A wearable robot that assists with waist muscle strength, or a control device for a wearable robot.

Abstract

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

Description

Technical Field

[0001] The present invention relates to a wearable robot for assisting waist muscle strength or an operating device for a wearable robot.

Background Art

[0002] The wearable robot market has shown a high growth rate mainly in the fields of assistance and rehabilitation for the elderly and disabled people, but the demand for robots for improving productivity in industrial sites has increased significantly.

[0003] For the purpose of preventing musculoskeletal diseases, reducing fatigue, and improving productivity, the interest in wearable robots and their practical applications have spread to industries such as logistics, construction, manufacturing, and services.

[0004] In particular, wearable robots are technologies that are likely to spread across the entire industry due to positive effects such as the ability to flexibly handle work environments in industrial sites, increase productivity, and reduce the risks and fatigue of workers. For example, wearable robots have been proactively applied to automobile production lines of well-known automobile companies around the world, such as Ford in the United States, BMW and Audi in Germany, and Renault in France.

[0005] As described above, wearable robots for industrial sites and daily life assistance have high interest and demand. However, the high price, heavy weight, and inconvenient wearing feeling of the developed wearable robots act as obstacles to popularization, and the reality is that they have not been widely popularized.

[0006] Therefore, there is a need to develop a simple / lightweight wearable robot with a low price, a light and simple system, and a comfortable wearing feeling, overcoming the limitations of high price, heavy and complex systems, and inconvenient wearing feelings that are the limitations of popularization of wearable robots.

[0007] Furthermore, in logistics, distribution, construction, and manufacturing work, support for specific body parts such as the arms, shoulders, and waist is necessary. To make the equipment lightweight, easy to use, and cost-effective, it is important to develop a simple structure with flexible properties that reduces the specific weight of the rigid frame and effectively supports specific body parts.

[0008] For wearable robots to reach the commercialization stage, they must be developed as wearable robots that assist only the core necessary joints / parts, rather than full-body versions that assist all joints, addressing issues such as product cost, weight reduction, and efficiency. In particular, for work-assistance wearable robots, unless handling extremely heavy objects, small drive mechanisms or manual mechanisms such as springs can be applied to assist with light / medium weight tasks in logistics, manufacturing, and construction sites, thereby realizing a system that is lightweight and can be worn for extended periods.

[0009] In addition, it is necessary to adjust the magnitude of the assistive force according to the work environment, and by limiting the range of motion in which the wearable robot can receive the assistive force, the assistive force can be transmitted more efficiently.

[0010] Therefore, in this invention, we propose a lightweight, long-wearable work assistance robot that utilizes a small drive unit or manual mechanism and a mechanical locking function. [Overview of the project] [Problems that the invention aims to solve]

[0011] Therefore, the object of the present invention is to provide a wearable robot that assists waist muscle strength with adjustable stiffness, in order to solve the problems of the conventional invention.

[0012] The problems that this invention aims to solve are not limited to those mentioned above, and other problems not mentioned can be clearly understood by those skilled in the art from the following description. [Means for solving the problem]

[0013] The present invention includes a wearable robot that assists waist muscle strength, comprising an upper wearable portion worn on the upper body, a waist muscle support portion that can be fixed to the upper wearable portion, and a lower wearable portion connected to the lower end of the waist muscle support portion, wherein the waist muscle support portion includes a housing that can be fixed to the upper wearable portion, a plurality of elastic members arranged in series or parallel inside the housing, a movable portion connected to the lower part of the elastic members and connected to the lower wearable portion for vertical sliding movement, and a stiffness adjustment portion for adjusting the stiffness of the elastic members.

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

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

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

[0017] The present invention includes a wearable robot for assisting waist muscle strength, wherein a locking piece is formed on the upper end surface of the slider in the direction of movement of the slider, and the rigidity adjustment part further includes a sliding cam that moves horizontally from the upper side of the slider in the direction of movement of the slider, and a locking part that contacts or releases contact with the locking piece depending on whether or not the sliding cam is in contact with the sliding cam when it moves, thereby restricting or releasing the movement of the slider.

[0018] The present invention includes a wearable robot that assists waist muscle strength, wherein the stiffness adjustment part further includes a cable connected to the slider, and the robot further includes an operating device for moving the slider by pulling or releasing the cable.

[0019] The present invention includes a wearable robot that assists waist muscle strength, wherein the clutch operating unit includes a gear train portion having gears formed in the circumferential direction on the second fixed portion, and a ratchet gear that restricts or releases the rotation of the second fixed portion by engaging or disengaging gear coupling with the gears of the gear train portion.

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

[0021] The present invention includes a wearable robot for assisting waist muscle strength, characterized in that a reel spring is attached to the rotating shaft of the first fixed part so as to rotate elastically, and the elastic modulus value of the reel spring attached to the first fixed part is smaller than the elastic modulus value of the reel spring attached to the second fixed part.

[0022] The present invention includes a wearable robot that assists waist muscle strength, further comprising a posture recognition sensor built into the waist muscle assistance section, which measures one or more of the waist flexion angle, waist twisting angle, or waist lateral flexion angle of the wearer of the wearable robot.

[0023] The present invention includes a wearable robot that assists the lumbar muscle strength, wherein the posture recognition sensor is connected to a user device or a communication network in a wired or wireless manner, and transmits any one or more of the measured lumbar flexion angle, lumbar torsion angle, or lumbar lateral flexion angle to a server.

[0024] The present invention relates to an operating device of a wearable robot that assists the lumbar muscle strength for operating a first operation target part and a second operation target part, including an operating device housing, a plurality of first cables having one end connected to the first operation target part and the other end fixed to the operating device housing, a second cable having one end connected to the second operation target part and the other end fixed to the operating device housing, a rigidity adjustment button capable of pulling or releasing the pull of the plurality of first cables connected to the first operation target part, and a clutch part operation button capable of pulling or releasing the pull of the second cable connected to the second operation target part. The rigidity adjustment button includes a pressing part that presses the first cable, and includes an operating device of a wearable robot that assists the lumbar muscle strength for operating a first operation target part and a second operation target part.

[0025] The present invention relates to an operating device of a wearable robot that assists the lumbar muscle strength for operating a first operation target part and a second operation target part, wherein the operating device housing includes an upper end support part and a lower end support part that are spaced apart from each other in the longitudinal direction of the plurality of first cables with the pressing part interposed therebetween on the other side of the plurality of first cables.

[0026] The present invention relates to an operating device of a wearable robot that assists the lumbar muscle strength for operating a first operation target part and a second operation target part, wherein the rigidity adjustment button can simultaneously press at least one of the plurality of first cables.

[0027] The present invention further includes a connecting bar hook, and the connecting bar hook can restrain the position of the rigidity adjustment button at a position where the rigidity adjustment button moves in a direction of pressing the first cable, and includes an operating device of a wearable robot that assists the lumbar muscle strength for operating a first operation target part and a second operation target part.

[0028] The present invention includes a wearable robot operating device that assists waist muscle strength, in which the stiffness adjustment button and the connecting bar hook each consist of a plurality of units, the connecting bar hook being connected to a connecting bar to form an integral structure, and operating a first target unit and a second target unit that can be moved simultaneously in the restraint release direction by the stiffness adjustment button.

[0029] The present invention further includes an operating lever that can slide in a direction parallel to the longitudinal direction of the second cable, and includes a first operating target and a second operating target that can operate a wearable robot operating device that assists waist muscle strength, the operating device which can operate a first operating target and a second operating target, the operating lever being able to restrain the position of the operating lever when the operating lever is moved in a direction that pulls the second cable.

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

[0031] The present invention includes an operating device for a wearable robot that assists waist muscle strength in operating a first target unit and a second target unit, the clutch unit operating button further including a release button that can move the clutch unit operating button hook in a direction that releases the restraint of the operating lever.

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

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

[0034] The present invention includes a method for providing a user interface that displays information regarding the risk of waist injury to a wearer of a wearable robot that assists waist muscle strength, wherein the user interface is provided in the step of generating the user interface, and includes an x-axis time y-axis waist flexion angle graph user interface or an x-axis time y-axis waist torsion angle graph user interface.

[0035] The present invention includes a method for providing a user interface that displays information regarding the wearer's risk of lumbar injury, which, in the step of generating the user interface, provides one or more of the wearer's lumbar injury risk user interface, wearer's work pace information providing user interface, wearer's work balance information providing user interface, and wearer's lumbar injury risk information providing user interface.

[0036] The present invention includes a method for providing a user interface that displays information regarding the risk of injury to the waist of a wearer of a wearable robot that assists waist muscle strength, wherein in the step of generating the user interface, the user interface provides one or more of the following: a user interface that provides information on the total number of movements of the wearer in a day; a user interface that provides information on the wearer's safe movement ratio; a user interface that provides information on the wearer's daily load reduction; a user interface that provides information on the wearer's wearing time of the wearable robot; and a user interface that provides information on the wearer's daily movement safety score.

[0037] The present invention includes a method for providing a user interface that displays information regarding the risk of lumbar injury to a wearer of a wearable robot that assists lumbar muscle strength, calculated by subtracting, from 100%, the average of the ratios of one or more of the values ​​of the wearer's daily excessive lumbar flexion ratio information user interface, the wearer's daily prolonged lumbar flexion ratio information user interface, the wearer's daily lateral flexion ratio information user interface, and the wearer's daily lumbar twisting ratio information user interface, or a combination of two or more of these ratios. [Effects of the Invention]

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

[0039] Furthermore, it has the advantage of a clutch function that can restrict the wearer's range of motion depending on the type of work.

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

[0041] According to the present invention, a control device for a wearable robot is provided that can control the stiffness of the wearable robot and limit its range of motion.

[0042] Furthermore, it provides a wearable robot operating device that can be operated without time restrictions, does not require separate electronic actuation elements, is lightweight and durable, and is easy to maintain. In addition, it has the advantage of being able to achieve a wider range of rigidity using actuators provided in the waist muscle support section of the wearable robot. [Brief explanation of the drawing]

[0043] [Figure 1] This diagram analyzes the force moment acting on the spine and erector spinae muscles during the action of lifting an object. [Figure 2] This diagram analyzes the force moment acting on the spine and erector spinae muscles during an object-lifting motion when wearing a wearable robot that assists waist muscle strength according to the present invention. [Figure 3] This is a diagram showing the wearing state of a wearable robot that assists waist muscle strength according to one embodiment of the present invention. [Figure 4] This is a diagram showing the detailed configuration of the waist muscle support unit of a wearable robot that assists waist muscle strength according to one embodiment of the present invention. [Figure 5] This is a conceptual diagram showing the main parts of the waist muscle support unit of a wearable robot that assists waist muscle strength according to one embodiment of the present invention. [Figure 6] Figure 5 is a diagram illustrating the change in stiffness of the lumbar muscle support section due to the control operation of the stiffness adjustment section. [Figure 7] Figure 5 is a diagram illustrating the change in stiffness of the lumbar muscle support section due to the control operation of the stiffness adjustment section. [Figure 8] Figure 5 is a diagram illustrating the change in stiffness of the lumbar muscle support section due to the control operation of the stiffness adjustment section. [Figure 9] Figure 5 is a diagram illustrating the change in stiffness of the lumbar muscle support section due to the control operation of the stiffness adjustment section. [Figure 10] This is a side cross-sectional view of the waist muscle support section of a wearable robot that assists waist muscle strength according to one embodiment of the present invention. [Figure 11] Figure 10 shows a separate diagram of only the elastically moving part. [Figure 12] Figure 10 is a diagram illustrating the change in the position of the sliding cam in each mode due to the control operation of the rigidity adjustment unit. [Figure 13] This diagram illustrates the operation of constraining and releasing the movement of a slider caused by the movement of a sliding cam. [Figure 14] This is a diagram illustrating the operation of the clutch section of a wearable robot that assists waist muscle strength according to one embodiment of the present invention. [Figure 15] This is a drawing illustrating the clutch portion of the waist muscle assist unit of a wearable robot that assists waist muscle strength according to another embodiment of the present invention. [Figure 16] This is a drawing showing the operating device of a wearable robot with the front cover of the operating device housing removed. [Figure 17] This is a drawing showing the operating device of a wearable robot with the front cover of the operating device housing removed. [Figure 18] This is a diagram illustrating the configuration of the control device for the wearable robot of the present invention. [Figure 19] This diagram shows the state in which each mode has been set by pulling or releasing the first cable using the operating device of the wearable robot of the present invention. [Figure 20] This diagram shows the state in which each mode has been set by pulling or releasing the first cable using the operating device of the wearable robot of the present invention. [Figure 21] This diagram shows the state in which each mode has been set by pulling or releasing the first cable using the operating device of the wearable robot of the present invention. [Figure 22] This diagram shows the state in which each mode has been set by pulling or releasing the first cable using the operating device of the wearable robot of the present invention. [Figure 23]This diagram shows the state in which each mode has been set by pulling or releasing the first cable using the operating device of the wearable robot of the present invention. [Figure 24] This diagram shows the state in which the second cable has been released from tension by the operating device of the wearable robot of the present invention. [Figure 25] This diagram shows the state in which each mode is set by pulling or releasing the 1-1 cable or 1-2 cable of the operating device of the present invention. [Figure 26] This is a block diagram illustrating the operation of the first and second target units according to one embodiment of the present invention. [Figure 27] This is a diagram showing a wearable robot according to the present invention, in which a sensor is built into a waist muscle support section. [Figure 28] This diagram shows a real-time wearer movement sensor user interface for sensing the movements of a wearer of a wearable robot according to the present invention. [Figure 29] This is a diagram showing a user interface for analyzing the movements of a wearer of a wearable robot according to the present invention. [Figure 30] This is a diagram showing the user interface for the wearer motion analysis report in the wearer motion analysis report user interface for the wearer motion report of the wearer robot according to the present invention. [Figure 31] This is a diagram showing the user interface for the wearer's movement safety score report in the results report user interface for the wearer's movement of a wearable robot according to the present invention. [Figure 32] This diagram analyzes the force moment applied to the waist by the wearer's upper body and the weight of the object during the action of lifting an object. [Figure 33] This diagram illustrates the clutch operation and stiffness adjustment operation of each switch on a stiffness adjustment button switchboard according to one embodiment of the present invention, through the operation of the stiffness adjustment buttons. [Figure 34]This is a diagram illustrating the clutch operation of each switch on a stiffness adjustment button switchboard according to one embodiment of the present invention, based on the operation of the stiffness adjustment buttons. [Modes for carrying out the invention]

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

[0045] 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.

[0046] The present invention will be described below with reference to the drawings illustrating a wearable robot that assists waist muscle strength according to an embodiment of the present invention.

[0047] The principle of the present invention Figure 1 is a diagram analyzing the force moment acting on the spine and erector spinae muscles during an object-lifting motion, and Figure 2 is a diagram analyzing the force moment acting on the spine and erector spinae muscles during an object-lifting motion when wearing the wearable robot according to the present invention.

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

[0049]

number

[0050] Looking at the above formula in more detail, when lifting an object, it is only possible to lift the object if a moment force capable of overcoming the moment force due to the weight of the upper body and the weight of the object is acted upon by the spine and erector spinae muscles.

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

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

[0053]

number

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

[0055] The following describes the detailed configuration and operation of the wearable robot that assists spinal muscle strength according to the present invention.

[0056] Figure 3 is a diagram showing the wearing state of a wearable robot that assists waist muscle strength according to one embodiment of the present invention, Figure 4 is a diagram showing the detailed configuration of the waist muscle assisting part of the wearable robot that assists waist muscle strength according to one embodiment of the present invention, and Figure 5 is a conceptual diagram showing the main part of the waist muscle assisting part of the wearable robot that assists waist muscle strength according to one embodiment of the present invention.

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

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

[0059] The waist muscle support unit 200 is fixed to the upper wearable unit 110 and securely attaches to the back and waist, assisting waist muscle strength during bending and straightening movements.

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

[0061] As shown in Figure 3, the wearable portion 122 has a structure that wraps around the calves of both legs in a belt-like manner and is secured with buckles or hook-and-loop fasteners, but the form of fastening, the position of fastening, and the method of fastening are not limited to the form shown. For example, the position of fastening of the lower wearable portion 120 may be on the foot, thigh, or calf.

[0062] Furthermore, the lower end of the waist muscle support section 200 and the leg attachment sections 122 may be connected by a connecting section 124 of the lower attachment section 120. The connecting section 124 may be formed of a non-elastic strap, but is not necessarily limited to this, and may also be formed of an elastic material.

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

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

[0065] According to one embodiment of the present invention, the waist muscle support portion 220 may be separated from the upper wear portion 110, but it can also be formed integrally.

[0066] According to one embodiment of the present invention, the first elastic member 205 and the second elastic member 208 may consist of multiple elastic members arranged in series or in parallel.

[0067] According to the present invention, the movable part 210 is connected to the lower end of the second elastic member 208 and the upper end of the connecting part 124 of the lower wearable part 120, and is located between the second elastic member 208 and the connecting part 124 of the lower wearable part 120, and can slide up and down within the housing 290 in accordance with the movement of the waist. Unless otherwise stated in the following description, the upper and lower directions refer to the upper and lower directions with respect to the axial direction of the waist when the waist muscle support part 200 is secured to the back and waist.

[0068] As shown in Figure 4, the housing 290 may be formed to guide the vertical sliding movement of the movable part 210. As the movable part 210 slides vertically, the first elastic member 205 or the second elastic member 208 stretches, allowing the first elastic member 205 or the second elastic member 208 to store elastic force, which in turn allows the movable part 210 to return to its original position.

[0069] According to the present invention, the stiffness adjustment unit 230 can adjust the overall stiffness formed by the first elastic member 205 or the second elastic member 208 when the movable part 210 moves. In this embodiment, stiffness refers to the modulus of elasticity.

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

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

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

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

[0074] Thus, the elastic movable section has a configuration in which the first elastic member 205 and the second elastic member 208 are connected in series, with the first slider 220a, the second slider 220b, and the third slider 220c in between. The upper end of the first elastic member 205 is fixed to the housing 290, and the lower end of the second elastic member 208 is fixed to the movable section 210. Therefore, the first slider 220a, the second slider 220b, and the third slider 220c can move up and down between the first elastic member 205 and the second elastic member 208.

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

[0076] Conversely, if the movement of the first slider 220a, the second slider 220b, and the third slider 220c is constrained and they cannot move up and down, then in the case of the leftmost elastic moving part shown in Figure 5, when the moving part 210 moves up and down, only the elasticity of the second-first elastic member 208a acts, and the overall elastic modulus of the leftmost elastic moving part shown in Figure 5 may be larger compared to the case where the first slider 220a moves up and down freely without constraint.

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

[0078] As shown in Figures 5 to 9, the three elastically moving parts may be arranged in parallel, but the overall elastic modulus can be further varied by setting different constraint conditions for the first slider 220a, the second slider 220b, and the third slider 220c.

[0079] At this time, the elastic moduli of the first-first elastic member 205a, the first-second elastic member 205b, and the first-third elastic member 205c may be smaller than the elastic moduli of the second-first elastic member 208a, the second-second elastic member 208b, and the second-third elastic member 208c. Preferably, the elastic moduli of the first-first elastic member 205a, the first-second elastic member 205b, and the first-third elastic member 205c may be very small enough to restore the position of the movable part 210 to its original state.

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

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

[0082] In this embodiment, the first elastic member 205 and the second elastic member 208 may be formed from a spring, an elastic band, or an elastic beam. In this case, an elastic beam refers to a bar-shaped material made of an elastic material.

[0083] Below, we will explain the change in rigidity due to the operation of the rigidity adjustment unit 230 in a structure in which three elastically moving parts are arranged in parallel, with reference to Figures 6 to 9.

[0084] Figures 6 to 9 illustrate the change in the rigidity of the waist muscle support unit 200 due to the control operation of the rigidity adjustment unit 230 in Figure 5.

[0085] As illustrated, when the wearer bends their waist, the lengths of the first elastic member 205 and the second elastic member 208 change, and consequently, the movable part 210 can move in the vertical direction guided by the housing 290. At this time, the overall rigidity formed by the 1-1 elastic member 205a, 1-2 elastic member 205b, 1-3 elastic member 205c, 2-1 elastic member 208a, 2-2 elastic member 208b, and 2-3 elastic member 208c when the movable part 210 moves can be adjusted in various ways by the control operation of the rigidity adjustment unit 230.

[0086] First, as shown in Figure 6, in MODE 0, the stiffness adjustment unit 230 does not restrain the movement of the three elastic moving parts: the first slider 220a, the second slider 220b, and the third slider 220c. Therefore, when the moving part 210 moves, the elastic moduli k1, k2, and k3 of the first-1 elastic member 205a, the first-2 elastic member 205b, and the first-3 elastic member 205c, which have elastic moduli below the critical value, act accordingly, resulting in the stiffness mode with the lowest overall elastic modulus value among MODE 0, MODE 1, MODE 2, and MODE 3.

[0087] As shown in Figure 7, in MODE 1, the stiffness adjustment unit 230 restricts only the movement of the second slider 220b, while not restricting the movement of the first slider 220a and the third slider 220c. Therefore, the elastic movement unit having the first slider 220a and the third slider 220c may have elastic moduli that approximate the k1 and k3 of the first-first elastic member 205a and the first-third elastic member 205c, which have relatively small elastic moduli below a critical value, and the elastic moduli of the elastic movement unit having the second slider 220b may have k5, which is the elastic moduli of the second-second elastic member 208b, which has a relatively large elastic moduli above a critical value.

[0088] Therefore, since the values ​​of k1 and k3 have almost no effect on the overall stiffness for the three elastically moving parts arranged in parallel, the overall elastic modulus value will be close to the value of k5, resulting in a medium-weak stiffness mode that is stiffer than MODE 0. Specifically, in MODE 1, the stiffness adjustment part 230 is related to the constraint on the movement of only the second slider 220b, which will be described in detail below in Figure 13.

[0089] As shown in Figure 8, in MODE 2, the stiffness adjustment unit 230 does not restrict the movement of the second slider 220b, but it can restrict the movement of the first slider 220a and the third slider 220c. Therefore, the elastic modulus of the elastic movement section having the first slider 220a and the third slider 220c will have k4 and k6, respectively, which are the elastic modulus values ​​of the second-first elastic member 208a and the second-third elastic member 208c, which have relatively large elastic modulus values ​​above the critical value. The elastic modulus of the elastic movement section having the second slider 220b will have an elastic modulus that approximates k2 of the first-second elastic member 205b, which has a very small elastic modulus value below the critical value.

[0090] Therefore, since the value of k2 has almost no effect on the overall stiffness for the three elastically moving parts arranged in parallel, the overall elastic modulus has a value that approximates k4 + k6, resulting in a moderately stiff mode that is stiffer than MODE 1. Specifically, in MODE 2, the stiffness adjustment part 230 does not restrain the movement of the second slider 220b, but restrains the movement of the first slider 220a and the third slider 220c. This will be explained in detail below in Figure 13.

[0091] As shown in Figure 9, in MODE 3, the stiffness adjustment unit 230 can restrain the movement of the first slider 220a, the second slider 220b, and the third slider 220c. Therefore, the elastic moduli of the three elastic moving parts will be k4, k5, and k6, respectively, which are the elastic moduli values ​​of the second-first elastic member 208a, the second-second elastic member 208b, and the second-third elastic member 208c, respectively, which have elastic moduli above a relatively large critical value. Thus, the overall elastic moduli for the three elastic moving parts arranged in parallel will be k4 + k5 + k6, resulting in the strongest stiffness mode, which is stiffer than MODE 2. Specifically, the restraint of the movement of the first slider 220a, the second slider 220b, and the third slider 220c by the stiffness adjustment unit 230 in MODE 3 will be described in detail below in Figure 13.

[0092] For reference, Figures 6 to 9 show the case where the moving part 210 is located at the top and the case where it is located at the bottom, respectively.

[0093] The following describes the configuration of the rigidity adjustment unit 230 according to this embodiment in more detail.

[0094] Figure 10 is a side cross-sectional view of the waist muscle assist part of a wearable robot that assists waist muscle strength according to one embodiment of the present invention, Figure 11 is a separate drawing showing only the elastic movement part in Figure 10, Figure 12 is a drawing that explains the position change of the sliding cam in each mode by the control operation of the rigidity adjustment part in Figure 10, and Figure 13 is a drawing that explains the operation of constraining and releasing the movement of the slider by the movement of the sliding cam.

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

[0096] As shown in Figures 10 and 11, the upper ends of the first-first elastic member 205a, the first-second elastic member 205b, and the first-third elastic member 205c may be fixed to the upper end of the housing 290, and their lower ends may be fixed to the first slider 220a, the second slider 220b, and the third slider 220c, respectively.

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

[0098] Thus, the first elastic member 205 and the second elastic member 208 may be connected in series with the slider 220 in between. Also, as described above, the elastic moving part including the first elastic member 205, the second elastic member 208, and the slider 220 may be arranged in parallel with Figure 11.

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

[0100] As shown in the figure, the rigidity adjustment section 230 may include a sliding cam 232, a locking section 234, a first-first cable 330a, and a first-second cable 330b.

[0101] According to the present invention, the sliding cam 232 moves horizontally in the direction of movement of the slider 220, above the slider 220. Here, "above" refers to the upper side when the direction of movement of the slider 220 is viewed horizontally. At this time, the 1-1 cable 330a and the 1-2 cable 330b may be connected to one side of the sliding cam 232. The other ends of the 1-1 cable 330a and the 1-2 cable 330b are connected to the operating device 401, and the 1-1 cable 330a and the 1-2 cable 330b can be pulled or released according to the operation of the stiffness adjustment button 310 of the operating device 401. For example, by pressing any one of the stiffness adjustment buttons 310 of the operating device 401, the 1-1 cable 330a and the 1-2 cable 330b can be pulled or released. The operating device 401 will be described in detail below.

[0102] As shown in Figure 13, the locking part 234 is subjected to an elastic force by a torsion spring on the upper side of the slider 220, biasing it counterclockwise around a predetermined axis in the drawing. When the sliding cam 232 moves horizontally, the rotation angle changes depending on whether or not it is in contact with the sliding cam 232, allowing it to contact the locking piece 222 to restrain the movement of the slider 220, or to release contact with the locking piece 222 and release the restraint on the slider 220.

[0103] As shown in Figure 13(a), when the first cable 330a is not being pulled, the sliding cam 232a may contact the locking portion 234, causing the locking portion 234 to rotate clockwise, and releasing the connection between the locking portion 234 and the locking piece 222 formed on the upper end surface of the slider 220. Therefore, the slider 220 can move freely.

[0104] On the other hand, as shown in Figure 13(b), when the operating device 401 pulls the first cable 330a, the sliding cam 232 connected to the first cable 330a may move to the left and release contact with the locking part 234. At this time, the elastic force of the torsion spring formed on the rotation axis of the locking part 234 rotates the locking part 234 counterclockwise, causing the locking part 234 and the locking piece 222 formed on the upper end surface of the slider 220 to engage and restrain the movement of the slider 220b.

[0105] At this time, a sliding cam 232 and a locking part 234 are positioned for each elastically moving part, allowing for individual control of the constraints on the first slider 220a, second slider 220b, and third slider 220c of each elastically moving part.

[0106] In this embodiment, a configuration is disclosed in which the sliding cam 232 is moved manually by pulling or returning the 1-1 cable 330a and 1-2 cable 330b to their original positions by operating the stiffness adjustment button 310. However, the sliding cam 232 can also be moved using the power of a motor. Furthermore, the configuration of the stiffness adjustment unit 230, which has the characteristic of restricting or releasing the movement of the slider 220, is not limited to the structure of the above-described form.

[0107] As shown in the diagram, when three elastic moving parts are arranged in parallel, the rigidity can be adjusted by individually arranging three sliding cams 232 for each elastic moving part. However, in this embodiment, the rigidity can be adjusted using two sliding cams 232a and 232b.

[0108] When the elastic moving parts shown in Figure 11 are referred to as the first elastic moving part, the second elastic moving part, and the third elastic moving part from left to right, the first sliding cam 232a may be configured to move horizontally above the second slider 220b, and the second sliding cam 232b may be configured to move horizontally above the first slider 220a and the third slider 220c, as shown in Figure 12. In this case, the second sliding cam 232b may be formed in a "U" shape, with both ends that are horizontal to each other positioned above the first slider 220a and the third slider 220c, and the first sliding cam 232a positioned in the space between the two ends.

[0109] Therefore, as shown in Figure 12(a), by pressing the 0th stiffness adjustment button 310a of the operating device 401, the 1-1 cable 330a connected to the 1st sliding cam 232a and the 1-2 cable 330b connected to the 2nd sliding cam 232b are not pulled, and the 1st sliding cam 232a and the 2nd sliding cam 232b both come into contact with the three locking parts 234 located above the 2nd elastic movement part or the 3rd elastic movement part, allowing the 1st slider 220a, the 2nd slider 220b, and the 3rd slider 220c to move freely.

[0110] Furthermore, as shown in Figure 12(b), pressing the first stiffness adjustment button 310b of the operating device 401 pulls only the first-to-first cable 330a connected to the first sliding cam 232a, causing only the first sliding cam 232a to move upward in the diagram. This releases contact between the first sliding cam 232a and its corresponding locking part 234, restricting the movement of only the second slider 220b, while allowing the first slider 220a and the third slider 220c to move freely.

[0111] Furthermore, as shown in Figure 12(c), pressing the second stiffness adjustment button 310c of the operating device 401 pulls only the first-to-second cable 330b connected to the second sliding cam 232b, causing only the second sliding cam 232b to move upward in the diagram. This restricts the movement of the first slider 220a and the third slider 220c, while allowing the second slider 220b to move freely.

[0112] Furthermore, as shown in Figure 12(d), pressing the third stiffness adjustment button 310d of the operating device 401 pulls both the first sliding cam 232a and the second sliding cam 232b, pulling both the first-to-first cable 330a and the first-to-second cable 330b upwards in the diagram, thereby restricting the movement of the first slider 220a, the second slider 220b, and the third slider 220c.

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

[0114] In other words, when the first-first cable 330a and the first-second cable 330b are pulled by applying pressure to each of the stiffness adjustment buttons 310, causing the sliding cams 232a and 232b to move, elastic energy is stored in the spring. By releasing the tension on the first-first cable 330a and the first-second cable 330b by applying pressure to each of the stiffness adjustment buttons 310, the stored elastic energy can be used to return the sliding cams 232a and 232b to their original positions.

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

[0116] Explanation of the clutch The clutch section 390 will now be described with reference to Figures 3, 4, and 14.

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

[0118] Figure 14 is a diagram illustrating the operation of the clutch section of a wearable robot that assists waist muscle strength according to one embodiment of the present invention.

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

[0120] As shown in Figure 7, the wire 350 may be wound horizontally around the movable part 210 and extend to the upper left and right, with both ends fixed to the first fixing part 260 and the second fixing part 250, respectively. Rollers 212 may be placed on both the left and right sides of the movable part 210 to guide the movement of the wire 350.

[0121] As shown in the diagram, the first fixing part 260 and the second fixing part 250 are positioned on the left and right sides of the upper end of the housing 290, and fix one end and the other end of the wire 350, respectively. At this time, the second fixing part 250 is formed as a pulley, and the other end of the wire 350 can be wound around it in the circumferential direction and fixed. In addition, a reel spring (not shown) may be attached to the rotating shaft of the second fixing part 250 so as to allow elastic rotation.

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

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

[0124] As shown in Figure 14, one embodiment of the clutch operating section 280 may include a gear train section 252 in which gears are formed circumferentially on the second fixed section 250, and a ratchet gear 270. Specifically, the ratchet gear 270 moves in a linear direction or rotates around one side to engage with or disengage the gears of the gear train section 252.

[0125] In the drawing, the ratchet gear 270 is configured to rotate around one side, but the second cable 330c may be connected to one side of the ratchet gear 270, and the other end of the second cable 330c may be connected to the operating device 401. Similar to the rigidity adjustment button 310, pressing or releasing the clutch operation button 320 will pull or release the second cable 330c, thereby rotating the ratchet gear 270. Therefore, the rotation of the ratchet gear 270 controls the gear coupling between the ratchet gear 270 and the gear train 252, thereby constraining or releasing the rotation of the second fixed part 250.

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

[0127] According to one embodiment of the present invention, the first fixing part 260 is also formed from a pulley, similar to the second fixing part 250, and it is preferable that a reel spring is attached to the rotating shaft so that the first fixing part 260 rotates elastically. As described above, because the second fixing part 250 rotates elastically, when the movable part 210 moves, the wire 350 does not loosen, maintains tension, and the wire 350 wound around the second fixing part 250 can be unwound and wound again.

[0128] However, if the rotation of the second fixed part 250 is interrupted by the operation of the clutch part 390, the length of the wire 350 between the first fixed part 260 and the second fixed part 250 is fixed. However, if the first fixed part 260 does not wind the wire, when the movable part 210 moves upward, the wire 350 may loosen, causing it to become entangled or deviate from its intended path. Therefore, in the present invention, the first fixed part 260 is also formed from a pulley and is designed to rotate with elasticity, so that when the clutch function operates, the first fixed part 260 winds the wire 350, preventing the wire 350 from loosening.

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

[0130] Because the elastic modulus of the reel spring attached to the first fixing part 260 is small, when the movable part 210 moves downward with the clutch function released, a force greater than the force exerted by the reel spring of the second fixing part 250 on the wire 350 is required to unwind the wire 350 wound around the second fixing part 250 and allow the movable part 210 to move downward. Conversely, when the movable part 210 moves upward, the second fixing part 250 pulls on the wire 350 with an even stronger elastic force than the first fixing part 260, so the wire 350 can be wound around the second fixing part 250. At this time, the wire 350 is not wound around the first fixing part 260.

[0131] Furthermore, when the clutch function is activated, the clutch operating part 280 prevents the second fixed part 250 from rotating, thus limiting the range of downward movement of the movable part 210. When the movable part 210 moves upward, the elastic force of the reel spring in the first fixed part 260 causes the first fixed part 260 to rotate, winding the wire 350 onto the first fixed part 260. This prevents the wire 350 from becoming loose and maintains tension.

[0132] In the present invention, the rigidity adjustment function provided by the rigidity adjustment unit 230 and the clutch function provided by the clutch unit 390 can be operated independently.

[0133] sensor Figure 27 is a diagram showing that the posture recognition sensor of the wearable robot according to the present invention is built into the waist muscle support section.

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

[0135] Figures 28 and 29 According to one embodiment of the invention, the posture recognition sensor 201 may be connected wirelessly to a separate user device or a separate communication network, thereby allowing the user of the user interface to observe the wearer's condition and recognize the wearer's risk of waist injury. Specifically, the posture recognition sensor 201 may be connected to a wide-area communication network such as LoRa or Sigfox, and the data measured via the posture recognition sensor 201 can be transmitted to an external server.

[0136] Figure 28 is a diagram showing a wearer motion sensor user interface in a user interface for sensing the wearer's movements in a wearable robot according to the present invention.

[0137] As shown in the diagram, the upper bar of the user interface may be provided with a wearer motion sensor user interface 500 and a wearer motion analysis user interface 500'. When the user taps the wearer motion sensor user interface 500, a waist flexion angle measurement user interface 501, a waist twist angle measurement user interface 502, and a waist lateral flexion angle measurement user interface 503 can be provided.

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

[0139] In yet another embodiment, the waist twist angle measurement user interface 502 can display the angle or angular velocity of the wearer's waist twist in real time when the posture recognition sensor 201 measures the angle or angular velocity of the wearer's waist twist. In a predetermined area of ​​the waist twist angle measurement user interface 502, the angle or angular velocity of the wearer's waist twist can be represented in Arabic numerals. In yet another predetermined area of ​​the waist twist angle measurement user interface 502, the angle or angular velocity of the waist twist can be visualized and displayed as a graphic. In this case, a part of the graphic can be displayed in a way that distinguishes it from the angle or angular velocity of the waist twist or the Arabic numerals, but the method of representation is not limited thereto, and the graphic may be a circle, an ellipse, or a polygon, but is not limited thereto. Furthermore, the angle or angular velocity of the wearer's waist twist can also be represented by positive and negative numerical values ​​to distinguish between the left and right directions.

[0140] In yet another embodiment, when the posture recognition sensor 201 measures the waist flexion angle on the left-right plane of the wearer, the waist flexion angle measurement user interface 503 can display the waist flexion angle on the left-right plane of the wearer in real time. In a predetermined area of ​​the waist flexion angle measurement user interface 503, the waist flexion angle on the left-right plane of the wearer can be represented by Arabic numerals. In yet another predetermined area of ​​the waist flexion angle measurement user interface 503, the waist flexion angle on the left-right plane of the wearer can be visualized and displayed as a graphic. In this case, a part of the graphic can be displayed so as to correspond to the waist flexion angle or the Arabic numerals on the left-right plane, but the method of representation is not limited thereto, and the graphic may be a circle, ellipse, or polygon, but is not limited thereto. Furthermore, the left-right direction of the waist flexion angle on the left-right plane of the wearer can be distinguished and represented by positive and negative numerical values.

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

[0142] As shown in the diagram, the upper bar of the user interface may provide a wearer motion sensor user interface 500 and a wearer motion analysis user interface 500'. When the user taps the wearer motion analysis user interface 500', the x-axis time y-axis waist flexion angle graph user interface 501' and the x-axis time y-axis waist twist angle graph user interface 502' can be provided.

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

[0144] To give a specific example, if the user interface user or wearer sets a baseline waist flexion angle value of 30 degrees, the x-axis time and y-axis waist flexion angle graph user interface 501' can count the number of times the waist flexion angle value exceeds 30 degrees during the wearer's movement analysis time and represent it using Arabic numerals or similar. As shown in the example in Figure 29, if the number of times the waist flexion angle value exceeds 30 degrees during the wearer's movement analysis time is 31, it can be represented as 31 using Arabic numerals, but this is merely an example and is not limited to this.

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

[0146] According to yet another embodiment of the present invention, when a user taps the wearer motion analysis user interface 500', an x-axis time y-axis waist twist angle graph user interface 502' is provided, which can show the waist twist angle measurement of the upper body movement of the wearable robot wearer over time, simultaneously displaying a reference waist twist angle value set by the user interface user or the wearable robot wearer, and visually representing whether the reference value of the wearer's movement has been exceeded based on the change over time. To give a specific example, if the reference twist angle value set by the user interface user or wearer is 40 degrees to the left and -40 degrees to the right, the x-axis time y-axis waist twist angle graph user interface 502' can count the number of times the waist twist angle value of the wearable robot wearer exceeds 40 degrees to the left and -40 degrees to the right and express it in Arabic numerals or the like. As shown in the example in Figure 29, if the waist twist angle value of the wearer of the wearable robot exceeds 40 degrees on both the left and right sides, and the number of times the excess exceeds -40 degrees is 21, then 21 can be represented by Arabic numerals. However, this is merely an example and is not the only way to represent this.

[0147] According to one embodiment of the present invention, as illustrated above, if the reference torsional angle values ​​set by the user or wearer of the user interface are 40 degrees to the left and -40 degrees to the right, the x-axis time y-axis waist torsional angle graph user interface 502' can use an acoustic generation function to notify the wearer or user if the waist torsional angle values ​​of the wearer of the wearable robot exceed 40 degrees to the left and -40 degrees to the right.

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

[0149] Specifically, if the set angle value is divided into a number of stepped angles, it can be expressed as the level of musculoskeletal injury that may occur during waist flexion, and for example, it may be displayed as safe, caution, dangerous, etc. Also, as in the x-axis time y-axis waist twist angle graph user interface 502', the set angle value of a movement that has positive and negative measurements can be applied simultaneously to the set angle value of a quantity and the set angle value of a sound, and this can be used as a basis for judging whether the movement can be performed within a range of motion that poses a low risk of musculoskeletal injury to the wearer of the wearable robot.

[0150] Method for evaluating the risk of lumbar injury from posture recognition sensor substrates Figure 32 is a diagram analyzing the force moment applied to the waist by the wearer's upper body and the weight of the object during the action of lifting an object.

[0151] As shown in Figure 32, the moment and force applied to the wearer's waist specifically refers to the moment and force applied to the wearer's waist L5 / S1 joint 510, and the muscle distance vector 512 shown in Figure 32 can be assumed to be 0.1m.

[0152]

number

number

number

number

[0153] Figures 30 and 31 Figure 30 is a diagram showing the user interface for the wearer motion analysis report in the results report user interface for the wearer's movements of the wearable robot according to the present invention.

[0154] As shown in Figure 30, a wearer movement report user interface 500'' may be provided on the upper bar of the user interface. When the user taps the wearer movement report user interface 500'', the wearer's lumbar injury risk user interface 520, the wearer's work pace information user interface 521, the wearer's work balance information user interface 522, and the wearer's lumbar injury risk information user interface 523 can be provided.

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

[0156] Specifically, the wearer's waist injury risk user interface 520 can visually indicate which side of the wearer's waist L5 / S1 joint 510 has a higher injury risk associated with twisting movements. Specifically, if the wearer's waist flexion angle is 30 degrees or more, the waist twisting angle can be extracted, normalized to the average twisting range of 40 degrees in the positive to 40 degrees in the negative range, and then the ratio of the injury risk applied to the left and right sides of the wearer's waist L5 / S1 joint 510 is calculated based on the wearer's waist L5 / S1 joint 510, and this ratio can be displayed on the wearer's waist injury risk user interface 520.

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

[0158] Specifically, the user interface 521 for providing information on the wearer's work pace can estimate the amount of work the wearer does in one hour and provide work pace information. For example, if it takes the wearer 15 seconds to perform one action such as bending their waist, they will perform 240 actions in an hour. Therefore, as shown in Figure 30, the user interface 521 for providing information on the wearer's work pace may provide it as 240 Lifts / Hour.

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

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

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

number

[0162] The above formula is for determining the rate of minor injuries D to the lower back. After substituting the moment M into the above formula to determine the rate of minor injuries D to the lower back, the risk of injury R to the lower back can be calculated by substituting it into the following formula, performing linear regression, and then calculating the risk of injury R to the lower back.

[0163]

number

number

[0164] As shown in Figure 31, a wearer movement report user interface 500'' may be provided on the upper bar of the user interface. When the user taps the wearer movement report user interface 500'', the following information can be provided: a user interface 530 providing information on the wearer's total number of movements per day, a user interface 531 providing information on the wearer's safe movement ratio, a user interface 532 providing information on the wearer's daily load reduction, a user interface 533 providing information on the wearer's time wearing the wearable robot, a user interface 534 providing information on the wearer's daily movement safety score, a user interface 535 providing information on the wearer's daily excessive waist flexion ratio, a user interface 536 providing information on the wearer's daily prolonged waist flexion ratio, a user interface 537 providing information on the wearer's daily waist lateral flexion ratio, and a user interface 538 providing information on the wearer's daily waist twisting ratio.

[0165] According to one embodiment of the present invention, a wearer movement report user interface 500'' may be provided on the top bar of the user interface, and when the user taps the wearer movement report user interface 500'', a wearer's total daily movement count information providing user interface 530 may be provided, which calculates the wearer's total daily movement count and provides it in the form of an Arabic numeral. As shown in Figure 31, if the wearer moves a total of 1,186 times in a day, the wearer's total daily movement count information providing user interface 530 may be provided as 1,186.

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

[0167] Specifically, the user interface 531 that provides information on the wearer's safe movement ratio can be calculated by subtracting the average of the ratios of the user interface 535 that provides information on the wearer's daily excessive waist flexion ratio, the user interface 536 that provides information on the wearer's daily prolonged waist flexion ratio, the user interface 537 that provides information on the wearer's daily lateral waist flexion ratio, and the user interface 538 that provides information on the wearer's daily waist torsion ratio, with 100% as the baseline.

[0168] More specifically, the user interface 535 that provides information on the wearer's daily excessive waist flexion ratio can visualize and display the ratio of the degree of excessive waist flexion. As shown in Figure 31, if the excessive waist flexion ratio is 35% compared to the case of non-excessive waist flexion, it can be represented by a bar graph.

[0169] Furthermore, the user interface 536 for providing information on the wearer's daily long-term waist flexion ratio can represent, as shown in Figure 31, a bar graph if the percentage of times the wearer maintains waist flexion for 1 second or more is 30% compared to the percentage of times the wearer maintains waist flexion for less than 1 second. The user interface 537 for providing information on the wearer's daily lateral waist flexion ratio can represent, as a bar graph, a percentage of times the wearer's waist flexion in the lateral direction is 20% compared to the percentage of times the wearer flexes their waist in the forward direction. The user interface 538 for providing information on the wearer's daily waist twisting ratio can represent, as a bar graph, a percentage of times the wearer twists their waist is 60% compared to the percentage of times the wearer does not twist their waist because they move their body itself.

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

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

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

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

[0174] Specifically, the user interface 534 providing information on the wearer's daily movement safety score can provide a value obtained by subtracting the average daily risk of the wearer's lower back injury, provided by the user interface 523 providing information on the wearer's lower back injury risk, from 100. For example, if the average daily risk of the wearer's lower back injury, provided by the user interface 523 providing information on the wearer's lower back injury risk, is 48, then the user interface 534 providing information on the wearer's daily movement safety score may express this as 52, as shown in Figure 31.

[0175] Figure 15 is a diagram illustrating the clutch portion of the waist muscle assist unit of a wearable robot that assists waist muscle strength according to another embodiment of the present invention.

[0176] In the previously described embodiment, the rigidity is adjusted by transmitting auxiliary force to the waist muscles using the passive elements, the first elastic member 205 and the second elastic member 208. In contrast, in this embodiment, the auxiliary force is transmitted to the waist muscles using a small actuator 420, and the rigidity can be adjusted at the same time.

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

[0178] The configuration of the upper wearing portion 110, the lower wearing portion 120, and the clutch portion 390 is the same as in the embodiment described above, so a detailed explanation of them will be omitted.

[0179] Figure 15 is a diagram illustrating the clutch portion of the waist muscle assist unit of a wearable robot that assists waist muscle strength according to another embodiment of the present invention.

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

[0181] As shown in Figure 15, the lower end of the wire 410 may be connected to the movable part 210, and the upper end may be connected to the actuator 420. Similar to the embodiments described above, the movable part 210 can move up and down in accordance with the movement of the waist, and the connecting part 124 of the lower wearable part 120 may be connected to the movable part 210.

[0182] According to one embodiment of the present invention, the actuator 420 can actively adjust the stiffness of the wire 410 by adjusting the tension of the wire 410. Specifically, the actuator 420 may be composed of a motor, a pneumatic drive, a hydraulic drive, etc. In this case, a wider range of stiffness can be achieved than in the embodiments described above.

[0183] As shown in Figure 15, when the movable part 210 moves up and down in accordance with the wearer's movements, the length of the wire 420 between the actuator 420 and the movable part 210 is variable, and when the length of the wire 410 changes, the actuator 420 can apply a constant tension. At this time, the value of the tension may change in order to adjust the rigidity.

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

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

[0186] Figures 16 and 17 show the operating device of a wearable robot with the front cover of the operating device housing 300a removed. Figure 18 is a diagram illustrating the configuration of the operating device of a wearable robot according to the present invention.

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

[0188] Figure 26 is a block diagram illustrating the operation of the first and second operating targets according to one embodiment of the present invention.

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

[0190] According to one embodiment of the present invention, the operating device housing 300a supports the first stiffness adjustment button 310b, the second stiffness adjustment button 310c, the third stiffness adjustment button 310d, the zeroth stiffness adjustment button 310a, the operating lever 340, and the clutch operation button 320 in a movable state, and a through hole may be formed at the upper end for introducing the first cable 330a,b and the second cable 330c into the internal space. It is preferable that such an operating device housing 300a is designed in a shape that can be easily grasped by the user's hand.

[0191] As shown in the diagram, the first-1 cable 330a and the first-2 cable 330b may be arranged parallel to each other, with one end connected to the first operating target 400 and the other end fixed to the lower end of the operating device housing 300a. Preferably, the other ends of the first-1 cable 330a and the first-2 cable 330b may be introduced into the interior of the operating device housing 300a through an upper end through hole and fixed to the lower interior end of the operating device housing 300a. In this way, the first-1 cable 330a and the first-2 cable 330b may each be arranged to penetrate the internal space of the operating device housing 300a. The first stiffness adjustment button 310b, the second stiffness adjustment button 310c, the third stiffness adjustment button 310d, and the zeroth stiffness adjustment button 310a are arranged parallel to one side of the operating device housing 300a and are supported on the operating device housing 300a in a movable manner so that, depending on their position, they can pull or release at least one of the first-1 cable 330a and the first-2 cable 330b connected to the first operating target part 400.

[0192] First stiffness adjustment button According to the present invention, the first stiffness adjustment button 310b may include a first pressurizing portion 310b'. The first pressurizing portion 310b' may be located on one side of the first cable 330a. A portion of the first stiffness adjustment button 310b is exposed to the outside of the operating device housing 300a and can move on the operating device housing 300a in a direction that pressurizes the first cable 330a while supporting the first pressurizing portion 310b'. Preferably, the first stiffness adjustment button 310b can move in a direction that intersects the extension direction of the first cable 330a.

[0193] According to one embodiment of the present invention, when the first stiffness adjustment button 310b moves forward toward the first cable 330a, the first pressurizing part 310b' pressurizes the first cable 330a, causing one end of the first cable 330a connected to the first operating target part 400 to be pulled. When the first stiffness adjustment button 310b returns to its original position, the first pressurizing part 310b' can be separated from the first cable 330a. This releases the tension on the first cable 330a. Preferably, the first stiffness adjustment button 310b may be elastically supported in the backward direction by an elastic member (not shown) interposed between the operating device housing 300a and the first stiffness adjustment button 310b.

[0194] Second stiffness adjustment button As shown in Figure 18, the second stiffness adjustment button 310c may have the same configuration as the first stiffness adjustment button 310b. Unlike the first stiffness adjustment button 310b, where the first pressurizing portion 310b' may be located on one side of the 1-1 cable 330a, the second stiffness adjustment button 310c may differ in that the second pressurizing portion 310c' is located on one side of the 1-2 cable 330b. Similarly, the third stiffness adjustment button 310d may also have the same configuration as the first stiffness adjustment button 310b, differing in that the third pressurizing portion 310c' is located on one side of the 1-1 cable 330a and on one side of the 1-2 cable 330b, respectively.

[0195] Third stiffness adjustment button As shown in Figure 18, the third stiffness adjustment button 310d may have the same configuration as the first stiffness adjustment button 310b. Unlike the first pressurizing section 310b' and the second pressurizing section 310c', the third pressurizing section 310d' may be positioned on one side of the 1-1 cable 330a and on one side of the 1-2 cable 330b, respectively.

[0196] As shown in the diagram, the first stiffness adjustment button 310b, the second stiffness adjustment button 310c, and the third stiffness adjustment button 310d may be spaced apart along the first axis direction (z-axis in Figure 16) which is aligned with the longitudinal direction of the first-first cable 330a and the first-second cable 330b. This allows the first stiffness adjustment button 310b, the second stiffness adjustment button 310c, and the third stiffness adjustment button 310d to be movable with respect to the second axis direction (x-axis in Figure 1) which intersects the first axis. Therefore, the first-first cable 330a and the first-second cable 330b may be spaced apart from each other with respect to the third axis direction (y-axis in Figure 1) which intersects the first and second axes.

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

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

[0199] Specifically, at the position corresponding to the first pressurizing section 310b', the mutually separated upper support section 360a and lower support section 360b can support the other side of the first-first cable 330a; at the position corresponding to the second pressurizing section 310c', the mutually separated upper support section 360a and lower support section 360b can support the other side of the first-second cable 330b; and at the position corresponding to the third pressurizing section 310d', the mutually separated upper support section 360a and lower support section 360b can support the other sides of the first-first cable 330a and the first-second cable 330b.

[0200] Preferably, the first pressurizing section 310b', the second pressurizing section 310c', the third pressurizing section 310d', and the support section 360 may be in the form of rollers to minimize friction with either the first-1 cable 330a or the first-2 cable 330b during the process of pulling or releasing either the first-1 cable 330a or the first-2 cable 330b.

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

[0202] According to one embodiment of the present invention, the 0th stiffness adjustment button 310a can be manually operated to release the engagement between the connecting bar hook 371 and the 1st stiffness adjustment button 310b, the 2nd stiffness adjustment button 310c, and the 3rd stiffness adjustment button 310d. The connecting bar hook 371 may be positioned such that the 0th connecting bar hook 371a is located at the position corresponding to the 0th stiffness adjustment button 310a, the 1st connecting bar hook 371b is located at the position corresponding to the 1st stiffness adjustment button 310b, the 2nd connecting bar hook 371c is located at the position corresponding to the 2nd stiffness adjustment button 310c, and the 3rd connecting bar hook 371d is located at the position corresponding to the 3rd stiffness adjustment button.

[0203] Preferably, when the first stiffness adjustment button 310b, the second stiffness adjustment button 310c, or the third stiffness adjustment button 310d is moved in the pressurizing direction and is engaged with the respective connecting bar hook 371, the 0th stiffness adjustment button 310a can be moved in a direction that disengages the engagement between the first stiffness adjustment button 310b, the second stiffness adjustment button 310c, or the third stiffness adjustment button 310d and the respective connecting bar hook 371.

[0204] As shown in Figure 20, the connecting bar hooks 371 may be connected to each other and integrated by the connecting bar 370. According to one embodiment of the present invention, when the first stiffness adjustment button 310b, the second stiffness adjustment button 310c, or the third stiffness adjustment button 310d is pressed and moves forward, the multiple connecting bar hooks 371 can descend from a first position to a second position and then move back to the first position. Preferably, the first position is a position higher than the second position and may be a position that can restrain the first stiffness adjustment button 310b, the second stiffness adjustment button 310c, or the third stiffness adjustment button 310d. The second position may be a position that can release the restraint.

[0205] Therefore, if the 0th stiffness adjustment button 310a is pressed by an external force while the connecting bar hook 371 is engaged with the first stiffness adjustment button 310b, the second stiffness adjustment button 310c, or the third stiffness adjustment button 310d, the connecting bar hook 371 may descend to the second position, releasing the engagement between the connecting bar hook 371 and the first stiffness adjustment button 310b, the second stiffness adjustment button 310c, or the third stiffness adjustment button 310d. Preferably, the connecting bar hook 371 may be elastically supported toward the first position by an elastic member (not shown) interposed between the operating device housing 300a and the connecting bar hook 371.

[0206] Preferably, the connecting bar hook 371 may be elastically supported toward the first position by an elastic member (not shown) interposed between the operating device housing 300a and the connecting bar hook 371. According to the present invention, the 0th stiffness adjustment button 310a can move a plurality of connecting bar hooks 371a,b,c,d connected to the connecting bar 370 by being pressed by an external force to the second position. As shown in the figure, the 0th stiffness adjustment button 310a may be configured in the same form as the 1st stiffness adjustment button 310b, the 2nd stiffness adjustment button 310c, or the 3rd stiffness adjustment button 310d, and may be positioned above the 1st stiffness adjustment button 310b, and the 0th connecting bar hook 371a may be additionally positioned in a position corresponding to the 0th stiffness adjustment button 310a.

[0207] In other words, the 0th stiffness adjustment button 310a can move the 0th connecting bar hook 371a to the 2nd position while advanced toward the 0th connecting bar hook 371a, and may be elastically supported in the reverse direction by an elastic member (not shown) interposed between the operating device housing 300a and the 0th stiffness adjustment button 310a. According to one embodiment of the present invention, if any one of the 1st stiffness adjustment button 310b, the 2nd stiffness adjustment button 310c, and the 3rd stiffness adjustment button 310d is advanced, the pressurizing portion of any one of the 1st stiffness adjustment button 310b, the 2nd stiffness adjustment button 310c, or the 3rd stiffness adjustment button 310d can pressurize either the 1-1 cable 330a or the 1-2 cable 330b. At this time, the connecting ring portion of any one of the 1st stiffness adjustment button 310b, the 2nd stiffness adjustment button 310c, and the 3rd stiffness adjustment button 310d may be engaged with and restrained by the respective connecting bar hooks 371a, b, c, d corresponding to the respective stiffness adjustment buttons.

[0208] Next, if another stiffness adjustment button 310 is selected and pressurized, the pressurized stiffness adjustment button 310 engages with the connecting bar hook 371, and the integrated connecting bar hook 371 moves simultaneously to the second position before moving back to the first position. This releases the previously restrained stiffness adjustment button 310, and the connecting ring portion of the selected stiffness adjustment button 310 may be newly restrained. Preferably, the connecting ring portion is a part connected to the annular first stiffness adjustment button 310b, second stiffness adjustment button 310c, and third stiffness adjustment button 310d, and can be located inside the operating device housing 300a.

[0209] Control of the second operating target unit 400' Figure 26 is a block diagram illustrating the operation of the first and second operating targets according to one embodiment of the present invention.

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

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

[0212] According to one embodiment of the present invention, the operating lever 340 is fixed to the other end of the second cable 330c introduced into the operating device housing 300a, and is movable on the other side of the operating device housing 300a in a direction aligned with the longitudinal direction of the second cable 330c, and the operating lever 340 can pull or release the second cable 330c connected to the second operating target part 400' depending on the position of the movement.

[0213] In this embodiment, an example was given in which the operating lever 340 slides along the longitudinal direction of the second cable 330c to pull or release the second cable 330c. However, various other motion methods, such as rotation or rotation, could also be applied to pull or release the second cable 330c.

[0214] As shown in Figure 24, the operating device housing 300a may have guide holes 380 formed above and below the operating lever 340 to limit the range of movement of the operating lever 340, and the operating lever 340 can be positioned within a plurality of guide holes 380 and move up and down.

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

[0216] According to one embodiment of the present invention, the release button 320b can move from one side of the operating device housing 300a in a direction intersecting the longitudinal direction of the second cable 330c. This allows the clutch operation button hook 320a to engage with the operating lever 340 and restrain the position of the operating lever 340 as the operating lever 340 moves downward to pull the second cable 330c, and to release the restraint on the operating lever 340 as the release button 320b moves forward into the housing.

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

[0218] Figures 19 to 23 show the state in which each mode is set by pulling or releasing the first cables 330a and 330b using the operating device of the wearable robot of the present invention, and Figure 24 shows the state in which the second cable 330c is released from being pulled by the operating device of the wearable robot of the present invention.

[0219] The process of pulling or releasing the first cable First, with reference to Figures 19 to 23, the process of pulling or releasing the first cables 330a and 330b will be explained.

[0220] As shown in Figure 19, the user can press a first stiffness adjustment button 310b located on one side of the operating device housing 300a to set MODE1 for the first control target part 400 of the wearable robot. According to one embodiment of the present invention, if the first stiffness adjustment button 310b is moved forward by the user's operation in a direction that intersects with the first-first cable 330a, the first pressurizing part 310b' can be moved laterally while pressurizing the first-first cable 330a, which is arranged to cross the internal space of the operating device housing 300a.

[0221] At this time, the first-first cable 330a, which is pressurized by the first pressurizing section 310b', is supported on the other side by the upper end support section 360a and the lower end support section 360b. As the first pressurizing section 310b' moves forward through the space between the upper end support section 360a and the lower end support section 360b, the length of the first-first cable 330a located between the upper end support section 360a and the lower end support section 360b increases. This causes the first-first cable 330a connected to the first operating target section 400 of the wearable robot to be pulled, and MODE 1 may be selected. Specifically, the support section 360 may include an upper end support section 360a and a lower end support section 360b, and the upper end support section 360a and the lower end support section 360b can simultaneously support both sides of the first pressurizing section 310b' as it moves forward.

[0222] According to one embodiment of the present invention, the first stiffness adjustment button 310b, which has been moved forward by an external force, is constrained to its forward position when the first pressurizing part 310b' pressurizes the 1-1 cable 330a and engages with the first connecting bar hook 371b, thereby maintaining the MODE1 setting state for the first operating target part 400. Specifically, in the process of pulling the 1-1 cable 330a using the first stiffness adjustment button 310b, the amount of change n in the length of the 1-1 cable 330a can be determined as follows.

[0223]

number

number

number

[0224] Furthermore, d may be the distance the first pressurizing section 310b' moved in Figure 19(b), r1 may be the radius of the upper end support section 360a and the lower end support section 360b, and r2 may be the radius of the first pressurizing section 310b'.

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

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

[0227] As shown in Figure 21, the user can press a second stiffness adjustment button 310c located on one side of the operating device housing 300a to set MODE2 for the first control target part 400 of the wearable robot. As shown in Figure 21, as an external force moves the second stiffness adjustment button 310c forward in a direction that intersects the first-to-second cable 330b, the second pressurizing part 310c' pressurizes the first-to-second cable 330b, thereby increasing the length of the first-to-second cable 330b located between the upper end support part 360a and the lower end support part 360b.

[0228] As a result, the first-to-second cable 330b of the wearable robot may be pulled, selecting MODE2. The second stiffness adjustment button 310c, having moved forward, may maintain the MODE2 setting state for the first operating target 400 by engaging with the second connecting bar hook 371c while the second pressurizing part 310c' pressurizes the first-to-second cable 330b, thereby constraining its forward position. On the other hand, as shown in Figure 20, in the process of selecting MODE2 from the state where MODE1 is selected to the state shown in Figure 21, when the second stiffness adjustment button 310c engages with the second connecting bar hook 371c, the second connecting bar hook 371c can move to the second position before moving to the first position. At this time, since multiple connecting bar hooks 371 can be connected by a connecting bar 370 and formed as one unit, the first stiffness adjustment button 310b, which was previously constrained, may be released from its constraint during the process of the second stiffness adjustment button 310c engaging with the second connecting bar hook 371c.

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

[0230] As shown in the diagram, as the third stiffness adjustment button 310d moves forward due to an external force, the third pressurizing part 310d' pressurizes the first-first cable 330a and the first-second cable 330b respectively, which can increase the lengths of the first-first cable 330a and the first-second cable 330b located between the upper end support part 360a and the lower end support part 360b. As a result, the first-first cable 330a and the first-second cable 330b may be pulled simultaneously, selecting MODE3, and the forward-moving third stiffness adjustment button 310d may engage with the third connecting bar hook 371d, restraining its forward position, thereby maintaining the MODE3 setting state for the first target part 400.

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

[0232] According to one embodiment of the present invention, the 0th stiffness adjustment button 310a, which has been moved forward by an external force, can move the 0th connecting bar hook 371a to the 2nd position. At this time, since the connecting bar hook 371 is connected to the 0th connecting bar hook 371a via the connecting bar 370, the constraints on the respective 1st stiffness adjustment buttons 310b to the 3rd stiffness adjustment buttons 310d can be released, and through this, the selection of MODE1, MODE2, and MODE3 that were previously selected can be released.

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

[0234] The process of pulling or releasing the second cable Referring to Figures 24 and 25, the process of pulling or releasing the second cable 330c will be described.

[0235] In this embodiment, the second controllable part 400' of the wearable robot is deactivated when the second cable 330c is pulled, and activated when the second cable 330c is released. For example, as shown in Figure 24, the second controllable part 400' is deactivated by pulling the second cable 330c using the operating lever 340, and as shown in Figure 25, the second controllable part 400' is activated by releasing the tension on the second cable 330c using the clutch operation button 320. This will be explained with an example.

[0236] As shown in Figure 24, the user can pressurize the operating lever 340 located on the other side of the operating device housing 300a to deactivate the second operating target part 400' of the wearable robot.

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

[0238] Here, since the length change of the second cable 330c is set in the same way as the travel distance of the operating lever 340, the travel distance of the operating lever 340 can be easily designed in relation to the length change of the second cable 330c required for deactivating the function of the second target part 400'.

[0239] Next, the operating lever 340, which has moved downward, engages with the clutch operation button hook 320a while pulling the second cable 330c, thereby restraining its lowered position. Therefore, the functional deactivation state of the second operating target part 400' of the wearable robot can be maintained.

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

[0241] According to the present invention, the release button 320b is arranged so as to be able to move in a horizontal direction intersecting a second cable 330c, and can move forward in a direction of sinking inside the operation device housing 300a by an external force.

[0242] In this process, a clutch part operation button hook 320a moves together with the release button 320b and is separated from an operation lever 340, so that the restraint on the operation lever 340 can be released. At this time, since the operation lever 340 is elastically supported in an upward direction by an elastic member (not shown), it can move in the upward direction by the elastic force of the elastic member simultaneously with being separated from the clutch part operation button hook 320a. Therefore, the pulling of the second cable 330c connected to the operation lever 340 can be released, and the function of the second operation target part 400' of the wearable robot can be activated.

[0243] According to the present embodiment as described above, the operation lever 340 is configured to be manually operable, and the power generated by such an operation lever 340 is transmitted to a first operation target part 400 and a second operation target part 400' via a cable, so that electronic elements such as a battery and a drive motor can be eliminated. Through this, operation is possible without limitation of use time, not only can weight reduction and durability be ensured, but also the advantage of easy maintenance can be provided.

[0244] Figures 33 and 34 FIG. 33 is a drawing for explaining a clutch operation and a rigidity adjustment operation by the operation of a rigidity adjustment button, for each switch of a rigidity adjustment button switch board according to an embodiment of the present invention.

[0245] FIG. 34 is a drawing for explaining the clutch operation of each switch of the rigidity adjustment button switch board according to an embodiment of the present invention by the operation of the rigidity adjustment button.

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

[0247] According to an embodiment of the present invention, when the user presses the 0th rigidity adjustment button 310a, the 0th rigidity adjustment button switch 231a is pressed, and an electrical signal is wirelessly transferred to the rigidity adjustment unit 230. The transferred electrical signal operates the small drive motor module 230' for rigidity adjustment, and the small drive motor module 230' for rigidity adjustment can drive the locking unit 234. <00009​​​​​As shown in Figure 13(a), when the first cable 330a is not being pulled, the sliding cam 232a contacts the locking portion 234, which rotates the locking portion 234 clockwise and releases the connection between the locking portion 234 and the locking piece 222 formed on the upper end surface of the slider 220. Therefore, the slider 220 can move freely.

[0250] On the other hand, as shown in Figure 13(b), when the small rigidity adjustment drive module 230' drives the locking part 234 by the operation of the operating device 401, the small rigidity adjustment drive module 230' can move the first cable 330a to the left, and the sliding cam 232 connected to the first cable 330a can move to the left and release contact with the locking part 234. At this time, the elastic force of the torsion spring formed on the rotation axis of the locking part 234 rotates the locking part 234 in the counterclockwise direction, and the locking piece 222 formed on the upper end surface of the slider 220 is engaged, restraining the movement of the slider 220b.

[0251] At this time, by arranging the sliding cam 232 and the locking part 234 for each elastically moving part, the constraints of the first slider 220a, the second slider 220b, and the third slider 220c of each elastically moving part can be controlled individually.

[0252] According to yet another embodiment of the present invention, when the user presses the 0th stiffness adjustment button 310a, the 0th stiffness adjustment button switch 231a is pressed, thereby wirelessly transmitting an electrical signal to the stiffness adjustment unit 230. The transmitted electrical signal activates the stiffness adjustment miniature drive module 230', which in turn drives the locking unit 234 itself. This also allows the stiffness adjustment miniature drive module 230' to individually control the constraints of the first slider 220a, the second slider 220b, and the third slider 220c of each elastic movement unit.

[0253] According to one embodiment of the present invention, when a user presses the first stiffness adjustment button 310b, the first stiffness adjustment button switch 231b is pressed, which wirelessly transmits an electrical signal to the stiffness adjustment unit 230. The transmitted electrical signal activates the small stiffness adjustment drive module 230', which in turn drives the locking unit 234. This embodiment may also be applicable to the second stiffness adjustment button 310c and the third stiffness adjustment button 310d.

[0254] According to yet another embodiment of the present invention, a clutch unit on button switch 233' and a clutch unit off button switch 235' may be located on the clutch unit operation button switch board 231' shown in Figure 33, where the clutch unit on button switch 233' corresponds to the clutch unit on button 233 and the clutch unit off button switch 235' corresponds to the clutch unit off button 235. Specifically, when the clutch unit on button 233 is pressed, the clutch unit on button switch 233' is pressed, which wirelessly transmits an electrical signal to the clutch operation miniature drive module 270'. The transmitted electrical signal activates the clutch operation miniature drive module 270', causing it to drive the ratchet gear 270. More specifically, the small drive module 270' for clutch operation can rotate the ratchet gear 270, and the rotation of the ratchet gear 270 controls the gear coupling between the ratchet gear 270 and the gear train 252, thereby restricting or releasing the rotation of the second fixed part 250.

[0255] According to yet another embodiment of the present invention, when the clutch off button 235 shown in Figure 34 is pressed, the clutch off button switch 235' is pressed, which wirelessly transmits an electrical signal to the clutch operation miniature drive module 270'. The transmitted electrical signal causes the clutch operation miniature drive module 270' to operate, and the clutch operation miniature drive module 270' can drive the ratchet gear 270. More specifically, the clutch operation miniature drive module 270' can rotate the ratchet gear 270, and the rotation of the ratchet gear 270 controls the gear coupling between the ratchet gear 270 and the gear train 252, thereby restricting or releasing the rotation of the second fixed part 250.

[0256] The scope of the present invention is not limited to the embodiments described above, but can be embodied in a variety of forms within the attached claims. The scope of the claims of the present invention is considered to extend to a variety of forms that can be modified by any person with ordinary skill in the art to which the invention pertains, without deviating from the gist of the invention as claimed in the claims. [Explanation of Symbols]

[0257] 110: Upper part 120: Lower part 122: Wearing area 124:Connection part 200: Support for lumbar muscle strength 205: First elastic member 208: Second elastic member 210: Mobile unit 212: Laura 220: Slider 222: Related to the film 230: Rigidity adjustment part 230': Small drive module for stiffness adjustment 231: Stiffness adjustment button switch board 231': Clutch operation button switch board 231a: 0th stiffness adjustment button switch 231b: First Rigidity Adjustment Button Switch 231c: Second Rigidity Adjustment Button Switch 231d: Third Rigidity Adjustment Button Switch 232: Sliding Cam 233: Clutch Part On Button 233': Clutch Part On Button Switch 234: Lock Part 235: Clutch Part Off Button 235': Clutch Part Off Button Switch 250: Second Fixing Part 252: Gear Train Part 260: First Fixing Part 270: Ratchet Gear 270': Small Driving Machine Module for Clutch Operation 290: Housing 310: Rigidity Adjustment Button 320: Clutch Part Operation Button 330: Cable 330a: First-1 Cable 330b: First-2 Cable 330c: Second Cable 350: Wire 400: First Operation Target Part 440': Second Operation Target Part 401: Operating Device 410: Wire 420: Actuator 500: Wearer's Movement Sensor User Interface 500'': Wearer's Movement Report User Interface 500': Wearer's Movement Analysis User Interface 501: Waist Flexion Angle Measurement User Interface 501': X-Axis Time Y-Axis Waist Flexion Angle Graph User Interface 502: Waist Torsion Angle Measurement User Interface 502': X-Axis Time Y-Axis Waist Torsion Angle Graph User Interface 503: Waist Lateral Flexion Angle Measurement User Interface 510: Wearer's waist L5 / S1 joint 511: The wearer's upper body and the center of gravity of heavy objects 512: Muscle distance vector 520: User interface for assessing the wearer's risk of lower back injury. 521: User interface for providing wearer's work pace information 522: User interface for providing wearer's work balance information 523: User interface for providing information on the wearer's risk of lower back injury. 530: User interface for providing information on the wearer's total number of movements per day 531: User interface for providing information on the wearer's safe operation ratio 532: User interface for providing information on daily load reduction for the wearer 533: User interface for providing wearer's wear time information for wearer-type robots 534: User interface for providing information on the wearer's daily activity safety score. 535: User interface providing information on the wearer's daily excessive lumbar flexion ratio. 536: User interface for providing information on the wearer's daily prolonged lumbar flexion ratio 537: User interface for providing information on the wearer's daily lumbar lateral flexion ratio 538: User interface for providing information on the wearer's daily waist twist ratio.

Claims

1. A wearable robot that assists with waist muscle strength, The upper part worn on the upper body, A waist muscle support part that can be fixed to the upper part worn, A lower part to be worn is connected to the lower end of the waist muscle support part. Includes, The aforementioned lumbar muscle support part is, A housing that can be fixed to the upper part worn by the wearer, A plurality of elastic members arranged in series or in parallel inside the housing, A movable part is connected to the lower part of the elastic member and is connected to the lower wearing part to move up and down in a sliding motion, A stiffness adjustment unit for adjusting the stiffness of the elastic member and Includes, The plurality of elastic members of the aforementioned waist muscle support part further include a first elastic member and a second elastic member, and a slider connecting the first elastic member and the second elastic member, The upper end of the first elastic member is fixed to the housing. The lower end is fixed to the slider, The upper end of the second elastic member is fixed to the slider. A wearable robot whose lower end is fixed to the aforementioned mobile part.

2. The elastic modulus value of the second elastic member is greater than the elastic modulus value of the first elastic member. The wearable robot according to claim 1.

3. A locking piece is formed on the upper end surface of the slider in the direction of movement of the slider. The stiffness adjustment section is, A sliding cam that moves horizontally in the direction of movement of the slider is located above the slider, When the sliding cam moves, the locking piece makes contact with or releases contact with the sliding cam depending on whether or not it is in contact with the locking piece. The following further includes a locking mechanism for restricting or releasing the movement of the slider: The wearable robot according to claim 1.

4. The stiffness adjustment section is, The system further includes a cable connected to the slider, The device further includes an operating device for moving the slider by pulling or releasing the cable. The wearable robot according to claim 3.

5. It is a wearable robot that assists with waist muscle strength, The upper part worn on the upper body, A waist muscle support part fixed to the upper part of the garment, It includes a lower part that is attached to the lower end of the waist muscle support part, The aforementioned lumbar muscle support part is, A housing fixed to the upper part worn, Multiple elastic members arranged in series or parallel inside the housing, A movable part is connected to the lower part of the plurality of elastic members, connected to the lower wearing part, and configured to slide vertically, It includes a stiffness adjustment unit for adjusting the stiffness of the plurality of elastic members, The aforementioned wearable robot is The system further includes a clutch unit that limits the downward movement range of the moving part, The clutch section is The moving part has a wire that is wound horizontally and extends upward to the left and right, A first fixing part for fixing one end of the wire, It includes a second fixing part that winds and fixes the other end of the wire in the circumferential direction, The second fixed part is provided with a reel spring mounted on a rotating shaft to allow elastic rotation. A wearable robot that assists with lower back muscle strength.

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