Wearable robot, method and system for assisting motion using a state trajectory memory buffer

Abstract

To provide a motion assistance method and system that can immediately respond to sudden changes in the user's movements. [Solution] The present invention relates to a wearable robot, and the wearable robot according to the present invention includes a first fixing part attached to a body part on one side of a joint, a second fixing part attached to a body part on the other side of the joint, a drive unit connected to the first fixing part, and a connecting member that connects the drive unit and the second fixing part and transmits the driving force provided from the drive unit to the second fixing part for the movement of the joint, wherein the connecting member is characterized in that its length is adjusted in accordance with the distance between the drive unit and the second fixing part which changes according to the magnitude of the movement of the joint, and includes a plurality of members arranged in a line and an interlocking part that connects the plurality of members so that the plurality of members interlock with each other, and the drive unit includes a drive that generates power for auxiliary force.

Description

Technical Field

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

Background Art

[0002] Wearable robots have been developed since the 1960s. For high-load and high-risk workers, wearable robots for muscle strengthening for muscle strengthening and body protection, for the elderly and patients to assist behavior for rehabilitation and posture correction, and for the disabled, prosthetic legs, prosthetic hands, etc. that replace body functions have been developed.

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

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

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

[0006] Among the various types of wearable robots, those that assist the wearer's walking have been clinically proven to have effects beyond simply assisting walking, such as improving walking efficiency, preventing falls, correcting gait, and reducing joint stress. Since walking is the most common human activity, the value of wearable robots that assist walking is highly regarded.

[0007] However, in order to assist walking, a highly efficient movement that has evolved and optimized in humans, the device must be even lighter while providing significant assistance. Furthermore, since it must not restrict the range of motion of the human body's joints, it must minimize inconvenience when worn, and therefore be able to provide assistance not only for walking characteristics (walking, climbing stairs, running) but also for a variety of other movements.

[0008] For wearable robots to become usable by the general public, not just the elderly and those with illnesses, the technologies mentioned above must be further advanced.

[0009] In the case of such wearable assistive devices, the main form typically includes a battery and controller, a main unit worn on the user's back, joint drivers for driving each joint, and support units connected to each joint driver to support the user's thighs.

[0010] In the case of such wearable assistive devices, joint drivers are positioned near the user's joints, and assistive forces in the form of auxiliary torque are provided to the user's thighs in accordance with the user's walking motion, thereby assisting the user's walking.

[0011] Assuming the user walks in the x-axis direction in three-dimensional coordinate space, the joint drive mechanism may be designed to rotate around a y-axis that intersects the x-axis direction (the walking direction of the hip joint) and the z-axis direction (the perpendicular direction) to provide assistive force.

[0012] In other words, the joint drive unit employs a rotary motor type drive unit that, when the user walks, rotates around the y-axis corresponding to the direction of joint rotation to provide driving force.

[0013] In the case of an exoskeleton lower body assist device, a joint drive is provided on the outside of the hip joint, which generates a drive torque in the y-axis direction and can transmit the assistive force to the user's thigh via a thigh support unit that covers the user's thigh.

[0014] Unlike motor-driven devices, the human hip joint can perform rotational movements around the y-axis, as well as abduction or adduction of the thigh around the x-axis and twisting around the z-axis. The rotation center of the hip joint, which can be defined as the upper end of the femur, is located inside the body. However, if the rotation center of the joint of a wearable assistive device does not coincide with the rotation center of the hip joint, it places a load on the user's joint, leading to problems such as discomfort or pain in the joint, or a reduction in the range of motion of the joint.

[0015] Furthermore, existing wearable assistive devices primarily consist of a structure in which a waist belt is connected to a drive unit. In this case, the drive unit is either integrally connected to the waist-worn part or connected in a way that makes it difficult to put on and take off, resulting in inconvenience in storing, wearing, and using the device.

[0016] Furthermore, existing wearable assistive devices primarily consist of a thigh force transmission plate fixed to a thigh frame, with straps connecting to the thigh force transmission plate for wear. In this case, the thigh frame is either integrally connected to the thigh mounting section, or the connection is such that putting on / taking off the device is difficult, making storage, wearing, and using the device inconvenient.

[0017] Conventional technologies, such as those described in U.S. Patent US10,350,129, "Walking Assistance Device," recognize the user's movement speed, cadence, phase, etc., and then provide assistance in accordance with the user's movements.

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

Prior Art Documents

Patent Documents

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

Summary of the Invention

Problems to be Solved by the Invention

[0020] An object of the present invention is to provide a wearable robot that can assist the walking motion of a user in order to solve such conventional problems.

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

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

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

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

[0025] Also, to provide a wearable robot in which each wearing part of the wearable robot is manufactured in a structure that is easy to wear and remove, easy to store, and has usability in use and usability in wearing.

[0026] Also, it is to provide an operation assistance method and system.

[0027] Also, it is to provide an operation assistance method and system that provide stable assistance force.

[0028] Also, it is to provide an operation assistance method and system that provide assistance force adapted to changes in the user's operation.

[0029] Also, it is to provide an operation assistance method and system that provide assistance force adapted to changes in the user's operation without delay.

[0030] Also, it is to provide a safety mode for the safety of the user when the wearable robot is unintentionally attached or detached between the drive unit and the wearing unit.

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

Means for Solving the Problems

[0032] The above object is achieved by a wearable robot according to an embodiment of the present invention, including a first fixing part fixed to one body part of a joint part, a second fixing part fixed to the other body part of the joint part, a drive part fixed to the first fixing part, and a connecting member connecting the drive part and the second fixing part to transmit the driving force provided from the drive part to the second fixing part for the movement of the joint part. The connecting member includes a plurality of unit members whose length is adjusted corresponding to the distance between the drive part and the second fixing part that changes according to the magnitude of the operation of the joint part, and is arranged in a row to form the connecting member, and an interlocking part that connects the plurality of unit members so that the plurality of unit members interlock with each other. [[ID=三十一]]

[0033] Herein, the drive unit further includes rotary joints that are connected to both the left and right sides and rotate in the front-rear direction about a rotation axis in the left-right direction, and the connecting member can be hinge-connected to the lower end of the rotary joint so as to rotate in the left-right direction about a rotation axis in the front-rear direction.

[0034] Here, the drive unit includes two drive units and a main body housing that houses the drive units, and the connecting members on both sides are able to rotate by receiving power from the drive units.

[0035] Here, the drive unit includes a single drive, a drive frame that surrounds and houses the drive and rotates in a horizontal axial direction, and a main body housing that houses the drive and the drive frame. A connecting member located on one side of the main body rotates upon receiving power transmission from the drive, and a connecting member located on the other side of the drive unit can rotate by being connected to the drive frame.

[0036] Here, the drive unit may further include a bearing mounted on the outside of the drive frame that rotates the drive frame relative to the main housing.

[0037] This may further include a first fixing part for fixing the drive unit to the waist and a second fixing part for fixing the connecting member to the thigh.

[0038] Here, the connecting member is formed of multiple links and can be bent.

[0039] Here, the upper end of the connecting member can be hinged to rotate left and right around a rotation axis in the front-rear direction.

[0040] Here, the connecting member may include a first member supported by the drive unit, a second member movably connected to the first member, and a third member movably connected to the second member and supported by the second fixed unit.

[0041] Furthermore, a second slit may be formed on one surface of the second member to guide the movement of the third member, and a first slit may be formed on one surface of the first member that communicates with the second slit in a superimposed state with the second member.

[0042] Furthermore, the system may include an elastic member that elastically supports the second or third member in the contraction direction.

[0043] Furthermore, the frictional force of the second member relative to the first member and the frictional force of the third member relative to the second member can be set to be different.

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

[0045] Furthermore, the third member may further include a sliding pad that has a relatively larger frictional force than the roller and slides at the contact surface with the second member.

[0046] Furthermore, the connecting member may include a first length adjustment section and a second length adjustment section arranged in a line between the drive section and the second fixing section.

[0047] Furthermore, the length of the first length adjustment part may be adjusted within a portion of the range of motion of the joint, and the length of the second length adjustment part may be adjusted within the remaining portion of the range of motion of the joint that exceeds the aforementioned portion.

[0048] Furthermore, the connecting member may include a permanent magnet that can fix the position of the third member when it moves in a direction that expands on the second member.

[0049] Furthermore, the permanent magnet may include a first permanent magnet provided at the second end of the second member and a second permanent magnet provided at a position corresponding to the first permanent magnet of the third member.

[0050] The first end refers to the end portion of the first member or the second member in the direction of overlap when the first member 141 and the second member 142 are superimposed, and the second end refers to the end portion of the first member or the second member in the direction opposite to the direction of overlap.

[0051] Furthermore, the connecting member may further include an elastic member that is fixed to the third member, with one end fixed to the first member and the other end supported by the second member.

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

[0053] Furthermore, the interlocking section may include a first cable, one end of which is fixed to the first member and the other end to the third member, while being supported by the second end of the second member, and a second cable, one end of which is fixed to the first member and the other end to the third unit member, while being supported by the first end of the second member.

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

[0055] Furthermore, the interlocking section may include a rack arranged along the length of the first member, a pinion arranged at the contraction end of the second member and engaging with the rack, a first pulley that rotates together with the pinion, a second pulley arranged at the expansion end of the second member, and a belt wound around the first and second pulleys, with both ends fixed to the third member.

[0056] Furthermore, a second slit may be formed on one side of the second member to guide the movement of the third member, and a first slit may be formed on one side of the first member that communicates with the second slit in a superimposed state with the second member.

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

[0058] Furthermore, the waist-worn frame preferably includes a detachable button, a lower mechanism, and an upper mechanism, and one side of the main body housing may include a lower end hook and an upper hook.

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

[0060] Furthermore, the strap portion may include a second button that connects to one end of the strap portion.

[0061] Furthermore, both ends of the strap portion can be connected to both ends of the plate.

[0062] Furthermore, the length of the strap can be adjusted at the connecting points at both ends, and the strap can be separated from the plate.

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

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

[0065] Furthermore, the stage in which the aforementioned operating status values ​​are stored can only store a predetermined number of operating status values ​​using the FIFO (First In First Out) method.

[0066] Furthermore, the operating state value may be a sensing value obtained by measuring the operating state at regular time intervals, or a converted value of the sensing value using a pre-set mathematical formula.

[0067] Furthermore, in the step of determining the auxiliary force, the auxiliary force can be determined by the sum of the weighted values ​​of the selected operating state values.

[0068] Furthermore, in the step of selecting at least one operating state value, it is possible to select an operating state value stored at a predetermined position from among the operating state values ​​stored in the state trajectory memory buffer.

[0069] The process may further include the steps of: calculating the state trajectory travel distance by summing the differences between the operation state values ​​sequentially stored in the state trajectory memory buffer before selecting the at least one operation state value; and changing the predetermined position according to the state trajectory travel distance in the step of selecting the at least one operation state value.

[0070] Furthermore, the larger the state trajectory movement distance, the more the predetermined position can be changed from the state trajectory memory buffer towards the first storage position of the memory array, and the smaller the state trajectory movement distance, the more the predetermined position can be changed towards the last storage position of the memory array.

[0071] Furthermore, the operating state value may be a converted value obtained by converting the sensed hip angle value q0 using the conversion formula S0 = Asin(q0 / 2), where A may be a constant.

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

[0073] Furthermore, the state trajectory memory buffer may be a finite-sized memory buffer that stores the operating state values ​​in a FIFO (First In First Out) manner.

[0074] Furthermore, the state trajectory memory buffer can store operational state values ​​for the user's movements over the past few seconds.

[0075] Furthermore, the determination unit selects an operating state value stored in a predetermined position in the memory array within the state trajectory memory buffer. However, it can also change the predetermined position in response to changes in the operating state value stored in the state trajectory memory buffer and select an operating state value stored in the changed position.

[0076] Furthermore, the operation assistance program according to one embodiment of the present invention may be a program stored on a medium in which the program is coupled with hardware to execute each step of the operation assistance method according to one embodiment of the present invention.

[0077] Furthermore, the safety mode according to one embodiment of the present invention may include steps of detecting the operating angle and operating speed of the drive unit, and stopping the motor rotation of the drive unit to activate the safety mode. [Effects of the Invention]

[0078] According to one embodiment of the present invention, a wearable robot is provided that can be made to be adjustable in length in order to assist the user in walking.

[0079] Furthermore, it has the advantage of high power transmission efficiency, allowing strong assistive force to be transmitted to both feet using a single drive unit.

[0080] Furthermore, the connecting members can slide, bend in a link structure, or rotate left and right around a front-to-back rotation axis, adapting to the wearer's diverse movements without restricting them, resulting in superior comfort and assistance power transmission.

[0081] Furthermore, a wearable robot is provided that can offer a large stroke while minimizing the length of the contracted state.

[0082] Furthermore, wearable robots that can minimize frictional force will be provided.

[0083] Furthermore, a wearable robot is provided that can not only provide elastic force to a large number of unit members using a single elastic member, but also allow some of the unit members constituting the connecting member to be prevented from moving at will.

[0084] Furthermore, the connecting members attached to the front or back of the thigh rotate in the front-to-back direction around a left-to-right rotation axis, which has the advantage of directly transmitting force in the walking direction and thus having a high force transmission effect.

[0085] Furthermore, the reduced volume of the wearable robot makes it easier to store, shortens the time required to put on and take off the wearable robot, and ensures ease of use and wearability.

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

[0087] Furthermore, the operation assistance method and system according to one embodiment of the present invention have the effect of providing adaptive assistance to changes in the user's movements.

[0088] Furthermore, the motion assistance method and system according to one embodiment of the present invention have the effect of providing adaptive assistance without delay to changes in the user's movements by immediately reflecting changes in movements without pattern recognition of the user's movements.

[0089] Furthermore, even in cases of unintentional detachment between the drive unit and the wearable unit, the user's safety can be ensured.

[0090] The wearable robot according to the present invention includes a drive unit that drives the wearable robot in either an exercise mode or an assist mode, and a charging circuit unit that performs charging while the robot is driven in the exercise mode, wherein the charging circuit unit includes a battery unit, a switching unit that turns on and off in accordance with the drive mode, a diode connected in parallel with the switching unit, and a motor unit that generates electrical energy based on rotational motion while the robot is driven in the exercise mode.

[0091] Furthermore, when operating in the auxiliary mode, the switching unit is turned on, and the battery unit can supply power to the motor unit.

[0092] Furthermore, the charging circuit may further include first to fourth switches connected to the motor, and the first to fourth switches may be implemented using a variety of elements such as MOSFETs (Metal Oxide Semiconductor Field Effect transistors), BJTs (Bipolar Junction Transistors), SiC MOSFETs, and IGBTs (Insulated Gate Bipolar Mode Transistors).

[0093] Furthermore, when driven in the aforementioned motion mode, the switching unit is turned off, and the electrical connection between the diode and the motor unit may be determined by turning the first to fourth MOSFETs on and off.

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

[0095] Furthermore, when the diode and the motor unit are electrically connected, the boosted electrical energy generated by the motor unit may be transmitted to the battery unit via the diode.

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

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

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

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

[0100] Furthermore, the motor unit can automatically generate a drive mode selection signal based on its rotational motion, and the charging circuit unit can turn the switching unit on and off based on the drive mode selection signal.

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

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

[0103] Furthermore, it may include a coupling portion for physical connection with the wearable robot, and a coupling portion for electrical connection between the motor portion and the charging circuit portion of the wearable robot.

[0104] Furthermore, when operating in the auxiliary mode, the switching unit is turned on, allowing the battery unit to supply power to the motor unit of the wearable robot.

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

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

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

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

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

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

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

[0112] Furthermore, the charging circuit may further include a capacitor connected in parallel with the battery. [Brief explanation of the drawing]

[0113] [Figure 1] This is a perspective view of a wearable robot according to one embodiment of the present invention.

[0114] [Figure 2] This is a perspective view of a wearable robot equipped with a waist-mounted part (first fixing part) and a thigh-mounted part (second fixing part) according to one embodiment of the present invention.

[0115] [Figure 3] Figure 1 shows the modified wearable robot in a worn state.

[0116] [Figure 4] This shows yet another wearing configuration of a wearable robot according to one embodiment of the present invention.

[0117] [Figure 5] This is a separated perspective view of the drive unit of a wearable robot according to one embodiment of the present invention.

[0118] [Figure 6] This is a diagram illustrating the sliding motion of a connecting member according to one embodiment of the present invention.

[0119] [Figure 7] This is a diagram illustrating the link operation of a connecting member according to one embodiment of the present invention.

[0120] [Figure 8] This is a diagram illustrating the left-right hinge movement of a connecting member according to one embodiment of the present invention.

[0121] [Figure 9] This is a diagram illustrating the walking motion of a wearable robot according to one embodiment of the present invention.

[0122] [Figure 10] This diagram illustrates the operation of a wearable robot according to one embodiment of the present invention in response to the wearer's movements and posture.

[0123] [Figure 11] This shows yet another wearing configuration of a wearable robot according to one embodiment of the present invention.

[0124] [Figure 12] This shows yet another wearing configuration of a wearable robot according to one embodiment of the present invention.

[0125] [Figure 13] This shows yet another wearing configuration of a wearable robot according to one embodiment of the present invention.

[0126] [Figure 14]This is an excerpted perspective view of a connecting member in a wearable robot according to one embodiment of the present invention.

[0127] [Figure 15] This is an exploded perspective view of a connecting member in a wearable robot according to one embodiment of the present invention.

[0128] [Figure 16] This is an exploded perspective view of section "A" in Figure 15.

[0129] [Figure 17] Figure 15 is an exploded perspective view of the third component shown.

[0130] [Figure 18] This is a diagram showing the operating state of a wearable robot according to one embodiment of the present invention.

[0131] [Figure 19] This is a diagram showing the operating state of a wearable robot according to one embodiment of the present invention.

[0132] [Figure 20] This is a diagram showing the operating state of a wearable robot according to one embodiment of the present invention.

[0133] [Figure 21] This is a diagram showing the operating state of a wearable robot according to one embodiment of the present invention.

[0134] [Figure 22] This is a diagram showing the operating state of a wearable robot according to one embodiment of the present invention.

[0135] [Figure 23] This is a diagram showing the operating state of a wearable robot according to one embodiment of the present invention.

[0136] [Figure 24]This is a diagram illustrating the operation of a connecting member according to a third embodiment of the present invention.

[0137] [Figure 25] This is a diagram showing the operation of a connecting member according to the fourth embodiment of the present invention.

[0138] [Figure 26] This is an exploded perspective view of a connecting member in a wearable robot according to one embodiment of the present invention.

[0139] [Figure 27] This is a cross-sectional view of a connecting member in a wearable robot according to one embodiment of the present invention.

[0140] [Figure 28] This is an enlarged view of section "A" in Figure 27.

[0141] [Figure 29] This is an enlarged view of section "B" in Figure 27.

[0142] [Figure 30] This is a diagram showing the operating state of a wearable robot according to one embodiment of the present invention.

[0143] [Figure 31] This is a diagram showing the operating state of a wearable robot according to one embodiment of the present invention.

[0144] [Figure 32] This is a diagram showing the operation of a connecting member according to the sixth embodiment of the present invention.

[0145] [Figure 33] This is a perspective view showing the waist belt and waist-worn frame connected.

[0146] [Figure 34] This is a diagram illustrating the process of attaching and detaching the waist-mounted portion of a wearable robot.

[0147] [Figure 35] This is a diagram illustrating the process of attaching and detaching the waist-mounted portion of a wearable robot.

[0148] [Figure 36] This is a diagram illustrating the process of attaching and detaching the waist-mounted portion of a wearable robot.

[0149] [Figure 37] This is a perspective view of the thigh-mounted portion of a wearable robot according to one embodiment of the present invention.

[0150] [Figure 38] Figure 37 is an exploded perspective view of the thigh area where the garment is worn.

[0151] [Figure 39] This is a diagram illustrating the process of separating and joining the plate and strap sections.

[0152] [Figure 40] This is a diagram showing how the first button operates within the plate.

[0153] [Figure 41] This is a diagram illustrating the process of separating and joining the plate and the connecting member.

[0154] [Figure 42] This is a drawing showing an elastic member connecting the waist-worn portion and the thigh-worn portion in a wearable robot according to one embodiment of the present invention.

[0155] [Figure 43] This is a drawing showing an elastic member connecting the waist-worn portion and the thigh-worn portion in a wearable robot according to one embodiment of the present invention.

[0156] [Figure 44]This is a drawing showing an elastic member connecting the waist-worn portion and the thigh-worn portion in a wearable robot according to one embodiment of the present invention.

[0157] [Figure 45] This is a perspective view of an exemplary motion assist device.

[0158] [Figure 46] Figure 1 is a diagram showing how the assistive device is worn.

[0159] [Figure 47] This is a schematic diagram of a motion assistance system according to one embodiment of the present invention.

[0160] [Figure 48] This diagram illustrates the rules by which operating state values ​​are stored and updated in the state trajectory memory buffer.

[0161] [Figure 49] This diagram shows the mapping relationship between the operating state values ​​stored in the state trajectory memory buffer and the user's actions.

[0162] [Figure 50] This is a sequence diagram of an operation assistance method according to one embodiment of the present invention.

[0163] [Figure 51] This diagram shows the assistive force generated when a single motion state value is selected during walking.

[0164] [Figure 52] This diagram shows the auxiliary force generated when a single operating state value is selected during a stopping operation.

[0165] [Figure 53] This diagram shows the assistive force generated when a single motion state value is selected during walking after stopping.

[0166] [Figure 54] This diagram shows the assistive force generated when two motion state values ​​are selected during walking.

[0167] [Figure 55] This diagram shows the auxiliary force generated when two operating state values ​​are selected during a stopping operation.

[0168] [Figure 56] This diagram shows the assistive force generated when two motion state values ​​are selected during walking after stopping.

[0169] [Figure 57] This is a sequence diagram of an operation assistance method according to one embodiment of the present invention.

[0170] [Figure 58] This diagram illustrates the method for calculating the distance traveled along the state trajectory.

[0171] [Figure 59] This diagram shows the relationship between abrupt changes in operation and the timing of the output of auxiliary force when the selected position of the operating state value is fixed.

[0172] [Figure 60] This diagram illustrates the relationship between rapid changes in operation and the timing of the output of auxiliary force when the selected position of the operating state value is adaptively changed.

[0173] [Figure 61] This diagram shows the results of generating positive and negative power from walking and running movements when the position of the selected operating state value is fixed and when it is adaptively changed.

[0174] [Figure 62] This is a sequence diagram of a method for providing a safety mode according to one embodiment of the present invention.

[0175] [Figure 63]This document illustrates various forms of wearable robots to which the drive modes according to the present invention may be applied.

[0176] [Figure 64] This shows a boost converter circuit.

[0177] [Figure 65] Figure 64 is a graph showing the inductor current and voltage when the boost converter shown is switched on and off.

[0178] [Figure 66] This shows the charging circuit section of a wearable robot according to the present invention.

[0179] [Figure 67] This shows the current flow depending on the drive mode.

[0180] [Figure 68] This diagram illustrates the operation of the charging circuit when the wearable robot according to the present invention operates in auxiliary mode.

[0181] [Figure 69] This diagram illustrates the operation of the charging circuit when the wearable robot according to the present invention is operating in exercise mode.

[0182] [Figure 70] This is a schematic diagram illustrating a method for charging external devices using electrical energy generated by a wearable robot according to the present invention.

[0183] [Figure 71] An embodiment of the wearable robot charging device according to the present invention is shown. [Modes for carrying out the invention]

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

[0185] The advantages and features of the present invention, and methods for achieving them, will become clearer with reference to the embodiments described below in detail with the accompanying drawings. However, the present invention is not limited to the embodiments disclosed below and may be embodied in a variety of different forms, provided that these embodiments are made complete to ensure the complete disclosure of the present invention and to fully inform a person ordinary skill in the art to which the invention pertains, and the present invention is defined solely by the scope of the claims. Throughout the specification, the same reference numerals refer to the same components.

[0186] The present invention will be described below with reference to the drawings illustrating the wearable robot according to the present invention.

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

[0188] Overall structure of a wearable robot according to one embodiment of the present invention As shown in the drawings, a wearable robot according to one embodiment of the present invention includes a first fixing part 110, a second fixing part 120, a drive unit 130, and a connecting member 140. The first fixing part 110 of the wearable robot according to one embodiment of the present invention may be a waist-worn part. Therefore, in the following description, drawing number 110 will be referred to as the first fixing part or the waist-worn part.

[0189] For the sake of explanation, the x-axis direction is defined as the direction in front of or walking of the user wearing the wearable robot, the y-axis direction is defined as the direction to the sides of the user wearing the wearable robot, and the z-axis direction is defined as the vertical direction.

[0190] In one embodiment of the present invention, the first fixing portion 110 may be fixed to the waist portion located above the user's hip joint, and the second fixing portion 120 may be fixed to the thigh portion located below the user's hip joint, and a connecting member 140 connecting the drive unit 130 provided on the first fixing portion 110 side and the second fixing portion 120 can rotate about the y-axis by the drive unit 130 and provide an assisting force to the movement of the thigh portion around the hip joint.

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

[0192] The drive unit 130 is provided on the first fixed unit 110 and may consist of a motor or actuator for providing rotational torque about the y-axis, and may include a reduction gear for increasing the torque.

[0193] The drive unit 130 includes a drive unit 131 that generates power for auxiliary force and may be mounted on the front or back of the waist. The drive unit 130 may also be equipped with a battery 136 that supplies power to the drive unit 131, but as shown in Figure 3, the battery 136 may be included, and a control board 137 may be formed separately from the drive unit 130 and mounted on another part of the waist.

[0194] The first fixing part 110 is made up of a regular belt (or scrap metal) and a buckle (or hook-and-loop fastener) to secure the drive unit 130, and can be wrapped around the waist to attach the drive unit 130 to the front of the wearer's waist (see Figure 20) or the back of the waist (see Figure 4). At this time, the length around the first fixing part 110 can be adjusted to fit the wearer's body size.

[0195] When the drive unit 130 is attached to the rear of the waist, the connecting member 140 can be located behind (see Figure 4) or in front of (see Figure 11) the thigh, and is not limited to these positions. As shown in Figure 11, when the connecting member 140 is located in front of the thigh, as shown in Figures 12 and 13, the connecting member 140 can be connected to the drive unit 130 with the portion that connects to the drive unit 130 extended.

[0196] The connecting members 140 may be rotatably connected to both sides of the device drive unit 130, and each may extend along the thighs and be attached to the thighs. In this case, the connecting members 140 may be positioned in front of or behind the thighs according to the fixed position of the device drive unit 130. The connecting members 140 can rotate in the front-rear direction around their pivot axis by the operation of the drive unit 131 of the drive unit 130, thereby transmitting auxiliary force to the thighs.

[0197] The connecting member 140 may be formed in the shape of a long rod, and its inner surface that contacts the thigh may be formed as a curved surface according to the shape that contacts the thigh so that it can be tightly fitted to the thigh. Alternatively, as in the illustrated embodiment, the connecting member 140 may be rotatably connected to the drive unit 130 and include an extension frame 145 that extends for a long distance with a square or circular cross-section, and a fixing frame 146 that is fixed to the lower end of the extension frame 145 and has a relatively large contact area with the thigh, with its inner surface formed as a curved surface according to the shape that contacts the thigh, and to which a second fixing part 120 that fixes the connecting member 140 to the thigh is connected.

[0198] The second fixing part 120 is connected to the lower end of the connecting member 140, allowing the lower end of the connecting member 140 to be fixed to the thigh. The second fixing part 120 may be composed of a belt (or strap) and a buckle (or hook-and-loop fastener), similar to the first fixing part 110. In the drawing, the second fixing part 120 is formed at the lower end of the connecting member 140, but it may be formed at other locations or additionally at locations other than the lower end of the connecting member 140.

[0199] The device may also include a motion sensing sensor 147 that detects the wearer's thigh movement or posture. The control board 137 receives signals from the sensing sensor to predict the wearer's movement, thereby controlling the driver 131 of the drive unit 130 to drive the connecting member 140 and assist the thigh movement.

[0200] The motion sensing sensor 147 may be an inertial sensor, an angle sensor, or a limit sensor. The motion sensing sensor 147 is mounted inside the main body housing 134 and can sense the angle of the wearer's upper body. The motion sensing sensor 147 can also be mounted on one or both sides of the rotating joint portions 170a, 170b and can measure the front-to-back angle of each of the wearer's legs. Alternatively, after sensing only the angle of one leg, the angle of the other leg can be calculated via the relative angle of both legs. The motion sensing sensor 147 can also be mounted on the connecting member 140 and can sense the front-to-back and left-to-right rotation angles of each of the wearer's legs. The sensed left-to-right rotation angle may be used when calculating information regarding the wearer's balance.

[0201] Furthermore, the motion sensing sensor 147 can be an encoder, resolver, Hall sensor, etc., capable of measuring the amount and direction of motor rotation. The motion sensing sensor 147 can sense the rotation of the motor shaft and measure the rotational variation. In addition, sensors capable of measuring acceleration and angular velocity can be placed in the second fixed part 120.

[0202] Conventional wearable robots that assist walking typically have drive units (motors) on both sides of the hip joint, with the battery and control board located at the waist. The assisting force is transmitted from the drive units on both sides of the hip joint to the sides of the thighs via connecting members. However, because the connecting members are positioned on the sides of the thighs, it is difficult for them to effectively transmit the assisting force to the thighs.

[0203] However, in one embodiment of the present invention, the drive unit 130, including the drive unit 131, is positioned in front of or behind the waist, and the connecting member 140 is positioned in the front-to-back direction in which the thigh moves during walking, so that the connecting member 140 can effectively transmit the assisting force of the connecting member 140 to the thigh. Therefore, since the assisting force can be transmitted more effectively than in existing structures, a drive unit 131 with relatively little power can be used, and furthermore, as will be described later, it is possible to transmit the assisting force to both thighs using a single drive unit 131, so the weight of the device can be reduced.

[0204] Referring to Figure 1, the connecting member 140 is configured such that one end is connected to the drive unit 130 and the other end is connected to the second fixed part 120, and while rotating by the drive unit 130, it transmits the driving force provided by the drive unit 130 to the second fixed part 120, and its length is adjusted to correspond to the distance between the drive unit 130 and the second fixed part 120, which is changed according to the magnitude of the movement of the joint. In a specific embodiment, each of the connecting members 140 on both the left and right sides is equipped with a rotary joint part 170a, 170b, and the rotary joint parts 170a, 170b are connected to both the left and right ends of the drive unit 130. Thus, the driving force that rotates the drive unit 130 around the y-axis can be directly transmitted to the connecting member 140. Such driving force can be transmitted to the second fixed part 120 via the connecting member 140.

[0205] Referring to Figure 15, such a connecting member 140 may include a first member 141, a second member 142, a third member 143, and an elastic member 144. One end of the first member 141 is connected to the drive unit 130. The second member 142 is movable along the length of the first member 141. The second member 142 may overlap the first member 141. According to one embodiment, the second member 142 may be inserted inside the first member 141. The entire second member 142 may be inserted inside the first member 141. The third member 143 may include a protrusion 143b. In addition, one end of the third member 143 is movable along the length of the second member 142, and the other end is fixed to the second fixing part 120. The elastic member 144 has both ends fixed to the first member 141 and the second member 142, respectively, and provides elastic force in the direction in which the first member 141 and the second member 142 overlap.

[0206] Furthermore, as shown in Figure 26, the system may include an interlocking unit 150 that moves the second member 142 in conjunction with the movement of the third member 143.

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

[0208] The second member 142 is a tubular length member into which the third member 143 can be inserted, and a second slit 142c for the movement of the connector is formed along the length on one surface. The openings at both ends of the second member 142 can be closed by the second-first end cap 142a and the second-second end cap 142b, respectively, thereby providing both ends of the second slit 142c in a closed state.

[0209] The second member 142 may be entirely inserted into the first member 141. Similarly, the third member 143 may be entirely inserted into the second member 142. This minimizes the length in the contracted state. It also offers excellent transportability and portability. Furthermore, because they completely overlap, their rigidity is complemented.

[0210] The first member 141 is a tubular length member into which a passage into which the second member 142 can be inserted is formed, and on one surface a first slit 141c is formed along the length direction that can communicate with the second slit 142c of the second member 142 when the second member 142 is inserted inside. The openings at both ends of the first member 141 can be closed by the first-first end cap 141a and the first-second end cap 141b, respectively, and the first-second end cap 141b, which is coupled to the end into which the second member 142 is inserted, has an opening that communicates with the first slit 141c, so that one end of the first slit 141c is open.

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

[0212] On the other hand, it is preferable that both ends of the connecting member 140 are rotatably connected to the drive unit 130 and the second fixing unit 120, respectively. For example, the first member 141 may be rotatably connected to the drive unit 130 via a first hinge shaft, and the third member 143 may also be rotatably connected to the second fixing unit 120 via a second hinge shaft. Furthermore, each of the connecting members 140 on both the left and right sides is provided with a rotary joint portion 170a, 170b, and the rotary joint portions 170a, 170b are connected to both the left and right ends of the drive unit 130. In this way, the driving force that rotates the drive unit 130 around the y-axis can be directly transmitted to the connecting member 140.

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

[0214] In another embodiment, the first length adjustment unit and the second length adjustment unit can operate sequentially. In yet another embodiment, the first length adjustment unit and the second length adjustment unit can operate in parallel.

[0215] The frictional force acting on the first member 141 during the movement of the second member 142 may be set to be relatively small compared to the frictional force acting on the second member 142 during the movement of the third member 143. This allows the first length adjustment unit and the second length adjustment unit of the connecting member 140 to operate sequentially as the distance between the drive unit 130 and the second fixing unit 120 changes due to the movement of the joint. For example, when the user is walking, the length is adjusted by the first length adjustment unit, and when the user sits down while walking, the length is adjusted by the second length adjustment unit, thus allowing for sequential operation. This minimizes the wearer's resistance during walking due to the movement between the second member 142 and the first member 141, where friction is low. On the other hand, when the range of motion of the hip joint is large, or when the frequency of movement is low, such as when sitting or climbing stairs, the third member 143 will move away from the second member. Therefore, by sequentially operating the first length adjustment unit and the second length adjustment unit, a wide range of length adjustments is possible, minimizing discomfort for the wearer.

[0216] On the other hand, the first and second length adjustment units do not necessarily have to operate sequentially; there may be a period of time during which their operation overlaps. Such embodiments are also included within the scope of the present invention. Furthermore, it is possible for the first and second length adjustment units to operate in parallel overall, and such embodiments are also included within the scope of the present invention. That is, while it is generally the case that the first length adjustment unit operates first, considering that body structures differ from person to person, as well as the magnitude and direction of the forces applied to each component constituting the connecting member, the first and second length adjustment units can operate organically. In this way, when the first and second length adjustment units operate in parallel, and the frictional force between the second member 142 and the first member 141 increases due to twisting during the wearing and operation of the wearable robot, the third member can move in parallel with the second member to reduce the wearer's resistance.

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

[0218] The first cable 151 plays a role in moving the second member 142 in the contraction direction in conjunction with the movement of the third member 143 as the third member 143 moves in the contraction direction, and the second cable 152 plays a role in moving the second member 142 in the expansion direction in conjunction with the movement of the third member 143 as the third member 143 as the expansion direction. The distance traveled by the second member 142 by the first cable 151 and the second cable 152 may be set to half the distance traveled by the third member 143.

[0219] Furthermore, a second pulley 142f for supporting the first cable 151 may be provided on the second-second end cap 142b connected to the expanded end of the second unit member 142, and a third pulley 142g for supporting the second cable 152 may be provided on the second-first end cap 142a connected to the contracted end of the second member 142.

[0220] The elastic member 144 has one end fixed to the 1-1 end cap 141a of the first member 141 and the other end fixed to the 2-2 end cap 142b of the second member 142. The elastic member 144 elastically deforms as the second member 142 moves in an expanding direction relative to the first member 141 due to an external force, and provides an elastic force that causes the second member 142 to move in a contracting direction while elastically restoring itself when the external force applied to the second member 142 is released. Such an elastic member 144 may take the form of a tensile spring or an elastic thread.

[0221] In one embodiment of the present invention, the elastic member 144 was described as connecting the first member 141 and the second member 142 and elastically supporting the second member 142 in the contraction direction. However, the invention is not limited to this, and even when the first member 141 and the third member 143 are connected and the third member 143 is elastically supported in the contraction direction, it would be possible to prevent the second member 142, which is connected to the third member 143 via the interlocking part 150, from moving in the expansion direction due to its own weight.

[0222] For example, the second-first end cap 142a, which is coupled to the end of the second member 142 that is inserted into the passage of the first member 141, may be provided with a plurality of rollers 142d that contact the upper inner wall surface and the lower inner wall surface of the first member 141, respectively, and a sliding pad 143a may be arranged on the outer surface of the third member 143, which has a relatively larger frictional force than the rollers 142d and slides on the contact surface with the second member 142.

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

[0224] In other words, when movement is performed within a small range (first region) similar to walking, the second member 142, which has relatively less frictional force than the third member 143, moves along the first member 141, thereby adjusting the length of the connecting member 140.

[0225] Furthermore, when performing movements covering a large range (second region), such as sitting or walking up stairs, the second member 142 moves along the first member 141 to adjust the length of the connecting member 140 within the range of motion belonging to the first region, and then, in the range of motion of the second region which exceeds the first region, the third member 143 moves along the second member 142 to adjust the length of the connecting member 140.

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

[0227] On the other hand, in one embodiment of the present invention, the length of the connecting member 140 was described as being adjusted by the linear reciprocating motion of the second member 142 and the third member 143, respectively. However, it is also possible to configure the connecting member 140 to be composed of a plurality of members that are rotatably connected to each other, and to adjust the length between both ends of the connecting member 140 while adjusting the rotation angle of the plurality of members according to the distance between the drive unit 130 and the second fixing unit 120.

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

[0229] As shown in Figure 34, the waist-worn frame 116 may include a lower mechanism 117a, an upper mechanism 117b, and a detachable button 118. On the other hand, one side of the main body housing 134 of the drive unit 130, which will be described later, may include a lower hook 134a and an upper hook 134b.

[0230] The lower mechanism 117a can be connected to the lower hook 134a. The upper mechanism 117b can be connected to the upper hook 134b. As a result, the waist-worn portion 110 and the drive unit 130 can be connected.

[0231] As shown in Figure 36, pressing the detachment button 118 allows the upper mechanism 117b and the upper hook 134b to be separated. This allows the lower mechanism 117a and the lower hook 134a to be easily separated, and the drive unit 130 and the waist-worn part 110 to be easily attached / detached.

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

[0233] As shown in Figure 38, the plate 126 may include a plate frame 127 and a first button 128. The plate frame 127 may include an opening 127a. Furthermore, the third member 143 may include a protrusion 143b. In this case, the opening 127a of the plate 126 can be connected to the protrusion 143b of the third member 143.

[0234] Pressing the first button 128 may separate the plate 126 from the third member 143. Pressing the second button 129 may separate the plate 126 from the strap portion 123. In this way, the plate 126 from the strap portion 123 or the plate 126 from the third member 143 can be easily separated, allowing the wearable robot to be easily attached and detached.

[0235] On the other hand, as shown in Figures 42 to 44, a wearable elastic member 148 may be placed between the waist wearable portion 110 and the thigh wearable portion 120. In this case, a ring (not shown) or opening (not shown) of the waist wearable portion 110 can be connected to one end of the wearable elastic member 148, and a ring (not shown) or opening (not shown) of the plate frame 127 in the thigh wearable portion 120 can be connected to the other end of the wearable elastic member 148. Such connections can be realized in various ways, not just with rings or openings. Also, as shown in Figure 42(b), one end of the wearable elastic member 148 can be connected to a rotating joint portion 170, and the other end can be connected to the thigh wearable portion 120.

[0236] In the aforementioned connected state, the length of the wearable elastic member 148 is adjustable. On the other hand, the tension generated in the wearable elastic member 148 allows the wearable elastic member 148 to substitute for the function of the elastic member 144 with the connecting member 140. As a result, the elastic member 144 within the connecting member 140 can be omitted, making it possible to realize a wearable robot.

[0237] When wearing a wearable robot that includes a wearable elastic member 148, a method for wearing a wearable robot according to one embodiment of the present invention includes the steps of wearing the waist wearable portion 110 and the thigh wearable portion 120 and adjusting the length of the wearable elastic member 148. A method for wearing a wearable robot according to one embodiment of the present invention also includes the steps of connecting the drive unit 130 and the waist wearable portion 110 and connecting the connecting member 140 and the thigh wearable portion 120.

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

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

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

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

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

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

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

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

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

[0247] A connecting member 140b attached to the other thigh on the other end of the drive frame 133 is connected, and when the drive frame 133 rotates, the connecting member 140b can pivot back and forth around the horizontal rotation axis together.

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

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

[0250] The lower ends of the left and right rotating joint portions 170 may be hinged to the connecting member 140 so that it can rotate left and right around a rotation axis in the front-rear direction. One side of the upper end of the rotating joint portion 170 may be connected to the other end of the drive frame 133 or to a bush 139, and the lower end of the rotating joint portion 170 may be formed in a shape with both sides extending in a plate-like manner (a "U" shape when viewed from the side), and the upper end of the connecting member 140 may be hinged between the plates on both sides so that it can rotate left and right around a rotation axis in the front-rear direction. Therefore, as shown in Figure 8, the connecting member 140 can rotate left and right between the plates on both sides with its upper end as an axis.

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

[0252] Furthermore, the length of the connecting member 140 may be variable. In one embodiment of the present invention, the drive unit 130 is attached to the waist, not the hip joint. Therefore, the straight-line distance between both sides of the drive unit 130 and the lower end of the connecting member 140 may change depending on the wearer's posture or movement, such as when sitting in a chair or bending at the waist. In this case, if the length of the connecting member 140 is fixed, the connecting member 140 may restrict (hinder) the wearer's movement. In this embodiment of the present invention, the length of the connecting member 140 can be varied in accordance with the wearer's posture or movement, thereby preventing the connecting member 140 from restricting the wearer's movement.

[0253] As shown in Figure 6, the connecting member 140 may be formed of multiple frames that overlap and slide. Therefore, the lengths of both ends of the connecting member 140 may be variable in accordance with the wearer's posture or movement.

[0254] Alternatively, as shown in Figure 7, the connecting member 140 may be formed of multiple links and configured to bend or expand in response to the wearer's movements. In this case, the links may be linked together so that they can be bent in the front-to-back direction or in the left-to-right direction. Therefore, since the amount of bending of the links changes in response to the wearer's posture or movement, the connecting member 140 can be prevented from restricting the wearer's movements.

[0255] The wearable robot according to one embodiment of the present invention, configured as described above, supports and generates an assisting force in a manner that assists one thigh with respect to the other thigh. Specifically, the connecting member 14b of the other thigh is connected to the drive frame 133, and the connecting member 140a of the one thigh is connected, for example, to the motor shaft of the drive 131 so that it can directly receive the rotational force of the drive 131 and rotate directly with the output of the drive 131. Therefore, when the drive 131 generates power, the connecting member 140a of the one thigh moves in a direction that spreads the one thigh (leg) forward or pulls it backward with respect to the other thigh (leg).

[0256] Therefore, as shown in Figure 9, the output generated by the drive unit 131 is transmitted to one thigh via the connecting member 140a on one thigh, and the reaction force to the rotational force (output) of the drive unit 131 is transmitted to the opposite thigh as an auxiliary force. In other words, an auxiliary force can be transmitted to both thighs (legs) simultaneously with rotational forces in opposite directions using a single drive unit 131. At this time, the rotational output of the drive unit 131 acting on the connecting member 140a on one thigh and the rotational reaction force acting on the connecting member 140b on the other thigh in response to the rotational force of the drive unit 131 cancel each other out in the drive unit frame 133, and only the reaction force to the auxiliary force is transmitted to the wearer. Therefore, only a small force is transmitted to the drive unit 130, the repulsive force felt by the wearer is small, and the wearing comfort can be structurally improved.

[0257] Furthermore, as shown in Figure 10, the drive frame 133 can rotate in the front-rear direction around a left-right rotation axis within the cylindrical hole 135 of the main housing 134. At this time, the drive unit 131, which is fixed inside the drive unit frame 133, can also rotate together with the drive unit frame 133. Therefore, the reference position of the rotation direction of the drive unit frame 133 can adapt and change with respect to the wearer's various postures and movements, thereby improving the wearer's comfort.

[0258] For example, as shown in Figure 10(a), when walking on flat ground, as shown in Figure 10(b), when going up or down stairs, and as shown in Figure 10(c), when sitting in a chair, the reference angle of operation of the drive frame 133 relative to the main housing 134, which is fixed in position at the waist, can be changed in accordance with the posture. As shown in Figure 10(c), when sitting in a chair, there is no relative movement of both feet, so the drive frame 133 only rotates freely within the main housing 134 without the output of the drive 131 (without the generation of auxiliary force).

[0259] Furthermore, as mentioned above, the connecting member 140 is hinged and can rotate left and right, and its length can be made variable or formed with a link structure, so that the connecting member 140 does not restrict movement but adapts to the wearer's various postures (such as bending the waist forward and backward or sitting in a chair), and the posture of the thighs spreading or contracting to the left and right, thereby improving the efficiency of assistive force transmission and wearing comfort of the wearable robot.

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

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

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

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

[0264] Furthermore, the connecting member 140 is configured so that its length can be adjusted in accordance with the distance between the drive unit 130 and the second fixing unit 120. By configuring the connecting member 140 to extend and retract in multiple stages, it is possible to provide a large stroke while minimizing the length of each member when they are superimposed. Therefore, it is possible to transmit assistive force from movements with a small range of motion of the joints, such as walking, to movements with a large range of motion of the joints, such as sitting or walking up stairs.

[0265] As shown in Figure 19, the first member 141 of the connecting member 140 is fixed at one end to a drive unit 130 provided on the first fixing part 110, and the second member 142 is connected to the first member 141 in a manner that allows it to move along its length. The third member 143, fixed to the second fixing part 120, is connected to the second member 142 in a manner that allows it to move along its length. The elastic member 144 is fixed at both ends to the second member 142 and the first member 141, and provides elastic force to the second member 142 in the direction in which the first member 141 and the second member 142 overlap.

[0266] Here, the driving force that rotates the member around the y-axis, provided by the drive unit 130, may be transmitted directly to the first member 141. Such driving force may be transmitted to the second fixed part 120 connected to the third member 143 via a second member 142 that is movable along the length of the first member 141, and then via a third member 143 that is also movable along the length of the second member 142.

[0267] Here, the length of movement of the second member 142 of the connecting member 140 is set to accommodate the change in the distance between the drive unit 130 and the second fixed unit 120 due to small movements of the joint, as shown in Figures 20 and 21, and the length of movement of the third member 143 is set to accommodate the change in the distance between the drive unit 130 and the second fixed unit 120 due to large movements of the joint, as shown in Figures 22 and 23.

[0268] Figure 18 shows a state in which a user is wearing a wearable robot according to one embodiment of the present invention and standing in a predetermined position. In this state, the distance between the drive unit 130 located on the waist above the hip joint and the second fixing unit 120 fixed to the lower thigh is at its maximum. As a result, the connecting member 140 located between the drive unit 130 and the second fixing unit 120 moves in the expansion direction, as shown in Figure 19, with the second member 142 and the third member 143 moving in the expansion direction. In this process, the elastic member 144 is elastically pulled by the external force.

[0269] Next, Figure 20 shows a state in which the distance between the drive unit 130 and the second fixing unit 120 changes due to small movements of the joint. In this state, the range of motion of the joint during the walking process is limited to only the first region, which is part of the range of motion. The connecting member 140 is set up so that the movement position of the second member 142 can be adjusted in response to the change in the distance between the drive unit 130 and the second fixing unit 120 due to small movements of the joint.

[0270] In other words, as shown in Figure 21, the connecting member 140 may be adjusted to a length corresponding to the distance between the drive unit 130 and the second fixing unit 120 that occurs with small movements of the joint, by moving along the first member 141 in the contraction direction while the second member 142 supports the third member 143.

[0271] Here, as the distance between the drive unit 130 and the second fixed unit 120 decreases, the second member 142 and the third member 143 can move in the contraction direction. However, since the second member 142 is elastically supported by the elastic member 144 in the contraction direction relative to the first member 141, the second member 142 moves along the first member 141 before the third member 143 moves along the second member 142. Furthermore, since the second member 142 is elastically supported in the contraction direction by the elastic member 144, it is possible to prevent the second member 142 from moving arbitrarily in the expansion direction due to its own weight while it is moving in the contraction direction.

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

[0273] Next, Figure 22 shows the change in the distance between the drive unit 130 and the second fixing unit 120 due to large movements of the joint. In the process of sitting or walking up stairs, the range of motion of the joint is expanded to a second region that exceeds the first region. The connecting member 140 is set up so that the movement position of the third member 143 can be adjusted together with the second member 142 in response to the change in the distance between the drive unit 130 and the second fixing unit 120 due to large movements of the joint.

[0274] In other words, as shown in Figure 21, when the second member 142 is fully moved in the contraction direction along the first member 141 with the third member 143 supporting it, the connecting member 140 may be adjusted to a length corresponding to the distance between the drive unit 130 and the second fixing unit 120 that occurs with large movements of the joint, as the third member 143 moves in the contraction direction along the second member 142, as shown in Figure 23.

[0275] At this time, the third member 143 moves with a portion of it exposed to the outside through the second slit 142c formed on one surface of the second member 142. However, since the first member 141 has a first slit 141c that communicates with the second slit 142c formed on one surface of the first member 141, the third member 143 can move in the contraction direction along the second member 142 even when the second member 142 is superimposed on the first member 141.

[0276] In one embodiment of the present invention, as shown in Figures 18 to 23, the forward drive of the drive unit causes the connecting member to rotate clockwise around the y-axis, moving the thigh upward and providing an assisting force to the movement of the joint. In this process, the connecting member 140 can contract in accordance with the distance between the drive unit 130 and the second fixing unit 120.

[0277] Conversely, the connecting member 140 can rotate counterclockwise around the y-axis by the reverse drive of the drive unit, moving the thigh downward and providing an assisting force to the movement of the joint. In this process, it can expand in accordance with the distance between the drive unit 130 and the second fixing unit 120. Since the expansion process of the connecting member 140 is the reverse of the contraction process described above, a detailed explanation of this process will be omitted.

[0278] The following describes a wearable robot according to a third embodiment of the present invention. Figure 24 of the attached drawings is an operational diagram of the connecting member according to the third embodiment of the wearable robot of the present invention.

[0279] The connecting member 140 according to the third embodiment of the wearable robot according to the present invention, as shown in Figure 24, includes a first member 141, a second member 142, a third member 143, and an elastic member 144, and has a first permanent magnet M1 and a second permanent magnet M2 on the mutually opposing surfaces of the second member 142 and the third member 143, and differs in configuration from the second embodiment in that the first permanent magnet M1 and the second permanent magnet M2 come into contact with each other when the third member 143 is fully moved in the expansion direction.

[0280] Since the remaining components, excluding the first permanent magnet M1 and the second permanent magnet M2, are the same as those in the second embodiment described above, a detailed explanation of these identical components will be omitted.

[0281] Specifically, a first permanent magnet M1 is positioned on the surface of the second-second end cap 142b, which closes the extended end of the second member 142, that faces the third member 143, and a second permanent magnet M2, which can be attached to the first permanent magnet M1, is positioned on the surface of the third member 143 that faces the second-second end cap 142b. Preferably, the self-force fixing force of the first permanent magnet M1 and the second permanent magnet M2 is set to such an extent that they cannot be arbitrarily separated by the elastic restoring force of the elastic member 144.

[0282] In other words, as shown in Figure 24(a), when the first member 141, the second member 142, and the third member 143 are moved in the expansion direction, the elastic member 144 connecting the first member 141 and the second member 142 is elastically pulled, and the first permanent magnet M1 of the second member 142 and the second permanent magnet M2 of the third member 143 are attracted to each other by their own force.

[0283] Next, as shown in Figure 24(b), when the distance between the drive unit 130 and the second fixing unit 120 decreases due to small movements of the joint, the third member 143 connected to the second fixing unit 120 moves in the contraction direction. At this time, the third member 143 is fixed to the second-second end cap 142b of the second member 142 by the first permanent magnet M1 and the second permanent magnet M2, and the second member 142 is elastically supported in the contraction direction by the elastic member 144. Therefore, the second member 142 moves in the contraction direction on the first member 141 while supporting the third member 143.

[0284] Next, as shown in Figure 24(c), if the distance between the drive unit 130 and the second fixed unit 120 decreases due to a large movement of the joint, the third member 143 connected to the second fixed unit 120 will move additionally in the contraction direction. At this time, the second member 142 is restricted from further movement as it has moved completely in the contraction direction relative to the first member 141, so that the first permanent magnet M1 and the second permanent magnet M2 are separated by the external force, while the third member 143 moves on the second member 142 in the contraction direction.

[0285] On the other hand, although this embodiment has been described using an example in which the pair of permanent magnets described above are used, it would also be possible to make either the first permanent magnet M1 or the second permanent magnet M2 from a magnetic material.

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

[0287] The following describes a wearable robot according to a fourth embodiment of the present invention. Figure 25 of the attached drawings is an operational diagram of the connecting member according to the fourth embodiment of the wearable robot according to the present invention.

[0288] The connecting member 140 according to the fourth embodiment of the wearable robot of the present invention, as shown in Figure 25, includes a first member 141, a second member 142, a third member 143, and an elastic member 144. However, the second-second end cap 142b that closes the expanded end of the second member 142 is equipped with a first pulley 142e that can support the elastic member 144 in a movable state. The elastic member 144 has one end, which is in the form of an elastic thread, fixed to the first member 141, and the other end, which is wound around the first pulley 142e and fixed to the third member 143. This differs in configuration from the embodiments described above.

[0289] On the other hand, the remaining components, excluding the first pulley 142e and the elastic member 144, are the same as those in the second embodiment described above, so a detailed explanation of these identical components will be omitted.

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

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

[0292] As shown in Figure 25(c), if the distance between the drive unit 130 and the second fixing unit 120 is further reduced due to the large movement of the joint, the third member 143 will move in the contraction direction on the second member 142 due to the contraction-direction external force acting on the third member 143 via the second fixing unit 120.

[0293] At this time, the elastic member 144 is fixed to the third member 143 with one end fixed to the first member 141 and the other end supported by the first pulley 142e. As a result, the third member 143 is elastically pulled as it moves in the contraction direction on the second member 142. In other words, the second member 142 is elastically supported in the contraction direction by the elastic member 144, which prevents the second member 142 from moving arbitrarily in the expansion direction due to its own weight.

[0294] The operation of a fifth embodiment of the wearable robot according to the present invention will be described below. Of the attached drawings, Figure 18 is a drawing showing the wearing state of the wearable robot according to one embodiment of the present invention, Figure 27 is a cross-sectional view of the connecting member in the wearable robot according to one embodiment of the present invention, Figure 28 is an enlarged view of part "A" in Figure 27, Figure 29 is an enlarged view of part "B" in Figure 27, and Figures 20, 22, 30 and 31 are drawings showing the operating state of the wearable robot according to an embodiment of the present invention.

[0295] As shown in Figure 18, the first fixing part 110 may be fixed to the waist area located above the hip joint, and the second fixing part 120 may be fixed to the thigh area located below the hip joint. The connecting member 140 can connect the drive unit 130, which is fixed to the first fixing part 110 side, and the second fixing part 120 when positioned in front of the user.

[0296] In this arrangement, the connecting member 140 can rotate up and down about the y-axis by the drive unit 130 and provide an assisting force in the direction of lifting or lowering the second fixing part 120 fixed to the thigh. This prevents the rotation center of the joint from rotating inward, outward, or twisting due to the provision of the assisting force. Even when the thigh moves from side to side while being moved by the assisting force, the connecting member 140 can rotate in accordance with this, so the range of motion of the joint is not restricted.

[0297] Furthermore, the connecting member 140 is configured to adjust in length according to the distance between the drive unit 130 and the second fixing unit 120. By configuring the connecting member 140 to extend and retract in multiple stages, it is possible to provide a large stroke while minimizing the length in the contracted state. Therefore, it is possible to transmit assistive force from movements with a small range of motion of the joints, such as walking, to movements with a large range of motion of the joints, such as sitting or walking up stairs.

[0298] As shown in Figures 27 to 29, the first member 141 of the connecting member 140 is connected at one end to a drive unit 130 provided on the first fixing part 110, the second member 142 is connected so as to be movable along the length of the first member 141 while inserted inside the first member 141, the third member 143 connected to the second fixing part 120 is connected so as to be movable along the length of the second member 142 while inserted inside the second member 142, the interlocking part 150 causes the second member 142 and the third member 143 to interlock with each other, and the elastic member 144 provides elastic force to the second member 142 in the contraction direction while both ends are fixed to the first member 141 and the second member 142. Here, the driving force that rotates the member around the y-axis by the drive unit 130 may be transmitted directly to the first member 141. Such driving force may be transmitted to the second fixing part 120 connected to the third member 143 via a second member 142 that is movable along the length of the first member 141, and then via a third member 143 that is movable along the length of the second member 142.

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

[0300] In other words, when the third member 143 moves in the contraction direction, the first cable 151 connected to the third member 143 moves the second pulley 142f connected to the expansion end of the second member 142 in the contraction direction, causing the second member 142 to move in the contraction direction. Conversely, when the third member 143 moves in the expansion direction, the second cable 152 connected to the third member 143 moves the third pulley 142g connected to the contraction end of the second member 142 in the expansion direction, causing the second member 142 to move in the expansion direction.

[0301] Furthermore, the second member 142 can minimize frictional force on the first member 141 by having rollers 142d, which are positioned on the upper and lower sides of the contraction end, roll along the inner surface of the first member 141, and the third member 143 can minimize frictional force on the second member 142 by having a sliding pad 143a, which is positioned to cover the outer surface, slide along the inner surface of the second member 142.

[0302] Figure 18 shows a user wearing a wearable robot according to one embodiment of the present invention and standing in a predetermined position. In this state, the distance between the drive unit 130 located on the upper hip portion and the second fixing unit 120 fixed to the lower thigh portion is maximized. As a result, the connecting member 140 located between the drive unit 130 and the second fixing unit 120 moves in the expansion direction as shown in Figure 27, with the third member 143 connected to the second fixing unit 120 moving in the expansion direction. In this process, the second member 142, connected to the third member 143 via the second cable 152 of the interlocking unit 150, moves in the expansion direction in conjunction with the third member 143. In this process, the elastic member 144 connecting the first member 141 and the second member 142 is elastically pulled by the external force.

[0303] Next, Figures 20 and 30 show a state in which the distance between the drive unit 130 and the second fixing unit 120 changes due to a small range of movement, similar to walking. The connecting member 140 can rotate under the drive of the drive unit 130 and lift the second fixing unit 120 upward, providing assistance to the user's walking motion. At this time, since the connection position between the drive unit 130 and the connecting member 140 does not coincide with the rotation center of the joint, the distance between the second fixing unit 120 and the drive unit 130 changes as the thigh rotates upward. The length of the connecting member 140 may be adjusted in response to this change in distance.

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

[0305] In other words, as shown in Figure 30, if the third member 143, which is arranged to be movable along the length direction on the second member 142, moves in the contraction direction due to an external force, the end of the first cable 151 connected to the third member 143 will be pulled in the contraction direction. In this process, a force will act in the contraction direction on the second pulley 142f supporting the first cable 151, causing the second member 142, which is arranged to be movable along the first member 141, to move in the contraction direction together with the third member 143.

[0306] Figures 22 and 31 show the state in which the distance between the drive unit 130 and the second fixed part 120 changes due to large-range movements such as sitting or walking up stairs. The connecting member 140 rotates when driven by the drive unit 130 and lifts the second fixed part 120 upward, providing assistance to the user's sitting or walking up stairs. Since it is configured with multiple ends and has a short length in the contracted state while providing a large stroke, it can effectively respond to large-range movements of the joints.

[0307] Specifically, as the thigh rotates upward around the hip joint, the third member 143 of the connecting member 140 moves in the contraction direction due to the external force applied through the second fixing part 120. In this process, the end of the first cable 151 connected to the third member 143 is pulled in the contraction direction, and a force acts in the contraction direction on the second pulley 142f supporting the first cable 151. As a result, the second member 142, which is positioned to move along the first member 141, moves in the contraction direction together with the third member 143. Here, the third member 143 moves with a portion of it exposed to the outside through a second slit 142c formed on one surface of the second member 142. However, since a first slit 141c communicating with the second slit 142c is formed on one surface of the first member 141, the third member 143 can move in the contraction direction along the second member 142 even when the second member 142 is superimposed on the first member 141.

[0308] Furthermore, when the second member 142 moves in the contraction direction, its contraction-side end contacts the 1-1 end cap 141a of the first member 141, thereby restricting further movement in the contraction direction. In this state, the movement of the third member 143, which is connected to the second member 142 via the first cable 151 and the second cable 152, in the contraction direction may also be restricted.

[0309] On the other hand, the second member 142 is configured to move in conjunction with the bidirectional movement of the third member 143 by the first cable 151 and the second cable 152 that connect the first member 141 and the third member 143, so that it is prevented from moving arbitrarily in the expansion direction due to its own weight when it is moving in the contraction direction.

[0310] In one embodiment of the wearable robot, as shown in Figures 20, 22, 30, and 31, the forward drive of the drive unit causes the connecting member to rotate clockwise around the y-axis, moving the thigh upward and providing an assisting force to the movement of the joint. In this process, the connecting member 140 can contract in accordance with the distance between the drive unit 130 and the second fixing unit 120.

[0311] Conversely, the connecting member 140 can rotate counterclockwise around the y-axis by the reverse drive of the drive unit, moving the thigh downward and providing an assisting force to the movement of the joint. In this process, it may expand in accordance with the distance between the drive unit 130 and the second fixing unit 120.

[0312] In other words, the third member 143 of the connecting member 140 moves in the expansion direction due to the external force applied via the second fixing part 120 as the thigh rotates downward around the hip joint. At this time, the end of the second cable 152 connected to the third member 143 is pulled in the expansion direction, and as a force acts in the expansion direction on the third pulley 142g supporting the second cable 152 in this process, the second member 142, which is arranged to be movable along the first member 141, can move in the expansion direction together with the third member 143.

[0313] According to this embodiment as described above, the second member 142 can be moved in the contraction direction in response to the contraction direction movement of the third member 143 via the first cable 151 of the interlocking part 150, and the second member 142 can be moved in the expansion direction in response to the expansion direction movement of the third member 143 via the second cable 152 of the interlocking part 150. In this way, by causing the second member 142 and the third member 143 to move in conjunction with each other by the interlocking part 150, it is possible to provide elastic force to the second member 142 and the third member 143 using a single elastic member 144, and it is also possible to prevent some of the numerous members constituting the connecting member 140 from moving arbitrarily.

[0314] The following describes a wearable robot according to a sixth embodiment of the present invention. Figure 32 of the attached drawings is an operational diagram of the connecting member according to the sixth embodiment of the wearable robot of the present invention. Components common to the previous embodiments may be omitted from the illustration.

[0315] The connecting member 140 of a wearable robot according to the sixth embodiment of the present invention, as shown in Figure 32, includes a first member 141, a second member 142, a third member 143, an interlocking part 150, and an elastic member 144. The interlocking part 150 differs in configuration from the fifth embodiment in that it includes a rack 153 arranged along the lengthwise direction on the inner surface of the first member 141, a pinion 154 arranged at the contraction end of the second member 142 and engaging with the rack 153, a first pulley 155 that rotates together with the pinion 154, a second pulley 156 arranged at the expansion end of the second member 142, and a belt 157 that is wound around the first pulley 155 and the second pulley 156 and has both ends fixed to the third member 143.

[0316] Since the remaining components, excluding the interlocking unit 150, are the same as those of the fifth embodiment described above, a detailed explanation of these identical components will be omitted.

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

[0318] In this state, as shown in Figures 32(b) and (c), as the third member 143 moves in the contraction direction due to an external force, the first pulley 155 and the second pulley 156 rotate counterclockwise due to the belt 157 fixed to the third member 143. At this time, the pinion 154, supported by the second member 142 and meshed with the rack 153 of the first member 141, rotates counterclockwise together with the first pulley 155, causing the second member 142 to move in the contraction direction in conjunction with the contraction direction movement of the third member 143.

[0319] Embodiment of the waist-worn portion The following describes the detailed configuration of the waist-worn portion 110 according to one embodiment of the present invention.

[0320] Figure 2 is a perspective view of a wearable robot equipped with a waist-worn portion (first fixing portion) 110 and a thigh-worn portion (second fixing portion) according to one embodiment of the present invention. Figure 33 is a perspective view of the waist belt 113 and waist-worn frame 116 connected together. Figures 34 to 36 are diagrams illustrating the process of attaching and detaching the waist-worn portion 110 to the wearable robot.

[0321] A waist-worn portion 110 according to one embodiment of the present invention may include a waist belt 113 and a waist-worn frame 116. Furthermore, both ends of the waist belt 113 can be connected to both ends of the waist-worn frame 116. The length of the waist belt 113 may be adjusted according to the wearer's waist size.

[0322] The waist-worn frame 116 may include a lower mechanism 117a, an upper mechanism 117b, and a detachable button 118. One side of the main body housing 134 of the drive unit 130 may include a lower hook 134a and an upper hook 134b.

[0323] The lower mechanism 117a is connected to the lower hook 134a, and the upper mechanism 117b is connected to the upper hook 134b, so that the waist-worn portion 110 and the drive unit 130 can be connected.

[0324] By pressing the detachment button 118, the upper mechanism 117b and the upper hook 134b are separated, which allows the lower mechanism 117a and the lower hook 134a to be easily separated, enabling the drive unit 130 and the waist-worn part 110 to be easily attached / detached.

[0325] The operation of the waist-worn portion 110 when attaching / detaching the drive unit 130 according to one embodiment of the present invention will be described below.

[0326] When wearing a wearable robot, the method of wearing a wearable robot according to one embodiment of the present invention includes the step of attaching the waist-worn portion 110 to the wearer's waist and bringing the drive unit 130 close to the waist-worn portion 110, as shown in Figure 34. The method of wearing a wearable robot according to one embodiment of the present invention includes the step of engaging the lower hook 134a located inside the main body housing 134 with the lower mechanism portion 117a of the waist-worn frame 116, as shown in Figure 35. The method of wearing a wearable robot according to one embodiment of the present invention includes the step of tilting the drive unit 130 and engaging the upper hook 134b located inside the main body housing 134 with the upper mechanism portion 117b of the waist-worn frame 116, as shown in Figure 36.

[0327] At this time, since there is a fixing plate on the upper part 117b of the mechanism, the upper part 117b of the mechanism and the upper hook 134b are automatically fastened together, and the main body housing 134 and the waist-worn frame 116 are connected. As a result, the drive unit 130 and the waist-worn part 110 are connected.

[0328] When attaching or detaching a wearable robot, the method for attaching or detaching a wearable robot according to one embodiment of the present invention includes the step of separating the waist-worn portion from the wearer's waist and pressing the attachment / detachment button 118 on the waist-worn frame 116 of the waist-worn portion 110, as shown in Figure 36. The method for attaching or detaching a wearable robot according to one embodiment of the present invention includes the step of tilting the upper end of the drive unit 130 in front of the wearer due to the weight of the drive unit 130, with the lower hook 134a locked to the lower part 117a of the mechanism, as shown in Figure 35. The method for attaching or detaching a wearable robot according to one embodiment of the present invention includes the step of lightly lifting the drive unit 130 and moving it forward while separating it from the waist-worn portion 110, as shown in Figure 34.

[0329] According to one embodiment of the present invention, the drive unit 130 and the waist-worn portion 110 can be separated, thereby reducing the volume of the wearable robot. Furthermore, the separated drive unit 130 and waist-worn portion 110 can be easily stored. In addition, the waist-worn portion 110 can be worn separately in advance to shorten the time required to put on and take off the wearable robot. Moreover, by making the waist-worn portion 110 similar in shape to a belt, ease of use and ease of wearing can be ensured.

[0330] The configuration of the present invention is not limited to the embodiments mentioned above. The waist-worn portion 110 can be simplified and configured in various ways, such as being separated from the abdomen or from the side. Furthermore, the configuration of the waist-worn portion 110 can be integrated with clothing to improve the wearability of the wearable robot, so that the clothing alone can perform the function of the waist-worn portion 110. In addition, the shape of the upper / lower hooks on the main body housing 134 can be changed so that they can be connected to existing trousers or belts. Thus, the ease of use and wearability of the wearable robot can be maintained even without a separate waist-worn portion 110.

[0331] Up to this point, we have referred to the configuration of the waist-worn portion 110 and its fastening portion according to a specific embodiment. However, a waist-worn portion that is securely fastened yet freely detachable can be realized through a variety of methods, even without using some or all of the matters mentioned above.

[0332] In other words, the embodiment of the waist-worn portion 110 described above is not limited to the embodiment described above and the attached drawings. Furthermore, it will be obvious to those with prior art in the field to which this embodiment belongs that various substitutions, modifications, and changes are possible within the scope of the technical idea of ​​the embodiment.

[0333] Embodiment of the thigh-wearing portion The following describes the detailed configuration of the thigh-worn portion 120 according to one embodiment of the present invention. Figure 2 is a perspective view of a wearable robot equipped with a waist-worn portion (first fixing portion) and a thigh-worn portion (second fixing portion) according to one embodiment of the present invention, Figure 37 is a perspective view of the thigh-worn portion in the wearable robot according to one embodiment of the present invention, and Figure 38 is an exploded perspective view of the thigh-worn portion shown in Figure 37. Figure 39 is a diagram illustrating the process of separation / connection of the plate and the strap portion, Figure 40 is a diagram illustrating how the first button operates within the plate, and Figure 41 is a diagram illustrating the process of separation / connection of the plate and the connecting member.

[0334] A thigh-wearing portion 120 according to one embodiment of the present invention may include a strap portion 123 and a plate 126. The strap portion 123 may include a second button 129 connected to one end of the strap portion 123. The second button 129 may be in the form of a simple buckle, or it may be in the form of a hook-spring element combined. Both ends of the strap portion 123 can be connected to both ends of the plate 126. The length of the strap portion 123 may be adjusted according to the size of the wearer's thigh. The length adjustment and separation of the strap portion 123 may be done at both ends where the strap portion 123 and the plate 126 are connected. Alternatively, one end of the connecting ends can be fixed, and the length adjustment and separation of the strap portion 123 can be done only at the other end. Furthermore, the strap portion 123 can be made of a single elastic material, a non-elastic material, or a mixture of both, or it can be made of different types of elastic materials.

[0335] A method for connecting a plate 126 and a strap portion 123 according to one embodiment of the present invention includes the step of bringing one end of the plate 126 into contact with the second button 129 and pushing the second button 129 toward the plate 126 with a predetermined force, as shown in Figure 39(a). A method for connecting a plate 126 and a strap portion 123 according to one embodiment of the present invention includes the step of connecting while the groove (not shown) of the second button 129 engages with the plate 126, as shown in Figure 39(b).

[0336] A method for separating the plate 126 and the strap portion 123 according to one embodiment of the present invention includes the step of pressing the second button 129 of the strap portion 123, as shown in Figure 39(b). A method for separating the plate 126 and the strap portion 123 according to one embodiment of the present invention includes the step of pushing the second button 129 out of the plate 126 and separating them, as shown in Figure 39(a). In this way, the plate 126 and the strap portion 123 can be easily separated, and the wearable robot can be easily attached / detached.

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

[0338] As shown in Figure 40(a), when the first button 128 is not pressed, the opening 127a is open. Therefore, the protrusion 143b of the third member 143 can connect with the opening 127a. On the other hand, when the first button 128 is pressed, as shown in Figure 40(b), the first button 128 can push out the protrusion 143b that is connected to the opening 127a.

[0339] A method for connecting a plate 126 and a connecting member 140 according to one embodiment of the present invention may include a step in which a protruding portion 143b of the connecting member 140 contacts the opening 127a, as shown in Figure 41(b). A method for connecting a plate 126 and a connecting member 140 according to one embodiment of the present invention may include a step in which a predetermined force is applied to the connecting member 140 so that the protruding portion 143b is fully inserted into the opening 127a, as shown in Figure 41(c).

[0340] A method for separating the plate 126 and the connecting member 140 according to one embodiment of the present invention includes the step of pressing the first button 128, as shown in Figure 41(c). A method for separating the plate 126 and the connecting member 140 according to one embodiment of the present invention includes the step of the protruding portion 143b popping out from the opening 127a, as shown in Figure 41(B), so that the connecting member 140 can be easily separated from the plate 126. In this way, the plate 126 and the connecting member 140 can be easily separated, and the wearable robot can be easily attached to and detached.

[0341] When the plate 126 and the connecting member 140, and the plate 126 and the strap portion 123 are connected, the rotational output from the drive unit 131 built into the drive unit 130 can be transmitted to the plate 126 and the strap portion 123 via the connecting member 140 and the third member 143. Through this, the wearable robot can transmit the assisting or resisting force generated by the drive unit 130 to the wearer's thigh, allowing the wearer to lift or lower their thigh. In other words, the parts of the body that receive the assisting or resisting force are the plate 126 and the strap portion 123.

[0342] Furthermore, one or more degrees of freedom can be provided between the plate 126 and the connecting member 140. For example, in one embodiment of the present invention, the protrusion 143b may be spherical, and if the protrusion 143b is connected to the opening 127a, the connecting member 140 can rotate without coming off the plate 126. In other words, a configuration that functions as a pivot or joint between the plate 126 and the connecting member 140 provides the degrees of freedom. On the other hand, the protrusion 143b is not necessarily limited to a spherical shape. Also, the protrusion 143b or other configurations can provide degrees of freedom in other axial directions, in which case new degrees of freedom are added to the rotational degrees of freedom that were present in the existing connection. Through such degrees of freedom, the wearer can perform a variety of motions even when wearing the wearable robot, and the feeling of resistance can be minimized when performing a variety of motions.

[0343] According to one embodiment of the present invention, the wearable robot and the thigh-worn portion 120 can be separated, reducing the volume of the wearable robot. Furthermore, each separated wearable robot and thigh-worn portion 120 can be easily stored. In addition, the thigh-worn portion 120 can be worn separately in advance to shorten the time required to put on and take off the wearable robot. Moreover, by appropriately using non-elastic and elastic materials in the strap portion 123, the ease of use and ease of wearing of the wearable robot can be ensured.

[0344] The configuration of the present invention is not limited to the embodiments mentioned above. For example, the configuration of the thigh-wearing portion 120 can be integrated into clothing so that the thigh-wearing portion 120 can function even with clothing alone. Furthermore, the ease of use and wearability of the wearable robot can be maintained even without a separate thigh-wearing portion 120.

[0345] In the description relating to the thigh-fitting portion 120 according to the present invention, a thigh-fitting portion 120 that is securely fastened yet freely detachable can be realized through a variety of methods, even without using some or all of the matters mentioned above. That is, one embodiment of the thigh-fitting portion 120 is not limited to the embodiment described above and the attached drawings.

[0346] Operation assistance method according to one embodiment of the present invention The following describes in detail an operation assistance method and system using a state trajectory memory buffer according to one embodiment of the present invention. In the following description, only the parts necessary to understand the operation assistance method and system using a state trajectory memory buffer according to one embodiment of the present invention will be described, and other parts may be omitted so as not to disrupt the essence of the present invention.

[0347] Figure 45 is a perspective view of an exemplary motion assistance device. The exemplary motion assistance device 1 shown in Figure 45, as shown in Figure 46, senses the user's movements and provides assistance force corresponding to the user's movements when worn by the user. The motion assistance device shown in Figure 45 can be used with the wearable robot described above.

[0348] In this case, the assistive force can be provided in the direction of the user's movement to improve the user's motor ability or to supplement insufficient muscle power, or it can be provided in the opposite direction of the user's movement to double the exercise effect. Furthermore, when the movement assistance device is used in combination with a VR device, it can provide an experience of a virtual environment by providing assistive force in various directions.

[0349] Such an operation assistance device 1 may include a sensor that senses user movements in order to provide assistance force, an operation assistance system that determines the assistance force according to the sensed user movements, and an operation unit that provides the determined assistance force to the user.

[0350] The following describes in detail an action assistance system and action assistance method according to one embodiment of the present invention, which determines the assistive force in accordance with sensed user movements.

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

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

[0353] Specifically, as shown in Figure 48, once the initial operating state value is input, it is stored in the first storage location O of the memory array.

[0354] Next, when a new operating state value is entered, the operating state value that was stored in the first storage location of the memory array moves to the second storage location of the memory array, and the newly entered operating state value is stored in the first storage location of the memory array.

[0355] Next, when a new operating state value is input, the operating state values ​​stored in the first and second storage locations of the memory array are moved to the second and third storage locations of the memory array, respectively, and the newly input operating state value is stored in the first storage location of the memory array.

[0356] By repeating this shift operation, N+1 operational status values ​​will be stored in all storage locations of the memory array.

[0357] Next, when a new operating state value is input, the operating state value stored in the memory array moves to the next position. However, the operating state value stored in the last storage position N, where there is no further space to move, is removed from the state trajectory memory buffer.

[0358] By storing the operating status values ​​using this FIFO (First In First Out) method, the state trajectory memory buffer 103 may only store a predetermined number of operating status values ​​corresponding to the user's recent actions. Furthermore, the operating state value stored in the state trajectory memory buffer 103 may be a sensing value measured by the sensor or a converted value of the sensing value that can indicate the user's operating state.

[0359] For example, the user's hip angle value q0 measured by the sensor of the motion assistance device shown in Figure 46 may be the operating state value.

[0360] Furthermore, the measured hip angle value q0 can be converted to the following [Equation 1], and the resulting converted value S0 may be the operating state value.

[0361]

number

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

[0363] As shown in Figure 49, the above operating state values ​​may be stored in the state trajectory memory buffer as operating state values ​​that reflect the user's operating state according to the user's actions.

[0364] Furthermore, the following state variable can be used, which adds an asymmetry parameter a to the original state variable, as shown in [Equation 2] below.

[0365]

number

[0366] Here, if a=0, it means there is no degree of asymmetry, and the same torque is symmetrically provided to the left and right steps. If the value of a is negative, the auxiliary torque increases to the motion of the left step in preparation for the motion of the right step. If the value of a is positive, the auxiliary torque increases to the motion of the right step in preparation for the motion of the left step. In other words, the asymmetrical assistance for the left or right step can be adjusted with a single parameter a. The sign of the 'a' value determines the asymmetry between the left and right steps, and the magnitude of the 'a' value can be used to adjust the degree of asymmetry. For example, a=0.20 further enhances the asymmetrical assistance on the right side compared to a=0.10. The 'a' value may be in the range of -1.0 to 1.0, and values ​​between -0.5 and 0.5 are preferred. Using the above method, even walking assistance devices using a single actuator can generate asymmetrical torque.

[0367] The asymmetric mode may be used to resolve imbalances in the range of motion between the left and right sides and to improve posture, and may be used for other purposes depending on the user and application. For example, the asymmetric mode may be useful in assisting the movement of a person who performs asymmetrical walking due to a stroke. The asymmetric mode may also be used to assist with walking navigation. In complex environments, it may be possible to reduce the torque strength to induce a decrease in speed, provide directional guidance via asymmetric assistance on curves, and increase speed on straight distances to assist in finding a path. Furthermore, if vision sensors are used by attaching a smartphone to the exoskeleton device, it may be used for the walking and mobility of visually impaired people.

[0368] Although Figure 49 shows the stored motion state values ​​for one cycle of the user's walking, the motion state values ​​stored in the state trajectory memory buffer 103 only need to represent the user's movements over a short period of time (within a few seconds, for example, within 1 to 2 seconds). For example, the motion state values ​​stored in the state trajectory memory buffer 103 may include only information about the user's step (half a cycle of walking). Even if the motion state values ​​stored in the state trajectory memory buffer 103 include only the user's step, i.e., half a cycle of walking, the present invention can still be implemented. Preferably, the motion state values ​​stored in the state trajectory memory buffer 103 may include motion state values ​​for movements that include one cycle of the user's repetitive movements.

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

[0370] The determination unit 106 uses the operating state values ​​stored in the state trajectory memory buffer 103 to determine the auxiliary force.

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

[0372] At this time, the determination unit 106 may be set to select an operating state value stored in a predetermined position i in the state trajectory memory buffer 103.

[0373] The predetermined position is irrelevant to any position in the memory array. However, in order to improve the stability of the exercise assistance device even with sudden changes in the user's movements and to provide the user with smooth assistance, it is preferable not to select the movement state value stored in the first storage position O of the memory array that stores the current walking state value.

[0374] For example, when the operating state value is a value generated every 0.01 seconds, the predetermined position i is preferably between 20 and 40, and therefore, the operating state value S

[20] to operating state value S

[40] can be selected. However, it is not necessarily limited to this range.

[0375] Furthermore, the operating state values ​​may be filtered for noise using a low-bandwidth filter before being stored in the state trajectory memory buffer 103. However, the determination unit 106 can select two or more operating state values, taking into consideration the possibility that noise may be present in the stored operating state values. In this case, it is preferable that the two or more operating state values ​​are consecutive (for example, S[i], S[i+1], ...) rather than operating state values ​​stored separately in the memory array.

[0376] Furthermore, the determination unit 106 can also adaptively change a predetermined position i for selecting the operating state value according to the user's movement. However, even in this case, it is preferable to set a range of changeable positions for selecting the operating state value (for example, i is between 10 and 50) in order to provide stable assistance.

[0377] At this time, if the decision unit 106 must recognize the user's movement speed, cadence, phase, etc., as in conventional technology, it would have to analyze walking state values ​​corresponding to at least 2 to 3 steps, and the time required for analysis would prevent it from immediately responding to changes in the user's movement.

[0378] However, the decision unit 106 can provide assistance that responds immediately and adaptively to changes in the user's movements simply by changing the position where it selects the motion state value according to the results obtained, using the walking state value stored in the state trajectory memory buffer 103 to grasp the user's movements.

[0379] Up to this point, we have described an operation assistance system according to one embodiment of the present invention, and described such an operation assistance system as a system included in an operation assistance device for control purposes. However, the operation assistance system according to one embodiment of the present invention is also the operation assistance device itself.

[0380] Furthermore, although it was explained that the assisting force is provided in the same direction as the user's movement to support the movement, it may also be provided in the opposite direction to the user's movement for the sake of the exercise effect.

[0381] The following describes in detail a method for assisting operation using a state trajectory memory buffer according to one embodiment of the present invention.

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

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

[0384] The operating status value is a sensing value obtained by measuring the user's operating status at regular time intervals (e.g., 0.01 seconds), or a converted value obtained by converting the sensing value using a pre-set mathematical formula.

[0385] Therefore, the sensing values ​​are either stored directly in the state trajectory memory buffer 103, or they are stored after being converted using a pre-set mathematical formula.

[0386] Furthermore, the operating status value may be stored after noise has been removed using a low-pass filter or the like.

[0387] The method for updating the state trajectory memory buffer 103 by storing the operating state values ​​is as explained earlier with reference to Figure 47, where the operating state values ​​are stored sequentially in the order they were input into the state trajectory memory buffer.

[0388] Therefore, in a FIFO (First In First Out) method, older operating state values ​​are stored as you move from the first storage position to the last storage position in the memory array, and when a new operating state value is input, the oldest operating state value (S[N]) is deleted. The state trajectory memory buffer 103 stores only a preset number of operating state values ​​for the user's recent actions.

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

[0390] In this case, the operating state value can be selected from an operating state value stored in a predetermined location in the memory array (for example, S[i] is selected, i=30).

[0391] In another embodiment of the present invention, two or more operating state values ​​can be selected. In this case, the operating state values ​​can be selected in a sequential manner (for example, selecting S[i] and S[i+1], i=30).

[0392] Next, the auxiliary force determination stage (S300) is the stage in which the auxiliary force is determined using the selected operating state value.

[0393] In the auxiliary force determination stage, the auxiliary force can be determined using the sum of the weighted values ​​of the operating state values ​​selected in the operating state value selection stage, as shown in [Equation 3] below.

[0394]

number

[0395] Here, W is the weight value and S is the operating state value.

[0396] Next, the auxiliary force output stage (S400) is the stage in which the auxiliary force determined in the auxiliary force determination stage is output.

[0397] The output may be in the form of a control signal that either outputs the determined auxiliary force value as is, or drives the drive unit of the operating assist device 1 by the determined auxiliary force.

[0398] When using the motion assistance method according to one embodiment of the present invention as described above, as shown in Figure 51, the user may be provided with an assistive force determined by the walking motion while the user is walking.

[0399] Furthermore, as shown in Figure 52, when the user is stationary, the assistive force is 0. As shown in Figure 53, when the user starts walking again, the assistive force remains 0 for a very short time ti (for example, if the operation state value is generated at 0.01-second intervals, then ti = 0.01 × i seconds) from the selected position i in the memory array until the user enters a walking state. Then, immediately after the short time ti has elapsed, an assistive force corresponding to the walking motion is provided.

[0400] This embodiment of the operation assistance method can provide assistance force in response to sudden changes in the user's movement in a very short time. Furthermore, the sudden changes in the user's movement are buffered by the state trajectory memory buffer, which not only improves the stability of the device but also provides the user with predictable and smooth interaction.

[0401] Furthermore, as shown in Figures 54 to 56, selecting two or more operating state values ​​not only provides safer and smoother auxiliary force to sensor noise, but also offers the added benefit of generating a variety of auxiliary force profiles. Figure 57 shows a sequence diagram of an operation assistance method according to one embodiment of the present invention. As shown in Figure 57, an operation assistance method according to another embodiment of the present invention includes an operation state value storage step (S100), a state trajectory movement distance calculation step (S210), an operation state value selection position change step (S220), an operation state value selection step (S230), an assistance force determination step (S300), and an assistance force output step (S400).

[0402] Another embodiment of the present invention provides an operation assistance method that is more adaptive to sudden changes in the user's movements than the operation assistance method of one embodiment shown in Figure 50, and is characterized by being able to change a predetermined position i for selecting an operation state value according to the user's operating state.

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

[0404] The state trajectory travel distance calculation step (S210) is a step in which the state trajectory travel distance is calculated using the operating state values ​​stored in the state trajectory memory buffer.

[0405] The state trajectory movement distance d0 is calculated by summing the differences between the operating state values ​​stored in the state trajectory memory buffer 103, as shown in Figure 58.

[0406] Since the operating state value is generated and stored at regular time intervals, a larger distance traveled along the state trajectory indicates that the user has made a sudden change in behavior.

[0407] The operation state value selection position change step (S220) is the step in which the predetermined position i for selecting the operation state value is changed according to the calculation result of the state trajectory movement distance d0.

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

[0409] In other words, the larger the state trajectory movement distance d0, the more the operating state value selection position can be changed from the state trajectory memory buffer to the first storage position O of the memory array, and the smaller the state trajectory movement distance, the more the operating state value selection position can be changed to the last storage position N of the memory array. This means that the more rapid the user's behavioral changes, the more the assistive force is determined by the most recently input operating state value.

[0410] Thus, by adaptively selecting the operating state value in response to changes in the user's movements and determining the assistive force accordingly, it is possible to respond to changes in the user's movements more quickly than when the operating state value selection position is fixed.

[0411] To confirm this, the motion assistance method was performed while performing a running motion after walking. As a result, when the motion state value selection position was fixed, when a change in motion occurred from walking to running, a timing delay occurred and an assistive force that interfered with running was output (see Figure 59). On the other hand, when the motion state value selection position was adaptively changed, as in the motion assistance method according to other embodiments of the present invention, it was confirmed that the method responded to changes in motion patterns more quickly (see Figure 60).

[0412] Furthermore, even without performing adaptive control that changes the position of the selected motion state value according to the distance traveled along the state trajectory, auxiliary power (positive power) is smoothly generated during walking. However, during running, the positive power cannot be smoothly generated due to delays, and the ratio of negative power generation that interferes with the movement increases. On the other hand, when adaptive control is performed, positive power is smoothly generated even during running, and the ratio of negative power generation is relatively very low (see Figure 61).

[0413] Adaptive control based on state trajectory travel distance can also be applied to low-bandpass filters for filtering operating state values. That is, by using adaptive control where the cutoff frequency is lower as the state trajectory travel distance d0 decreases, and the cutoff frequency increases as the state trajectory travel distance d0 increases, noise that may be included in the operating state values ​​can be removed more effectively.

[0414] The above method increases the efficiency of assistive force transmission by having the device change the timing of the assistive force in real time according to the user's movements. On the other hand, it is also possible to use a method in which the assistive force is not determined adaptively to changes in the user's movements, but rather the position of the selected operating state value is fixed. This is because it may be necessary to provide assistive force at a fixed timing, without being linked to changes in the user's movements. It can be used in exercise and rehabilitation to intentionally apply assistive force at a timing that is out of sync with the user's movements, thereby enhancing specific motor functions. By intentionally delaying or speeding up the assistive timing, it is possible to induce an increase in stride length or cadence. It may also be possible to induce the activation of muscle groups that are difficult to stimulate during normal walking. Alternatively, by intentionally changing the timing to be out of sync with the movement, it can be used for balance training and virtual environment simulation exercises.

[0415] A method for assisting operation according to one embodiment of the present invention has been described. Such a method for assisting operation according to one embodiment of the present invention may be embodied in a computer program, digital electronic circuit, firmware, or hardware stored on a medium, or a combination of one or more of these, in order to perform each step, and may be stored and executed in a system for assisting operation according to one embodiment of the present invention, so that the system for assisting operation can provide appropriate assistance to changes in the user's operation.

[0416] Method for providing a safety mode according to one embodiment of the present invention The following describes in detail a method for providing a safety mode according to one embodiment of the present invention.

[0417] Specifically, to ensure the safety of the wearable robot user, we will describe how the wearable robot device can detect abnormal attachment or detachment between the drive unit 130 and the waist-worn portion 110, or between the connecting member 140 and the thigh-worn portion 120, and how it can respond.

[0418] Abnormal detachment between the drive unit 130 and the waist-worn portion 110 or the connecting member 140 and the thigh-worn portion 120 includes situations in which the drive unit 130 and the waist-worn portion 110 or the connecting member 140 and the thigh-worn portion 120 separate during the operation of the wearable robot, even though the user did not intend to. Abnormal detachment also includes situations in which the user intentionally detaches the components while the wearable robot is operating. Abnormal detachment may also include situations in which the drive unit and the components are coupled for initial use. Abnormal detachment also includes situations due to user negligence, such as when the device is worn while it is switched to an operating mode. Abnormal detachment may also include other situations that could endanger the user. For example, if the device is not fully coupled, it enters a safety mode based on the tilt of the device to provide safety to the user.

[0419] Such abnormal attachment and detachment may occur due to reasons such as deterioration of the fastening part between the drive unit 130 and the waist-worn part 110 or between the connecting member 140 and the thigh-worn part 120, excessive assisting force generation in the drive unit 130, interference between the worn parts 110 and 120 during walking movements when the wearable robot is being worn, or incomplete connection between the drive unit 130 and the waist-worn part 110 or between the connecting member 140 and the thigh-worn part 120.

[0420] Wearable robots perform force control of a drive unit, including a motor, to generate auxiliary force. Because the control target of a wearable robot is force, not position or velocity, unintentional attachment or detachment of the wearable robot can result in excessive changes in position or velocity during the control process. If the fastening part separates during the force control process, the target auxiliary force cannot be measured, causing the output of the drive unit to reach its maximum value in a very short time. This output causes the separated drive unit 130 and connecting member 140 to move significantly without restraint, potentially causing inappropriate injury to the user's body. For example, if unintentional detachment occurs between the connecting member 140 and the thigh-worn portion 120, the thigh strap portion may move like a whip.

[0421] Furthermore, if the drive unit 130 and waist-worn portion 110 or the connecting member 140 and thigh-worn portion 120 are abnormally attached before use, in addition to attachment and detachment during use of the wearable robot, the wearable robot may enter safety mode when powered on. Abnormal attachment refers to a state in which one or more fastening points between the worn portions 110, 120 and other components are separated or improperly connected. As shown in Figure 62, the method for providing a safety mode in the above situation can be divided into a detection phase (S500), an operation phase (S600), a notification phase (S700), and a cancellation phase (S800).

[0422] First, in the detection phase (S500), the operating angle output from the drive unit is detected. If the detected operating angle exceeds the maximum movable angle, the wearable robot can be switched to safety mode. The operating angle may be measured using the user's hip angle value q0 measured by the wearable robot's sensor, as shown in Figure 46.

[0423] The maximum range of motion refers to the maximum angle that the two connecting members 140 can achieve with respect to the drive unit 130 while the user is wearing the wearable robot. The maximum range of motion can be estimated based on data from the user's daily life. Daily life data can be collected through activities such as walking, running, and climbing stairs, or from statistics of general data from other people.

[0424] The maximum movable angle is preferably set smaller than the mechanical design limit to protect the user of the wearable robot according to the present invention. That is, the wearable robot according to the present invention may be equipped with a stopper to limit the mechanical movable angle in order to protect the mechanical structure, but in order to protect the user, the maximum movable angle is preferably set to be less than or equal to the range of the mechanical movable angle.

[0425] As another detection method, the operating speed output from the drive unit 130 can be detected, and if it exceeds the maximum operating speed, the device can be switched to safety mode. The operating speed may be the speed at the end of the connecting member 140 to which the thigh-worn portion 120 is connected when the wearable robot is being driven. The maximum operating speed can be set based on data from the user's daily life. The maximum operating speed can be set by calculating and measuring the operating speed from the maximum output of the drive unit 130. To prevent false detection of safety mode during normal use of the device, the movable angle and operating speed can be used simultaneously as the basis for deciding whether to switch to safety mode.

[0426] Furthermore, if an abnormal connection between the drive unit 130 and the waist-worn portion 110 or between the connecting member 140 and the thigh-worn portion 120 is detected at the time the power of the wearable robot is turned on, a safety mode may be provided. An abnormal connection can be detected by measuring the inclination between a straight line perpendicular to the ground from the center of gravity of the drive unit 130 body and one axis from the drive unit 130 body. The inclination can be measured via a motion sensor. If the inclination measurement shows that the drive unit 130 body is tilted abnormally, the system will enter safety mode. Whether the drive unit 130 body is tilted abnormally can be estimated based on the user's daily life data.

[0427] As another detection method, a wired or wireless contact sensor can be built into the thigh fastening portion 120. If the contact sensor detects a detached state, the device can enter safety mode. The contact sensor can be replaced with a short-circuit / open-circuit sensor that detects the unraveling of the thigh strap.

[0428] During the operation phase (S600), the system can switch to safety mode while simultaneously short-circuiting the motor to cut off power supply, thereby stopping the rotation of the drive unit using the motor's own braking force. As a way to provide safety mode, the wearable robot can be switched to position or speed control mode to stop the rotation of the motor of the drive unit 130. Position control mode refers to a method that provides the wearer with safe movement quickly without causing inconvenience to the wearer. Speed ​​control mode refers to a method that transmits safe assistance force quickly to the wearer without causing inconvenience to the wearer. Position and speed control modes can be operated individually or simultaneously.

[0429] On the other hand, the stopping of the device by the fixed rotation of the drive unit 130 may cause additional injury to the user. Therefore, braking can be stopped after a certain period of time when the rotation has stopped, allowing the drive unit 130 to move freely. The aforementioned period of time should be set to a level at which the drive unit 130 has stopped completely or the inertial force of the thigh strap has been released. It is preferable that the aforementioned period of time be set to a short time of 1 to 2 seconds.

[0430] Alternatively, if the wearable robot enters safety mode from an abnormal coupling state between the drive unit 130 and the waist-worn portion 110 or between the connecting member 140 and the thigh-worn portion 120 before use, the wearable robot will not provide assistance, and therefore can maintain the state of not providing assistance.

[0431] In the notification stage (S700), once the wearable robot is switched to safety mode, it can notify the user that it is in safety mode through vibration, voice, or light. The method of notification is not limited to the examples mentioned above. One or more means of informing the user that it is in safety mode may be used. Furthermore, matters such as the method and intensity of notification can be arbitrarily set by the user. This stage can also be omitted.

[0432] In the cancellation phase (S800), the wearable robot switches to safety mode and can automatically switch to standby mode after a certain period of time. Alternatively, the user can cancel safety mode by clearly notifying the device that they have recognized the wearable robot entering safety mode. Then, the wearable robot can be used normally. Safety mode can be canceled by pressing a button on the wearable robot or by remote operation. Furthermore, the method of canceling safety mode is not necessarily limited to the methods described.

[0433] Up to this point, the operation assistance method and system using a state trajectory memory buffer according to one embodiment of the present invention have been described in a limited manner with reference to specific embodiments. However, it should be understood that the present invention is not limited to such specific embodiments, and while it does not deviate from the spirit and scope of the invention claimed in the claims, a variety of changes and modifications are possible.

[0434] Charging method according to one embodiment of the present invention The following describes a method for charging a wearable robot according to one embodiment of the present invention.

[0435] Conventional wearable walking assistance devices have been developed with a focus solely on assisting the user's walking. Consequently, they have been limited to existing, limited purposes such as walking assistance, therapy, and rehabilitation, resulting in a very narrow range of users.

[0436] However, as the range of applications for wearable robots expands, there was a need to develop wearable robots that could embody a variety of functions beyond walking assistance. Also, because wearable robots are worn by the user, they need to be as lightweight as possible. However, batteries are an essential component for powering wearable robots, and increasing battery capacity comes with the problem of increasing volume and weight.

[0437] To solve these problems, this invention presents a method for operating in auxiliary mode and exercise mode. Furthermore, this invention proposes a wearable robot that can independently charge electrical energy in exercise mode.

[0438] The wearable robot according to the present invention can operate in an assist mode and an exercise mode. The assist mode is a mode in which the robot assists the user's movements by providing an assistive force. The exercise mode is a mode in which the robot guides the user's movements by providing a resistive force.

[0439] As shown in Figure 63, the assisting force provided to the user in assist mode and the resisting force provided to the user in exercise mode can be applied to various parts of the user's body depending on the structure and operation method of the wearable robot.

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

[0441] Furthermore, when the wearable robot according to the present invention operates in an assist mode that provides assistive force to the lumbar muscles and an exercise mode that induces lumbar movement, as shown in Figure 63(b), the assistive force provided in the assist mode and the resistance force provided in the exercise mode may be applied to the user's waist.

[0442] Furthermore, when the wearable robot according to the present invention operates in an assist mode that provides assistive force to the upper body (e.g., shoulders, back) and arms, and in an exercise mode that guides upper body movements and arm movements, as shown in Figure 63(c), the assistive force provided in the assist mode and the resistive force provided in the exercise mode may be applied to the upper body portion of the user.

[0443] Thus, in the present invention, the assisting force provided to the user in assist mode and the resisting force provided to the user in exercise mode are provided to various positions on the body depending on the structure and operation method of the wearable robot. However, for the sake of explanation and understanding, the following explanation will assume and describe the case where the robot operates in an assisting mode that assists walking and an exercise mode that guides lower body movement.

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

[0445] In walking assistance mode, the connecting member rotates due to the drive unit's rotation (motor rotation), providing assistance to the user's thigh movement centered on the hip joint.

[0446] On the other hand, in exercise mode, a resistance force that hinders the user's movements is transmitted to the user's lower body via the connecting member, and the user can achieve exercise effects by performing movements that counteract the resistance force.

[0447] In this case, the resistance force provided to the user in motion mode may be generated by adjusting the rotational torque of the drive unit (motor), or it may be generated by the motor's backdrivability.

[0448] To help understand the charging method for wearable robots according to the present invention, we will first explain the boost converter (step-up converter). Figure 64 shows the circuit of a boost converter, with arrows indicating the current flow when the switch is turned on / off. A boost converter is a circuit for obtaining an output voltage higher than the input voltage. A battery can only be charged when a higher voltage is applied, and the charging current is determined by the difference between the battery voltage and the applied voltage and the magnitude of the internal resistance. The present invention charges the battery by generating a voltage higher than the battery voltage using the principle of a boost converter.

[0449] Figure 65 is a graph showing the inductor current and voltage when a boost converter is switched on and off.

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

[0451]

number

[0452] At this time, the output voltage V out This can be shown in [Equation 5] below, where D is the duty cycle, which is the ratio of the intervals in one period f during which the switch is on and electrical energy is charged into the inductor, T is time, and V in This refers to the input voltage.

[0453]

number

[0454] TIFF2026123035000007.tif1029

[0455] Based on [Equation 2], the output voltage V out The larger the duty cycle, in other words, the closer it is to 1, the larger the value becomes, and the smaller the duty cycle, the greater the input voltage V. in It can be seen that it is similar to that.

[0456] This invention focuses on the principle of such boost converters and presents an optimal charging circuit applicable to wearable robots. In order to increase the high voltage conversion rate of a boost converter, it is necessary to increase the time for charging electrical energy to the inductor.

[0457] Figure 66 shows the charging circuit of the wearable robot according to the present invention. The wearable robot according to the present invention can operate in either an exercise mode or an assist mode, and may include a drive unit for driving it.

[0458] Either the exercise mode or the assist mode may be selected by the user. In this case, the wearable robot according to the present invention may further include an input unit (not shown) for receiving input from the user regarding the drive mode. In other embodiments, either the exercise mode or the assist mode may be automatically selected based on the user's movement pattern or motion pattern.

[0459] More specifically, the drive mode selection signal is transmitted to the charging circuit section, which will be described later, and the charging circuit section performs the operation corresponding to the drive mode. The drive mode selection signal may be generated in various ways. For example, the drive mode selection signal may be generated by operating a drive mode selection switch provided on the wearable robot. That is, when the user operates the drive mode selection switch to drive in motion mode, the motion mode selection signal is transmitted to the charging circuit section, and the switching section 510 of the charging circuit section, described later, is controlled to the off state corresponding to the motion mode. Conversely, when the user operates the drive mode selection switch to drive in auxiliary mode, the auxiliary mode selection signal is transmitted to the charging circuit section, and the switching section 510 of the charging circuit section, described later, is switched to the on state corresponding to the auxiliary mode, and power is supplied from the battery section 510 to the motor section 560. The drive mode selection switch may be implemented by mechanical means such as a mechanical switch or button, or by electronic means such as a touchpad or touchscreen.

[0460] In yet another embodiment, the drive mode selection signal may be automatically generated based on the user's movements, rather than on the user's input signals. For example, if the motor unit 560 rotates due to the user's movements, and this generates a back electromotive force exceeding a previously set critical value, it can be determined that the system is operating in motion mode, and a motion mode selection signal can be generated.

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

[0462] On the other hand, while this explanation will focus on MOSFETs as the primary switch, this is merely for the sake of clarity and ease of understanding. Switches can be implemented using a variety of other elements, such as BJTs (Bipolar Junction Transistors), SiC MOSFETs, and IGBTs (Insulated Gate Bipolar Mode Transistors).

[0463] The diode 530, which guides the current in one direction, is connected in parallel with the switching unit 540. As a result, when the switching unit 540 is ON, the current between the first node N1 and the second node N2 flows only through the switching unit 540, and when the switching unit 540 is OFF, the current between the first node N1 and the second node N2 flows only through the diode 530.

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

[0465] The first to fourth MOSFETs (551 to 554) may be selected from a variety of semiconductor elements such as n-MOSFETs, p-MOSFETs, and CMOS, but are not limited to these; any element capable of realizing switching operation may be used.

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

[0467] Figure 67 shows the current flow in each drive mode. As shown in Figure 5, when the wearable robot is operating in the assist mode, the switching unit 540 is turned on, and the current supplied from the battery unit 510 flows through the switching unit 540. Conversely, when the wearable robot is operating in the exercise mode, the switching unit 540 is turned off, and the current flows towards the battery unit 510 through the diode 530.

[0468] Figure 68 is a diagram illustrating the operation of the charging circuit when the wearable robot according to the present invention operates in auxiliary mode.

[0469] When the wearable robot operates in auxiliary mode, the switching unit 540 is turned on. That is, when driven in auxiliary mode, the switching unit 540 is in the ON state, and the battery unit 510 supplies driving power to the motor unit 560. Therefore, Figure 68 shows the first node and the second node connected together.

[0470] Specifically, when the wearable robot is driven in auxiliary mode, the first MOSFET 551 and the fourth MOSFET 554 are turned ON, and the second MOSFET 552 and the third MOSFET 553 are turned OFF, thereby supplying a forward current from the battery unit 510 to the motor unit 560. The motor unit 560 rotates in a first direction due to the forward current.

[0471] Conversely, when the first MOSFET 551 and the fourth MOSFET 554 are turned off and the second MOSFET 552 and the third MOSFET 553 are turned on, a reverse current is supplied from the battery unit 510 to the motor unit 560. The motor unit 560 rotates in a second direction, which is opposite to the first direction, due to the reverse current. At this time, a separate controller may be provided to control the on / off state of the first to fourth MOSFETs (551 to 554).

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

[0473] Figure 69 is a diagram illustrating the operation of the charging circuit when the wearable robot according to the present invention is operating in motion mode. When the wearable robot is operating in motion mode, the switching unit 540 is controlled to the off state. Therefore, Figure 69 shows a configuration in which a diode 530 is provided between the first node and the second node.

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

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

[0476] Subsequently, when the first MOSFET 551 and the fourth MOSFET 554 are controlled to be ON, and the second MOSFET 552 and the third MOSFET 553 are controlled to be OFF, an even larger voltage is generated according to the principle of the boost converter explained in Figure 64. This causes current to flow from the inductor of the motor unit 5600 along the diode 530 and is stored in the capacitor 520, thereby charging the battery unit 510 which is connected in parallel with the capacitor 520. In other words, when the diode 530 and the motor unit 560 are electrically connected, the electrical energy converted (boosted) based on the electrical energy BEMF generated in the motor unit 560 is stored in the capacitor 520 via the diode 530, thereby charging the battery unit 510.

[0477] Here, the duty cycle may refer to the ratio of the state in which the 1st / 3rd MOSFET is off and the 2nd / 4th MOSFET is on to the state in which the 1st / 4th MOSFET is on and the 2nd / 3rd MOSFET is off. The duty cycle can be maximized within a range that does not damage the battery, and may be between 90% and 99%.

[0478] The mechanical principles will be explained in relation to the structure of the wearable robot according to the present invention. The motor unit 560 is connected to one end of a connecting member, and the other end of the connecting member may be fixed to various parts of the user's body, such as the legs (thighs), back, shoulders, or arms (wrists). At this time, the movement of the connecting member (rotation, etc.) may be linked to the user's movements such as walking, running, bending the waist, rotating the shoulders, and moving the arms, causing the motor unit 560 connected to the other end of the connecting member to rotate. The rotation of the motor unit 560 generates a back electromotive force, and the magnitude of the back electromotive force corresponds to the rotational speed of the motor unit 560, so the magnitude of the back electromotive force may be determined according to the speed of the user's movement. The charging method of the wearable robot according to the present invention can be understood in relation to the structure of the wearable robot, which will be explained in detail below.

[0479] When electrical energy is stored in the inductor included in the motor unit 560, the first MOSFET 551 and the fourth MOSFET 554 are controlled to be turned ON, and the second MOSFET 552 and the third MOSFET 553 are controlled to be turned OFF, thereby charging the battery unit 510 using the electrical energy stored in the inductor included in the motor unit 560.

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

[0481] The wearable robot according to the present invention enables the safe provision of load without the use of motor drive (providing exercise mode), and in this case, it is possible to provide an exercise effect similar to underwater exercise with a braking resistance force proportional to the speed. Furthermore, when acting as a walking assistance device, it can provide safe muscle exercise with a passive exercise load proportional to the walking speed.

[0482] To elaborate further, this is a significant difference compared to dynamic methods that provide resistance through motor output. Unintended forces are not applied in the opposite direction to the movement. The less the user moves, or if they are still or move slowly, the less resistance there is, allowing for safe changes in movement without hindering it. If greater resistance is desired, simply move faster.

[0483] In particular, the charging function according to the present invention can significantly increase the usage time of wearable robots, and the magnitude of the exercise load can also be controlled by adjusting the charging capacity. In other words, control is possible using mutually relative concepts. To increase the battery charge, increasing the duty cycle (time ratio) for charging electrical energy will increase the resistance force proportional to the user's operating speed, thus increasing the physical load. To increase the physical load, the duty cycle (time ratio) for which the motor is short-circuited must be increased, which will generate a high back electromotive force, increasing the input voltage of the boost converter and thus increasing the charge.

[0484] By using the charging capacity setting and exercise load matching method according to the present invention, a variety of exercise programs can be established, and battery charging can be performed using only the existing motor board hardware, without the need for separate charging hardware.

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

[0486] The wearable robot according to the present invention may further include a wired terminal section (not shown) for transmitting electrical energy generated in the charging circuit section 500 to an external device such as a smartphone via a wire. The wired terminal section (not shown) may be electrically connected to the battery section 510 and the capacitor 520, and the other end may be configured to accept a suitable terminal such as a C-type, 8-pin, or 5-pin connector.

[0487] Furthermore, the wearable robot according to the present invention may further include a wireless charging unit (not shown) that wirelessly transmits electrical energy from the charging circuit unit 500 to an external device. In this case, the wireless charging unit (not shown) can use an inductive or resonant method and may include a charging coil for interacting with the internal coil of the external device.

[0488] On the other hand, in other embodiments, the wearable robot may further include a charging terminal for charging the wearable robot using an external charging device when the wearable robot is in a low-power state. The charging terminal is electrically connected to the battery unit 510 and can supply power supplied from the external charging device to the battery unit 510, thereby charging the battery unit 510 or directly transmitting the power necessary to drive the motor unit 560.

[0489] Above, as shown in Figure 71(a), an embodiment in which a wearable robot includes a charging circuit was described.

[0490] The following describes an embodiment in which the charging device and the wearable robot are provided separately, as shown in Figure 71(b). When the charging device and the wearable robot are provided separately, as shown in Figure 71(b), the motor unit is included in the wearable robot, and the charging device may include a charging circuit unit including a battery. The physical and electrical coupling of the wearable robot and the charging device completes a circuit as shown in Figure 66, enabling power supply and charging.

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

[0492] At this time, the device may further include a signal receiving unit (not shown) that receives a drive mode selection signal from the wearable robot for either an exercise mode or an assist mode. Based on the drive mode selection signal, when the wearable robot charging device according to the present invention is operating in assist mode, the battery unit 510 supplies power to the motor unit 560 of the wearable robot, and for this purpose the switching unit 540 is controlled to be ON. Conversely, when operating in exercise mode, the battery unit 510 is charged from the electrical energy generated by the motor unit 560 of the wearable robot, and at this time the switching unit 540 is controlled to be OFF.

[0493] On the other hand, a coupling portion (not shown) for the physical coupling of the wearable robot and the charging device may be provided. When the charging device is inserted into and attached to the wearable robot, the coupling portion of the charging device may include a coupling groove and a fixing portion for coupling to the wearable robot. When the charging device is attached to the outside of the wearable robot in a manner that it is locked to, the coupling portion of the charging device may include a protruding portion and a fixing portion for attaching to a locking piece provided on the wearable robot. When the devices are coupled using separate connectors such as bolts or screws, the coupling portion of the charging device may include a through-hole through which the bolts or screws can pass. In this way, the wearable robot and the charging device can be physically coupled in a variety of ways.

[0494] The wearable robot charging device may further include a connecting portion (not shown) that electrically connects to the motor unit 540 of the wearable robot. The connecting portion (not shown) may consist of wires, pads, connectors, terminals, etc. The motor unit 540 of the wearable robot may be electrically connected to the first to fourth MOSFETs (551 to 554) of the charging device by the connecting portion (not shown).

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

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

[0497] The physical and electrical coupling between the charging device and the wearable robot ultimately generates the circuit structure shown in Figure 66. The subsequent operation method is the same as described above, so we will omit further explanation.

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

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

[0500] The charging circuit may be controlled by a controller that controls the wearable robot according to the present invention in general. That is, the controller can drive the wearable robot in an auxiliary mode or a motion mode, and at the same time generate control signals to turn on and off the switching unit and the first to fourth MOSFETs included in the charging circuit according to the drive mode.

[0501] According to the present invention, a wearable robot can be operated in an assist mode and an exercise mode, and when driven in exercise mode, it can independently generate electrical energy to charge a battery or external devices. [Explanation of Symbols]

[0502] 1: Motion assistance device or wearable robot 100: Motion assistance system 103: State Trajectory Memory Buffer 106: Decision Section 110: First fixing part or waist-worn part 113: Waist belt 116: Waist-worn frame 117a: Lower mechanism 117b: Upper mechanism section 118: Detachable button 120: Second fixing part or thigh wearing part 123: Strap part 126: Plate 127: Plate Frame 127a: Opening 128: First button 129: Second button 130: Drive unit 131: Drive unit 132: Motor shaft 133: Drive unit frame 134: Main housing 134a: Lower hook 134b: Upper hook 135: Hall 136: Battery 137: Control board 138: Bearings 139: Bush 140: Connecting member 141: First Member 141a: 1st-1st end cap 141b: 1st-2nd end caps 141c: First slit 142: Second component 142a: 2nd-1st end cap 142b: 2nd-2nd end cap 142c: Second slit 142d: Laura 142e: 1st pulley 142f: 2nd pulley 142g: Third pulley 143: Third member 143a: Sliding pad 143b:Protrusion 144: Elastic material M1: First permanent magnet M2: 2nd permanent magnet 145: Extension Frame 146: Fixed frame 147: Motion detection sensor 148: Elastic material for the wearable part 150: Interlocking part 151: Cable No. 1 152: Second cable 153: Rack 154: Pinion 155: First Pulley 156: Second Pulley 157: Belt 170: Rotating joint section 500: Charging circuit section 510: Battery 52: Capacitor 530: Diode 540: Switching section 551 to 554: 1st to 4th MOSFET 560: Motor section N1 to N5: 1st to 5th node

Claims

1. In walking assistance wearable robots, A single drive unit, A first fixing part is attached to the lumbar region above the hip joint and can be physically connected to the drive unit, A first connecting member connected to the drive unit and capable of rotating together with the drive unit, A second connecting member that can be rotated by the driving force of the aforementioned drive unit, A second fixing part is attached to both thighs on the lower side of the hip joint and can be physically connected to the first connecting member and the second connecting member, respectively. Includes, The first connecting member and the second connecting member each include a first member supported by the drive unit, a second member movably connected to the first member along its length, and a third member inserted inside the second member, movably connected within the second member along its length, and supported by the second fixing unit. A second slit is formed along the length direction on one surface of the second member, and a first slit is formed on one surface of the first member that communicates with the second slit in a superimposed state with the second member inserted inside, so that a part of the third member is movable with the outside exposed through the first and second slits. Wearable robots.

2. In walking assistance wearable robots, A single drive unit, A first fixing part is attached to the lumbar region above the hip joint and can be physically connected to the drive unit, The first connecting member connected to the drive unit, A second connecting member that can be rotated by the aforementioned drive unit, A second fixing part is attached to both thighs on the lower side of the hip joint and can be physically connected to the first connecting member and the second connecting member, respectively. Includes, The first connecting member and the second connecting member are Each includes a first member supported by the drive unit, and at least one second member movably connected to the first member along its length, such that the total length of the first connecting member and the second connecting member is adjusted in accordance with the distance between the drive unit and the second fixed unit. When the range of motion of the hip joint is in the first region, The second member is, The first member is configured to move in the longitudinal direction along the first member to adjust its length, Wearable robots.

3. The first connecting member and the second connecting member are The present invention further includes a third member that is connected to the first member or the second member so as to be movable in the longitudinal direction and is supported by the second fixing portion, When the range of motion of the hip joint exceeds the first region during operation in the second region, the third member is configured to move longitudinally along the first member or the second member to adjust its length. The wearable robot according to claim 2.

4. In walking assistance wearable robots, The drive unit and A first fixed part connected to the drive unit, The first connecting member connected to the drive unit, A second connecting member that can be rotated by the aforementioned drive unit, A second fixing portion which can be connected to the first connecting member and the second connecting member, respectively, Includes, The first connecting member and the second connecting member are The first member supported by the drive unit, A second member is movably connected to the first member, A third member is movably connected to the second member and supported by the second fixed portion, An interlocking mechanism that causes the second and third members to move in conjunction with each other, The present invention further includes an elastic member that provides elastic force to the first connecting member and the second connecting member in the contraction direction, The aforementioned interlocking part is, A rack arranged along the length direction on either the first member or the second member, A pinion is positioned on the other of the first and second members, and rotates in engagement with the rack when the first and second members move relative to each other. At least one pulley positioned on the second member, A wire or cable that transmits power to the third member while being supported by at least one pulley and in conjunction with the rotation of the pinion, including, A wearable robot that assists with walking.

5. The aforementioned rack is The pinion is positioned on the inner surface of the first member and on the contraction end of the second member. The at least one pulley includes a first pulley that rotates with the pinion, and a second pulley positioned at the extended end of the second member. The wire or cable is configured such that both ends are fixed to the third member while it is wound around the first and second pulleys. A walking assistance wearable robot according to claim 4.

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