Wearable System Robot with Device for Joint Alignment Verification and ROM Measurement Based on Human Anatomical Structures

Abstract

The present invention relates to a wearable robot system incorporating a joint alignment verification and ROM measurement device based on human anatomical structure. The wearable robot system according to the present invention comprises a wearable robot including a plurality of cuffs worn on a user's body and an actuator that moves the plurality of cuffs to provide assistive force to the user's body; a plurality of sensor modules including an IMU sensor and positioned to contact a predetermined body part of the user's body that is concave or convex compared to the surrounding area; and a central processing unit that evaluates the alignment state between the user and the wearable robot by processing sensor data measured from the plurality of sensor modules in real time. The sensor modules may further include one or more of a surface pressure sensor and a temperature and humidity sensor. According to the present invention, the alignment state between the user and the wearable robot can be analyzed in real time, and feedback can be provided to the user to maintain a correct alignment state. This prevents injuries caused by wearing errors and assists in optimal movement. Furthermore, the surface pressure sensor can be utilized to detect excessive pressure or shear force, and the temperature and humidity sensor can be used to prevent skin damage or the occurrence of bedsores in advance.

Description

Technology Field

[0001] The present invention relates to a wearable robot system incorporating a joint alignment verification and ROM measurement device based on human anatomical structure. Background Technology

[0002] Wearable robotic systems, commonly known as exoskeletons, are increasingly being utilized in the fields of rehabilitation and assistive technology to support individuals with limited mobility. These devices are designed to assist human movement, provide support during physical therapy, and improve balance and stability.

[0003] In wearable robots, precise joint alignment is crucial for ensuring optimal device performance, reducing the burden on the user's body, and preventing potential injuries. Inaccurate joint alignment can reduce the efficiency of movement assistance, cause discomfort, or worsen existing physical conditions. To overcome these limitations, there is a growing demand for technology capable of evaluating and adjusting the alignment of the user's joints and exoskeleton in real time. The problem to be solved

[0004] The technical problem that the present invention aims to solve is to provide a wearable robot system in which a joint alignment verification and ROM measurement device based on human anatomical structure is applied. means of solving the problem

[0005] A wearable robot system according to one embodiment of the present invention for solving the above-mentioned technical problem comprises: a wearable robot including a plurality of cuffs worn on a user's body and an actuator that moves the plurality of cuffs to provide assistive force to the user's body; a plurality of sensor modules including an IMU (Inertial Measurement Unit) sensor and positioned to contact a predetermined body part of the user's body that is concave or convex compared to the surrounding area; and a central processing unit that processes sensor data measured by the plurality of sensor modules in real time to evaluate the alignment state between the user and the wearable robot.

[0006] The sensor module can be connected to the cuff through a connecting member.

[0007] The above connecting member is connected to the cuff at one end and to the sensor module at the other end, and has rigidity in the direction of movement of the cuff so that the sensor module moves in conjunction with the relative movement of the cuff and the user's body, and the connecting member may have elasticity in the direction of adhering the sensor module to the predetermined body part.

[0008] A magnetic material may be attached to one side of the connecting member and the cuff, and an electromagnet, the magnetic force of which is adjusted by the central processing unit, may be attached to the other side of the connecting member and the cuff.

[0009] The sensor module above can be attached to the predetermined body part using an adhesive material.

[0010] The sensor module may further include one or more of a surface pressure sensor and a temperature and humidity sensor.

[0011] The above surface pressure sensor can measure contact pressure on the user's body part that the sensor module contacts.

[0012] The above temperature and humidity sensor can measure the temperature and humidity of the user's body part that the sensor module contacts.

[0013] The central processing unit can evaluate the alignment status of the user and the wearable robot by comparing the range of motion (ROM) of the user joint, measured based on IMU sensor data received from the plurality of sensor modules, with normal data.

[0014] The central processing unit can evaluate the torsion and mounting position displacement of the wearable robot based on the result of evaluating the relative position displacement amount between the three or more sensor modules by analyzing IMU sensor data received from three or more sensor modules in two or three dimensions.

[0015] The central processing unit can evaluate the twisting and mounting position displacement of the wearable robot based on the result of evaluating the relative position displacement amount between the two sensor modules by analyzing IMU sensor data received from two sensor modules in one or two dimensions.

[0016] The central processing unit can analyze IMU sensor data received from one sensor module in a one-dimensional manner and evaluate the mounting position displacement in a specific direction of the cuff connected to the one sensor module.

[0017] The central processing unit can pre-store reference contact pressure data for each type of user posture in the user body part to which the plurality of sensor modules are attached in the alignment state of the user and the wearable robot, and the central processing unit can determine the user's current posture based on the IMU sensor data and evaluate the alignment state of the user and the wearable robot by comparing the reference contact pressure data corresponding to the current posture with the contact pressure data.

[0018] The central processing unit can provide a warning notification to the user if the shear force calculated based on the contact pressure data measured by the surface pressure sensor exceeds a predetermined standard.

[0019] The central processing unit can analyze the possibility of skin damage or bedsores based on temperature and humidity data measured by the temperature and humidity sensor, and provide a warning notification to the user if the possibility of skin damage or bedsores is above a predetermined standard.

[0020] The above-described wearable robot system may further include a light sensor module comprising a light guide portion disposed on a skin marker marked on a part of the user's body, a light emitting portion disposed on one side of the light guide portion to irradiate light passing through the light guide portion, and a light receiving portion disposed on the other side of the light guide portion to receive light passing through the light guide portion.

[0021] The central processing unit can analyze the signal output from the light receiving unit to evaluate the alignment status between the user and the wearable robot.

[0022] It further includes a laser irradiation unit that irradiates a laser line onto a skin marker marked on a user's body part, and said laser irradiation unit may be attached to one end of the cuff. Effects of the invention

[0023] According to the present invention, the joint alignment status of a wearer can be analyzed in real time, and feedback can be provided to the user to maintain the correct alignment. This prevents injuries caused by wearing errors and supports optimal movement. In addition, excessive pressure or shear force can be detected using a surface pressure sensor, and skin damage or the occurrence of bedsores can be prevented in advance using a temperature and humidity sensor. Furthermore, skin markers and smart magnets can be utilized to stably attach the sensor module and support intuitive verification of the wearing status. Brief explanation of the drawing

[0024] FIG. 1 is a schematic diagram showing the configuration of a wearable robot system according to one embodiment of the present invention. FIGS. 2 and FIGS. 3 are drawings provided to explain the attachment location of a sensor module according to an embodiment of the present invention. FIG. 4 is a drawing provided to explain a configuration for verifying wearable robot alignment using a skin marker according to an embodiment of the present invention. FIG. 5 is a drawing provided to explain a configuration for verifying wearable robot alignment using a skin marker according to another embodiment of the present invention. Specific details for implementing the invention

[0025] Then, with reference to the attached drawings, embodiments of the present invention will be described in detail so that those skilled in the art can easily implement the present invention.

[0026] The terms used in this specification are for describing embodiments and are not intended to limit the invention. In this specification, the singular form includes the plural form unless specifically stated otherwise in the text. The terms "comprises" and / or "comprising" used in this specification do not exclude the presence or addition of one or more other components in addition to the components mentioned. Throughout the specification, the same reference numerals refer to the same components, and "and / or" includes each of the mentioned components and all combinations of one or more. Although terms such as "first," "second," etc., are used to describe various components, these components are not limited by these terms. These terms are used merely to distinguish one component from another. Therefore, the first component mentioned below may be the second component within the technical scope of the invention.

[0027] In this specification, the term "computing device" includes all various devices capable of performing computational processing and providing results to a user. For example, a computing device may include desktop PCs, notebook computers, server computers, as well as smartphones, tablet PCs, etc.

[0028] FIG. 1 is a schematic diagram showing the configuration of a wearable robot system according to one embodiment of the present invention.

[0029] Referring to FIG. 1, a wearable robot system according to one embodiment of the present invention may include a plurality of sensor modules (10), a plurality of cuffs (20), a plurality of connecting members (30), a plurality of actuators (40), and a central processing unit (not shown).

[0030] The wearable robot is composed of a plurality of cuffs (20) and a plurality of actuators (40) and supports the user's movement by being worn on the user's body to provide assistive force. The cuffs (20) can be worn on body parts such as arms, legs, ankles, calves, thighs, waist, shoulders, and pelvis, and the actuators (40) are composed of motors, actuators, reduction gears, link structures, and control circuits, etc., and can provide assistive force to the user's body by moving the cuffs (20).

[0031] A plurality of sensor modules (10) may include an IMU (Inertial Measurement Unit) sensor (11), a temperature and humidity sensor (12), and a surface pressure sensor (13).

[0032] The IMU sensor (11) may include an accelerometer, a gyroscope, and a geomagnetic device, and may provide IMU sensor data that measures linear acceleration, angular velocity, geomagnetic field vector, acceleration in the direction of gravity, roll, pitch, yaw data, etc. to a central processing unit.

[0033] The temperature and humidity sensor (12) can provide temperature and humidity data to the central processing unit, which measures the temperature and / or humidity of the user's body part that the sensor module (10) contacts.

[0034] The surface pressure sensor (13) can provide contact pressure data to a central processing unit that measures the contact pressure on a user's body part that the sensor module (10) contacts. The surface pressure sensor (13) can be implemented as a strain gauge, a force sensing resistor (FSR), etc.

[0035] A plurality of sensor modules (10) may be positioned to contact a body part (A) or a body part (B) that is more convex than the surrounding area among the anatomical structures of the human body, as illustrated in FIG. 2.

[0036] FIGS. 2 and FIGS. 3 are drawings provided to explain the attachment location of a sensor module according to an embodiment of the present invention. FIG. 2 exemplarily shows the attachment location of a sensor module at the front of a user's body, and FIG. 3 exemplarily shows the attachment location of a sensor module at the back of a user's body.

[0037] Referring to FIGS. 2 and 3, the sensor module (10) can be positioned to contact a body structure that is more convex than its surroundings, such as the left and right lateral frontal bones, left and right clavicles, left and right lateral humeral condyles, left and right superior anterior iliac spines, left and right styloid processes of the ulna, left and right medial femoral condyles, left and right lateral malleolus, lateral occipital bone, 7th cervical vertebra, left and right scapular spinous processes, superior posterior iliac spine, calcaneus, etc. The sensor module (10) can also be positioned to contact a body structure that is more concave than its surroundings, such as the left and right sternum, left and right radial styloid processes, lateral femurs, lateral tibia, etc.

[0038] Referring again to FIG. 1, by placing the sensor module (10) on a convex body part (A) or a concave body part (B) of the anatomical structure of the human body, the sensor module (10) can be in close contact with the body surface to collect accurate data. This allows for effective monitoring of the user's movements and the alignment status of the wearable robot.

[0039] The sensor module (10) can be connected to the cuff (20) through the connecting member (30).

[0040] The connecting member (30) is connected to the cuff (20) at one end and to the sensor module (10) at the other end. It can be implemented as a plate spring made of plastic or metallic material that has rigidity in the direction of movement of the cuff (20) and elasticity in the direction of adhering the sensor module (10) to the body part, so that the sensor module (10) moves in conjunction with the relative movement of the cuff (20) and the user's body. Of course, it is also possible to implement the connecting member (30) using materials or shapes other than those exemplified herein.

[0041] The sensor module (10) may be attached to a part of the user's body using an adhesive material. For example, the sensor module (10) may be attached to a part of the user's body using silicone adhesive, hydrogel, medical-grade adhesive tape, etc.

[0042] The sensor module (10) may be fixedly attached to the connecting member (30) or formed integrally with the connecting member (30). The connecting member (30) may also be fixedly attached to the cuff (20) or detachably attached. For example, a magnetic material may be attached to one side of the connecting member (30) and the cuff (20), and an electromagnet, i.e., a smart magnet, in which the magnetic force is adjusted by a central processing unit may be attached to the other side of the connecting member (30) and the cuff (20).

[0043] The central processing unit can be implemented as a computing device. Although the central processing unit is omitted from the illustration in FIG. 1, it can be mounted in an appropriate location on clothing worn by the user. For example, it is possible to mount it as an integrated structure on a waist belt or a wearable robot device worn by the user. It can be positioned in a location where data can be processed stably without interfering with the user's movements.

[0044] The central processing unit can evaluate the alignment status between the user and the wearable robot by processing sensor data measured from multiple sensor modules (10) in real time. And if the central processing unit determines that the alignment status between the user and the wearable robot is abnormal, it can provide the user with a warning notification and voice feedback, etc.

[0045] The central processing unit can evaluate the alignment status between the user and the wearable robot by comparing the range of motion (ROM) of the user's joint, measured based on IMU sensor data received from multiple sensor modules (10), with normal data. For example, the central processing unit can store normal data corresponding to the range of motion of the user's joint when the user is wearing the wearable robot normally. Then, the central processing unit can measure the range of motion of the user's joint based on IMU sensor data received from the sensor module (10) while the user is wearing the wearable robot and operating, and compare this with normal data; if it deviates from a predetermined normal range, it can determine that the alignment status is abnormal.

[0046] The central processing unit may analyze IMU sensor data received from three or more sensor modules (10) in two or three dimensions and evaluate the torsion and mounting position displacement of the wearable robot based on the result of evaluating the relative position displacement amount between three or more sensor modules (10). For example, relative position data between three or more specific sensor modules (10) when the user and the wearable robot are in a normal alignment state may be stored in advance, and the relative position displacement amount between each sensor module (10) may be evaluated based on the IMU sensor data received from the sensor modules (10) during actual operation, thereby allowing for the precise real-time evaluation of the torsion and mounting position displacement of the wearable robot, i.e., the degree of detachment from the wearing state, according to the difference from the normal state. Here, the expression "analyzed in two or three dimensions" means that the IMU sensor data received from the sensor modules (10) is analyzed as a position relationship in a planar (two-dimensional) or three-dimensional space.

[0047] The central processing unit can evaluate the twisting and mounting position displacement of the wearable robot based on the result of evaluating the relative position displacement amount between the two sensor modules (10) by analyzing the IMU sensor data received from the two sensor modules (10) in one dimension or two dimensions. For example, relative position data between two specific sensor modules (10) in a normal alignment state between the user and the wearable robot can be stored in advance, and the relative position displacement amount between each sensor module (10) can be evaluated based on the IMU sensor data received from the sensor modules (10) during actual operation, thereby allowing for the precise real-time evaluation of the twisting and mounting position displacement of the wearable robot according to the difference from the normal state. Here, the expression "analyzed in one dimension or two dimensions" means evaluating the relative position displacement between the two sensor modules (10) as displacement on a single axis (one dimension) or displacement on a plane (two dimensions).

[0048] The central processing unit can also evaluate the mounting position displacement of the cuff (20) connected to the sensor module (10) in a specific direction by analyzing IMU sensor data received from one specific sensor module (10) in a one-dimensional manner. For example, the central processing unit can evaluate the rotation angle or linear movement according to the directionality of the cuff (20) connected to the sensor module (10) based on the IMU sensor data received from one sensor module (10), thereby accurately detecting the mounting position displacement of the wearable robot and tracking changes in the user's wearing state or movement path in real time. For example, data showing the cuff (20) positioned in a specific direction (e.g., forward or side) in a normal alignment state can be stored in advance, and the degree to which the cuff (20) has moved in that specific direction based on the IMU sensor data received from the sensor module (10) during actual operation can be evaluated in a one-dimensional manner, thereby monitoring minute position displacements in the wearing state in real time based on the difference from the normal state.

[0049] The central processing unit may store contact pressure data measured on a user's body part to which a plurality of sensor modules (10) are attached in a normal alignment state as reference contact pressure data (or normal data) for each type of user posture. During actual operation, the central processing unit determines the user's current posture based on IMU sensor data received from the plurality of sensor modules (10), and may evaluate the alignment state between the user and the wearable robot by comparing the reference contact pressure data corresponding to the current posture with the actual measured contact pressure data. For example, if the alignment state between the user and the wearable robot is abnormal, the contact pressure data measured by a specific sensor module (10) when the user assumes a specific posture may show a difference of more than a certain level from the reference contact pressure data of that posture.

[0050] The central processing unit can compare surface pressure data of two sensor modules (10) attached to symmetrical parts of the user's body to check whether the pressure on both sides of the user's body is balanced, and output a warning if an imbalance occurs to adjust the wearing state of the wearable robot.

[0051] The central processing unit may provide a warning notification to the user if the shearing force calculated based on the contact pressure data measured by the surface pressure sensor (13) exceeds a predetermined standard. A calculation formula for measuring the shearing force from the contact pressure data measured by the surface pressure sensor (13) may be predetermined and stored in the central processing unit. In this way, by measuring the shearing force from the data obtained from the surface pressure sensor (13) to detect excessive pressure applied to the skin, or by analyzing the wearing status of the wearable robot to provide a warning sound or voice guidance to maintain a correct alignment state, it is possible to prevent wounds or bedsores from occurring.

[0052] The central processing unit may be implemented to analyze the possibility of skin damage or bedsores based on temperature and humidity data measured by the temperature and humidity sensor (12), and to provide a warning notification to the user if the possibility of skin damage or bedsores is greater than a predetermined standard.

[0053] The central processing unit can verify whether the wearable robot is properly worn based on the results of joint alignment verification based on human anatomical structure and perform necessary adjustments in real time, such as motion control of multiple wearable units (20). The central processing unit can also provide necessary voice feedback to the user based on the analysis results of the wearable robot's wearing status. For example, it can provide voice guidance indicating which joint has a problem with the fit and instructing the user to adjust it. Through this, the user can receive immediate feedback on their movements and the alignment status of the wearable robot. In particular, precise pressure data using a surface pressure sensor plays an important role in verifying whether the wearable robot is properly fitted to the user's body and can prevent injuries caused by wearing errors.

[0054] FIG. 4 is a drawing provided to explain a configuration for verifying wearable robot alignment using a skin marker according to an embodiment of the present invention.

[0055] Referring to FIG. 4, the wearable robot system according to the present invention may further include optical sensor modules (51, 52, 53). Although omitted in FIG. 1, the optical sensor modules (51, 52, 53) may be additionally placed between the sensor module (10) and the user's skin or between the cuff (20) and the user's body part. The optical sensor modules (51, 52, 53) may be fixed to a part of the sensor module (10) or the cuff (20) and installed to move together with the movement of the sensor module (10) or the cuff (20).

[0056] The optical sensor module (51, 52, 53) may include a light guide part (52) placed on a skin marker (70) marked on a part of the user's body, a light emitting part (51) placed on one side of the light guide part (52) to irradiate light passing through the light guide part (52), and a light receiving part (53) placed on the other side of the light guide part (52) to receive light passing through the light guide part (52).

[0057] The light-emitting part (51) can be implemented with an LED diode, and the light-receiving part (53) can be implemented with a light-receiving transistor or a photodiode. In addition, the light guide part (52) can be implemented with an optical fiber, an optical film, or a transparent polymer material, and can be configured to optimize the light transmission and dispersion characteristics so that light irradiated from the light-emitting part (51) is stably transmitted to the light-receiving part (53).

[0058] When comparing the alignment state between the user and the wearable robot when it is normal and when it is abnormal, a difference may occur in the intensity or wavelength characteristics of the light detected by the light receiving unit (53) due to a change in the relative position of the skin marker (70) with respect to the light guide unit (52). Accordingly, the central processing unit can evaluate the alignment state between the user and the wearable robot by analyzing the intensity, frequency fluctuation, or specific pattern change of the signal output from the light receiving unit (53), and may correct the alignment error or provide a warning signal to the user as needed.

[0059] For example, the actual physical size or shape of the skin marker (70) does not change depending on the degree of contact between the light guide part (52) and the skin, but when the light guide part (52) is in close contact with the skin, an effect similar to having a thick and clear skin marker (70) at the bottom of the light guide part (52) appears, as exemplified in FIG. 4(a). On the other hand, when the light guide part (52) is separated from the skin, an effect similar to having a relatively thin and blurry skin marker (70) at the bottom of the light guide part (52) appears, as exemplified in FIG. 4(b).

[0060] In this way, the difference in effect due to the state of close contact or separation between the light guide part (52) and the skin affects the characteristics of the received light transmitted to the light receiving part (53). Accordingly, the characteristics of the light signal detected by the light receiving part (53) change depending on whether there is close contact or relative alignment between the light guide part (52) and the skin marker (70), and by comparing it with a reference value corresponding to a normal alignment state, the wearable robot system can precisely evaluate the wearing alignment state with the user.

[0061] FIG. 5 is a drawing provided to explain a configuration for verifying wearable robot alignment using a skin marker according to another embodiment of the present invention.

[0062] Referring to FIG. 5, the wearable robot system according to the present invention may further include a laser irradiation unit (80). The laser irradiation unit (80) is attached to one end of the cuff (20) and can irradiate a laser line onto a skin marker (70) marked on a part of the user's body in a normal alignment state. Thus, the user can intuitively and easily check the alignment state of the wearable robot by visually confirming that the laser line is accurately irradiated to a predetermined position on the skin marker (70).

[0063] The embodiments described above may be implemented as hardware components, software components, and / or combinations of hardware and software components. For example, the devices, methods, and components described in the embodiments may be implemented using one or more general-purpose computing devices or special-purpose computing devices, such as, for example, a processor, a controller, an arithmetic logic unit (ALU), a digital signal processor, a microcomputer, a field programmable gate array (FPGA), a programmable logic unit (PLU), a microprocessor, or any other device capable of executing and responding to instructions. The processing device may execute an operating system (OS) and one or more software applications executed on said operating system. Additionally, the processing device may access, store, manipulate, process, and generate data in response to the execution of the software. For ease of understanding, the processing device may be described as being used as a single one, but those skilled in the art will understand that the processing device may include multiple processing elements and / or multiple types of processing elements. For example, the processing unit may include multiple processors or one processor and one controller. Additionally, other processing configurations, such as parallel processors, are also possible.

[0064] Software may include computer programs, code, instructions, or a combination of one or more of these, and may configure a processing unit to operate as desired or instruct the processing unit independently or collectively. Software and / or data may be permanently or temporarily embodied in any type of machine, component, physical device, virtual equipment, computer storage medium, or device so as to be interpreted by the processing unit or to provide instructions or data to the processing unit. Software may be distributed over networked computer systems and stored or executed in a distributed manner. Software and data may be stored on one or more computer-readable recording media.

[0065] The method according to the embodiment may be implemented in the form of program instructions that can be executed through various computer means and recorded on a computer-readable medium. The computer-readable medium may include program instructions, data files, data structures, etc., either alone or in combination. The program instructions recorded on the medium may be those specifically designed and configured for the embodiment, or they may be those known and available to those skilled in the art of computer software. Examples of computer-readable recording media include magnetic media such as hard disks, floppy disks, and magnetic tapes; optical recording media such as CD-ROMs and DVDs; magneto-optical media such as floptical disks; and hardware devices specifically configured to store and execute program instructions, such as ROM, RAM, and flash memory. Examples of program instructions include machine code, such as that generated by a compiler, as well as high-level language code that can be executed by a computer using an interpreter, etc. The hardware devices described above may be configured to operate as one or more software modules to perform the operation of the embodiment, and vice versa.

[0066] Although the embodiments have been described above with reference to the limited drawings, those skilled in the art can apply various technical modifications and variations based on the above. For example, suitable results may be achieved even if the described techniques are performed in a different order than described, and / or if the components of the described system, structure, device, circuit, etc. are combined or assembled in a form different from described, or replaced or substituted by other components or equivalents.

Claims

Claim 1 A wearable robot comprising a plurality of cuffs worn on a user's body and actuators that move the plurality of cuffs to provide assistive force to the user's body; a plurality of sensor modules comprising an Inertial Measurement Unit (IMU) sensor and positioned to contact a predetermined body part on the user's body that is concave or convex compared to the surrounding area; and a central processing unit that processes sensor data measured by the plurality of sensor modules in real time to evaluate the alignment state between the user and the wearable robot. Claim 2 A wearable robot system according to claim 1, wherein the sensor module is connected to the cuff through a connecting member, the connecting member is connected to the cuff at one end and to the sensor module at the other end, has rigidity in the direction of movement of the cuff so that the sensor module moves in conjunction with the relative movement of the cuff and the user's body, and the connecting member has elasticity in the direction of adhering the sensor module to the predetermined body part. Claim 3 A wearable robot system according to claim 2, characterized in that a magnetic material is attached to one side of the connecting member and the cuff, and an electromagnet, the magnetic force of which is adjusted by the central processing unit, is attached to the other side of the connecting member and the cuff. Claim 4 A wearable robot system according to claim 1, characterized in that the sensor module is attached to the predetermined body part using an adhesive material. Claim 5 A wearable robot system characterized in that, in any one of claims 1 to 4, the sensor module further comprises one or more of a surface pressure sensor and a temperature and humidity sensor, wherein the surface pressure sensor measures contact pressure on a user's body part that the sensor module contacts, and the temperature and humidity sensor measures the temperature and humidity of the user's body part that the sensor module contacts. Claim 6 A wearable robot system according to claim 5, wherein the central processing unit evaluates the alignment state between the user and the wearable robot by comparing the range of motion (ROM) of the user joint, measured based on IMU sensor data received from the plurality of sensor modules, with normal data. Claim 7 A wearable robot system according to claim 5, wherein the central processing unit analyzes IMU sensor data received from three or more sensor modules in two or three dimensions and evaluates the torsion and mounting position displacement of the wearable robot based on the result of evaluating the relative position displacement amount between the three or more sensor modules. Claim 8 A wearable robot system according to claim 5, wherein the central processing unit analyzes IMU sensor data received from two sensor modules in one dimension or two dimensions and evaluates the torsion and mounting position displacement of the wearable robot based on the result of evaluating the relative position displacement amount between the two sensor modules. Claim 9 A wearable robot system according to claim 5, characterized in that the central processing unit analyzes IMU sensor data received from one sensor module in a one-dimensional manner and evaluates the mounting position displacement in a specific direction of the cuff connected to the one sensor module. Claim 10 A wearable robot system according to claim 5, wherein the central processing unit stores reference contact pressure data for each type of user posture in advance on a user body part to which the plurality of sensor modules are attached in an alignment state between the user and the wearable robot, and the central processing unit determines the user's current posture based on IMU sensor data and evaluates the alignment state between the user and the wearable robot by comparing the reference contact pressure data corresponding to the current posture with the contact pressure data. Claim 11 A wearable robot system according to claim 5, characterized in that the central processing unit provides a warning notification to the user when the shear force calculated based on contact pressure data measured by the surface pressure sensor exceeds a predetermined standard. Claim 12 A wearable robot system according to claim 5, characterized in that the central processing unit analyzes the possibility of skin damage or bedsores based on temperature and humidity data measured by the temperature and humidity sensor, and provides a warning notification to the user if the possibility of skin damage or bedsores is greater than a predetermined standard. Claim 13 A wearable robot system according to claim 1, further comprising a light sensor module including a light guide portion disposed on a skin marker marked on a user's body part, a light emitting portion disposed on one side of the light guide portion for irradiating light passing through the light guide portion, and a light receiving portion disposed on the other side of the light guide portion for receiving light passing through the light guide portion, wherein the central processing unit analyzes a signal output from the light receiving portion to evaluate the alignment state between the user and the wearable robot. Claim 14 A wearable robot system according to claim 1, further comprising a laser irradiation unit that irradiates a laser line onto a skin marker marked on a user's body part, wherein the laser irradiation unit is attached to one end of the cuff.

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