the lower end of the waist muscle strength support part, a wire that generates a supporting force for supporting a wearer; a moving part connected to a lower end of the wire and connected to the lower wearing part, and configured to be slidable in a vertical direction; an actuator connected to an upper end of the wire to control the length of the wire; The supporting force is configured to have a value corresponding to a value obtained by multiplying the sum of the amount of elongation of the wire generated by the actuator and the amount of elongation of the wire generated by the wearer by the elastic modulus of the wire; A wearable robot that assists lower back muscle strength.

7. The wearable robot includes: The device further includes a posture recognition sensor that is built into the waist muscle strength assisting portion and measures at least one of the wearer's waist flexion angle, waist twist angle, and waist inclination angle. The wearable robot for assisting waist muscle strength according to claim 6.

8. The posture recognition sensor coupled to a user device or a communications network via a wired or wireless connection; configured to transmit at least one of the measured hip flexion angle, hip torsion angle, and hip tilt angle to a server; The wearable robot for assisting waist muscle strength according to claim 7.

9. A wearable robot that assists lower back muscle strength, an upper wearing part worn on the upper body; a waist muscle strength support part fixed to the upper wearing part; a lower wearing part connected to the lower end of the waist muscle strength support part, The waist muscle strength assisting portion is a housing fixed to the upper wearing part; a plurality of elastic members arranged in series or parallel inside the housing; a moving part connected to lower portions of the plurality of elastic members and connected to the lower wearing part, and configured to be slidable in a vertical direction; a stiffness adjusting unit that adjusts the stiffness of the plurality of elastic members, The wearable robot includes: a clutch portion that limits a downward movement range of the moving portion; The clutch portion is a wire wound horizontally around the moving part and extending upward and to the left and right; a first fixing portion that fixes one end of the wire; a second fixing portion that fixes the other end of the wire by winding it in a circumferential direction, The second fixed portion is provided with a reel spring mounted on a rotating shaft for allowing elastic rotation. A wearable robot that assists lower back muscle strength.

10. In a wearable robot operation device that assists the waist muscles that operate a first operation target portion and a second operation target portion, an operating device housing; a plurality of first cables, one end of which is connected to the first operation target portion and the other end of which is fixed to the operation device housing; a second cable having one end connected to the second operation target portion and the other end fixed to the operation device housing; a stiffness adjustment button for tensioning or loosening the first cables connected to the first operation target portion; a clutch unit actuation button for pulling or loosening the second cable connected to the second operation target unit, The stiffness adjustment button is a pressure applying unit that applies pressure to the plurality of first cables, Operating device.

11. The operating device housing includes: an upper support and a lower support; The upper support portion and the lower support portion are the first cables are spaced apart from one another along a longitudinal direction of the first cables; The pressure applying unit is disposed between the upper support and the lower support; The operating device according to claim 10.

12. an operating lever that slides in a direction parallel to the longitudinal direction of the second cable, The position of the operating lever is limited to a position where the operating lever moves in a direction in which the second cable is pulled. The operating device according to claim 10.

13. The clutch section operating button is a clutch section actuation button hook that limits the position of the operating lever at a position where the operating lever moves in a direction pulling the second cable, The operating device according to claim 12.

14. The clutch section operating button is a release button for moving the clutch section operating button hook in a direction to release the restraint of the operating lever, The operating device according to claim 13.

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