Joint reaction force feedback module based on electropermanent magnet and magnetorheological elastomer and its control method

Abstract

The present invention relates to a joint reaction force generating module based on an electric permanent magnet and a magnetorheological elastic body and a method for controlling the same. More specifically, the invention is a joint reaction force generating module based on an electric permanent magnet and a magnetorheological elastic body, comprising: an electric permanent magnet that forms a magnetic field outside the magnet for generating a joint reaction force; a solenoid coil that is wound around the electric permanent magnet and forms a magnetic field by an applied current; and a magnetorheological elastic body whose stiffness changes and resistance changes occur by the magnetic field formed by the electric permanent magnet. In addition, a control method for a joint reaction force generating module based on an electric permanent magnet and a magnetorheological elastic body according to the features of the present invention is a control method for a joint reaction force generating module based on an electric permanent magnet and a magnetorheological elastic body, comprising: (1) a joint reaction force generating module comprising an electric permanent magnet that forms a magnetic field outside the magnet by an externally applied current for generating a joint reaction force, a solenoid coil that is wound around the electric permanent magnet and forms a magnetic field by an applied current, and a magnetorheological elastic body whose stiffness changes and whose resistance changes by the magnetic field formed by the electric permanent magnet, wherein the solenoid coil is wound around the electric permanent magnet and generates a magnetic field by an applied current to form a magnetic flux line; (2) a step of forming a magnetic field outside the magnet for generating a joint reaction force according to the magnetic flux line formed by the solenoid coil by the electric permanent magnet; and (3) the magnetorheological elastic body is characterized by a step of changing its stiffness by a magnetic field formed by the electric permanent magnet and generating a reaction force against the joint by the occurrence of a change in resistance force. According to the joint reaction force generation module and control method based on an electric permanent magnet and a magnetorheological elastomer proposed in the present invention, by comprising an electric permanent magnet that forms a magnetic field outside the magnet for generating a joint reaction force, a solenoid coil that is wound around the electric permanent magnet and forms a magnetic field by an applied current, and a magnetorheological elastomer whose stiffness changes and resistance changes occur by the magnetic field formed by the electric permanent magnet, it is possible to generate and provide resistance force to the user through the characteristics and stiffness of the iron particles of the thimble-shaped magnetorheological elastomer being pulled in the direction in which the magnetic field is generated by the magnetic field formed by the electric permanent magnet. In addition, according to the joint reaction force generation module and control method based on an electric permanent magnet and a magnetorheological elastomer of the present invention, in a joint reaction force generation module equipped with an electric permanent magnet, a solenoid coil, and a magnetorheological elastomer, the iron particles of the thimble-shaped magnetorheological elastomer are pulled in the direction in which the magnetic field is generated by the magnetic field formed by the electric permanent magnet, thereby generating and providing resistance force to the user through the characteristics and stiffness, so that the structure for generating reaction force for the user's finger joint can be miniaturized and lightened, and the convenience and efficiency of using the user's joint reaction force can be further improved.

Description

Technology Field

[0001] The present invention relates to a joint reaction force generation module based on an electric permanent magnet and a magnetorheological elastic body and a control method thereof. More specifically, the invention relates to a joint reaction force generation module based on an electric permanent magnet and a magnetorheological elastic body and a control method thereof, which can generate and provide resistance force to a user through the characteristics and stiffness of iron particles in a thimble-shaped magnetorheological elastic body being pulled in the direction in which the magnetic field is generated by a magnetic field formed by an electric permanent magnet. Background Technology

[0002] The content described in this section merely provides background information regarding an embodiment of the present invention and does not constitute prior art.

[0004] In general, haptics technology refers to technology that enables users to feel touch, force, and motion through input devices such as keyboards, mice, joysticks, and touchscreens. The term is derived from the Greek adjective 'haptesthai,' meaning 'to touch,' and is also referred to as computer haptic technology.

[0006] Mechanical modules, such as actuators, can be used to provide haptic feedback to users. For example, actuators operate using energy sources in the form of electric current, hydraulic pressure, or thermal pressure, and convert this energy into some form of movement. Recently, many actuators have been developed for the purpose of providing force sensations by being mounted on the user's body. Most actuators developed to date for the purpose of providing force sensations utilize vibration motors or hydraulic or pneumatic pumps on the body. That is, methods such as installing multiple known vibration motors on clothing or inflating pneumatic air bags to apply pressure to the skin fall into this category. However, such conventional actuators for providing force sensations have problems in that they are bulky and heavy, resulting in significant limitations in usability and space, and their application is restricted to specialized or limited fields. In particular, to provide forceful haptic feedback mounted on fingers, the use of miniaturized and lightweight actuators is required; therefore, there is a need for the development of a single module that is low-power, compact, and applicable to various environments. Korean Registered Patent Publication No. 10-1341089 is disclosed as a prior art document.

[0008] The aforementioned background technology is technical information that the inventor possessed for the derivation of the present invention or acquired during the process of deriving the present invention, and it cannot be considered as publicly known technology disclosed to the general public prior to the filing of the present invention. The problem to be solved

[0009] The present invention is proposed to solve the aforementioned problems of previously proposed methods, and aims to provide a joint reaction force generation module based on an electric permanent magnet and a magnetorheological elastic body and a control method thereof, comprising an electric permanent magnet that forms a magnetic field outside the magnet for generating joint reaction force, a solenoid coil that is wound around the electric permanent magnet and forms a magnetic field by an applied current, and a magnetorheological elastic body in which stiffness changes and resistance changes occur by the magnetic field formed by the electric permanent magnet, thereby enabling the generation and provision of resistance force to the user through the characteristics and stiffness of iron particles of a thimble-shaped magnetorheological elastic body being pulled in the direction in which the magnetic field is generated by the magnetic field formed by the electric permanent magnet.

[0011] In addition, another objective of the present invention is to provide a joint reaction force generation module based on an electric permanent magnet and a magnetorheological elastomer, and a control method thereof, wherein the joint reaction force generation module comprises an electric permanent magnet, a solenoid coil, and a magnetorheological elastomer, wherein the iron particles of the thimble-shaped magnetorheological elastomer are pulled in the direction in which the magnetic field is generated by the magnetic field formed by the electric permanent magnet, thereby generating and providing resistance force to the user through the characteristics and stiffness, so as to enable miniaturization and weight reduction of the structure that provides reaction force generation for the user's finger joints, and thereby further improve the convenience and efficiency of using the user's joint reaction force.

[0013] However, the technical problem that the present invention aims to solve is not limited to the technical problem described above, and other technical problems may exist. means of solving the problem

[0014] A joint reaction force generating module based on an electric permanent magnet and a magnetorheological elastic body according to the features of the present invention for achieving the above-mentioned purpose,

[0015] As a joint reaction force generation module based on electropermanent magnets and magnetorheological elastics,

[0016] An electric permanent magnet that forms a magnetic field outside the magnet for generating joint reaction force;

[0017] A solenoid coil wound around the above-mentioned electric permanent magnet and forming a magnetic field by an applied current; and

[0018] The compositional feature is that it includes a magnetorheological elastic body in which stiffness changes and resistance changes occur due to a magnetic field formed by the above-mentioned electric permanent magnet.

[0020] Preferably, the electric permanent magnet is,

[0021] It can be composed of a combination of a neodymium magnet, an Alnico magnet, and a magnetic material to form a magnetic field outside the magnet for generating joint reaction force.

[0023] More preferably, the electric permanent magnet is,

[0024] A magnetic field is formed outside the magnet by the application of current, and the magnetic field can be maintained even after the current is released.

[0026] Even more preferably, the electric permanent magnet is,

[0027] The magnetic field formed outside the magnet can be eliminated by reversing the direction of the existing applied current.

[0029] Even more preferably, the magnetorheological elastomer is,

[0030] The stiffness changes and resistance changes occur due to the magnetic field formed by the above-mentioned electric permanent magnet, and the stiffness is increased and deformation occurs in the direction of the electric permanent magnet through the characteristic that the internal iron particles are pulled in the direction in which the magnetic field is generated as the magnetic field is applied.

[0032] A control method for a joint reaction force generation module based on an electric permanent magnet and a magnetorheological elastic body according to the features of the present invention for achieving the above-mentioned purpose is,

[0033] As a control method for a joint reaction force generation module based on an electric permanent magnet and a magnetorheological elastic body,

[0034] (1) A joint reaction force generating module comprising: an electric permanent magnet that forms a magnetic field outside the magnet by an externally applied current for generating a joint reaction force; a solenoid coil that is wound around the electric permanent magnet and forms a magnetic field by the applied current; and a magnetorheological elastic body whose stiffness changes and resistance changes by the magnetic field formed by the electric permanent magnet, wherein the solenoid coil is wound around the electric permanent magnet and generates a magnetic field by the applied current to form magnetic flux lines;

[0035] (2) A step of forming a magnetic field outside the magnet for generating joint reaction force according to the magnetic flux lines formed by the electric permanent magnet in the solenoid coil; and

[0036] (3) The magnetorheological elastic body is characterized by a step in which its stiffness changes due to a magnetic field formed by the above-mentioned electric permanent magnet, and a reaction force is generated against the joint due to the occurrence of a change in resistance force.

[0038] Preferably, the electric permanent magnet is,

[0039] It can be composed of a combination of a neodymium magnet, an Alnico magnet, and a magnetic material to form a magnetic field outside the magnet for generating joint reaction force.

[0041] More preferably, the electric permanent magnet is,

[0042] A magnetic field is formed outside the magnet by the application of current, and the magnetic field can be maintained even after the current is released.

[0044] Even more preferably, the electric permanent magnet is,

[0045] The magnetic field formed outside the magnet can be eliminated by reversing the direction of the existing applied current.

[0047] Even more preferably, the magnetorheological elastomer is,

[0048] The stiffness changes and resistance changes occur due to the magnetic field formed by the above-mentioned electric permanent magnet, and the stiffness is increased and deformation occurs in the direction of the electric permanent magnet through the characteristic that the internal iron particles are pulled in the direction in which the magnetic field is generated as the magnetic field is applied. Effects of the invention

[0049] According to the joint reaction force generation module and control method based on an electric permanent magnet and a magnetorheological elastomer proposed in the present invention, by comprising an electric permanent magnet that forms a magnetic field outside the magnet for generating a joint reaction force, a solenoid coil that is wound around the electric permanent magnet and forms a magnetic field by an applied current, and a magnetorheological elastomer whose stiffness changes and resistance changes occur by the magnetic field formed by the electric permanent magnet, it is possible to generate and provide resistance force to the user through the characteristics and stiffness of the iron particles of the thimble-shaped magnetorheological elastomer being pulled in the direction in which the magnetic field is generated by the magnetic field formed by the electric permanent magnet.

[0051] In addition, according to the joint reaction force generation module and control method based on an electric permanent magnet and a magnetorheological elastomer of the present invention, in a joint reaction force generation module equipped with an electric permanent magnet, a solenoid coil, and a magnetorheological elastomer, the iron particles of the thimble-shaped magnetorheological elastomer are pulled in the direction in which the magnetic field is generated by the magnetic field formed by the electric permanent magnet, thereby generating and providing resistance force to the user through the characteristics and stiffness, so that the structure for generating reaction force for the user's finger joint can be miniaturized and lightened, and the convenience and efficiency of using the user's joint reaction force can be further improved.

[0053] Furthermore, the various and beneficial advantages and effects of the present invention are not limited to those described above and may be more easily understood in the process of explaining specific embodiments of the present invention. Brief explanation of the drawing

[0054] FIG. 1 is a diagram illustrating the configuration of a joint reaction force generating module based on an electric permanent magnet and a magnetorheological elastic body according to an embodiment of the present invention as a functional block. FIG. 2 is a diagram illustrating the configuration of an electric permanent magnet of a joint reaction force generating module based on an electric permanent magnet and a magnetorheological elastic body according to an embodiment of the present invention as a functional block. FIG. 3 is a diagram illustrating the schematic configuration of a joint reaction force generating module based on an electric permanent magnet and a magnetorheological elastic body according to an embodiment of the present invention. FIG. 4 is a diagram illustrating the internal configuration of the initial state and magnetic field application state of a magnetorheological elastomer of a joint reaction force generation module based on an electric permanent magnet and a magnetorheological elastomer according to an embodiment of the present invention. FIG. 5 is a diagram illustrating the initial state configuration of a joint reaction force generating module based on an electric permanent magnet and a magnetorheological elastic body according to an embodiment of the present invention. FIG. 6 is a diagram illustrating the configuration of a current application state of a joint reaction force generating module based on an electric permanent magnet and a magnetorheological elastic body according to an embodiment of the present invention. FIG. 7 is a diagram illustrating the configuration of a joint reaction force generating module based on an electric permanent magnet and a magnetorheological elastic body according to an embodiment of the present invention in a state where no current is applied. FIG. 8 is a diagram illustrating the configuration of a joint reaction force generation module based on an electric permanent magnet and a magnetorheological elastic body in a reverse current application state according to an embodiment of the present invention. FIG. 9 is a diagram illustrating the initial configuration of a joint reaction force generation module based on an electric permanent magnet and a magnetorheological elastomer according to an embodiment of the present invention, in which the magnetorheological elastomer is applied in a thimble shape. FIG. 10 is a diagram illustrating the configuration of a current application state in which a magnetorheological elastomer of a joint reaction force generating module based on an electric permanent magnet and a magnetorheological elastomer according to an embodiment of the present invention is applied in a thimble shape. FIG. 11 is a diagram illustrating the configuration of a joint reaction force generating module based on an electric permanent magnet and a magnetorheological elastic body according to an embodiment of the present invention, in a state where no current is applied, with the magnetorheological elastic body applied in a thimble shape. FIG. 12 is a diagram illustrating the configuration of a reverse current application state in which a magnetorheological elastomer of a joint reaction force generating module based on an electric permanent magnet and a magnetorheological elastomer according to an embodiment of the present invention is applied in a thimble shape. FIG. 13 is a drawing illustrating an example of the actual appearance of a joint reaction force generating module based on an electric permanent magnet and a magnetorheological elastic body according to an embodiment of the present invention. FIG. 14 is a drawing illustrating an example of a joint reaction force generating module based on an electric permanent magnet and a magnetorheological elastic body according to an embodiment of the present invention. FIG. 15 is a diagram illustrating the initial state configuration of a joint reaction force generating module based on an electric permanent magnet and a magnetorheological elastic body according to an embodiment of the present invention, in which the electric permanent magnet is positioned inside the magnetorheological elastic body. FIG. 16 is a diagram illustrating the configuration of a current application state in a structure in which an electric permanent magnet is positioned inside a magnetorheological elastic body of a joint reaction force generating module based on an electric permanent magnet and a magnetorheological elastic body according to an embodiment of the present invention. FIG. 17 is a diagram illustrating the configuration of a joint reaction force generating module based on an electric permanent magnet and a magnetorheological elastic body according to an embodiment of the present invention in a state where the electric permanent magnet is positioned inside the magnetorheological elastic body and the current is not applied. FIG. 18 is a diagram illustrating the configuration of a reverse current application state in a structure in which an electric permanent magnet is positioned inside a magnetorheological elastic body of a joint reaction force generating module based on an electric permanent magnet and a magnetorheological elastic body according to an embodiment of the present invention. FIG. 19 is a diagram illustrating the initial configuration of a structure in which an electric permanent magnet is fixed to the end portion of a glove that is fixed to a magnetorheological elastic body of a joint reaction force generating module based on an electric permanent magnet and a magnetorheological elastic body according to an embodiment of the present invention. FIG. 20 is a diagram illustrating the configuration of a current application state in a structure in which an electric permanent magnet is fixed to the end portion of a glove fixed to a magnetorheological elastic body of a joint reaction force generating module based on an electric permanent magnet and a magnetorheological elastic body according to an embodiment of the present invention. FIG. 21 is a diagram illustrating the configuration of a joint reaction force generating module based on an electric permanent magnet and a magnetorheological elastic body according to an embodiment of the present invention, in which an electric permanent magnet is fixed to the end portion of a glove fixed to the magnetorheological elastic body, in a state where no current is applied. FIG. 22 is a diagram illustrating the configuration of a reverse current application state in a structure in which an electric permanent magnet is fixed to the end portion of a glove fixed to a magnetorheological elastic body of a joint reaction force generating module based on an electric permanent magnet and a magnetorheological elastic body according to an embodiment of the present invention. FIG. 23 is a diagram illustrating the flow of a control method for a joint reaction force generation module based on an electric permanent magnet and a magnetorheological elastic body according to an embodiment of the present invention. Specific details for implementing the invention

[0055] Embodiments of the present invention are described below with reference to the attached drawings so that those skilled in the art can easily implement the invention. However, the present invention may be embodied in various different forms and is not limited to the embodiments described herein. Furthermore, in order to clearly explain the present invention in the drawings, parts unrelated to the explanation have been omitted, and similar parts throughout the specification are denoted by similar reference numerals.

[0057] Throughout the specification, when a part is described as being "connected" to another part, this includes not only cases where they are "directly connected" but also cases where they are "indirectly connected" with other elements interposed between them. Furthermore, when a part is described as "including" a component, this means that, unless specifically stated otherwise, it does not exclude other components but rather allows for the inclusion of additional components; it should be understood as not precluding the existence or addition of one or more other features, numbers, steps, actions, components, parts, or combinations thereof.

[0059] The following examples are detailed descriptions to aid in understanding the present invention and are not intended to limit the scope of the present invention. Accordingly, inventions within the same scope that perform the same function as the present invention will also fall within the scope of the present invention.

[0061] In addition, each component, process, procedure, or method included in each embodiment of the present invention may be shared within a scope that is not technically contradictory to one another.

[0063] FIG. 1 is a diagram illustrating the configuration of a joint reaction force generating module based on an electric permanent magnet and a magnetorheological elastic body according to an embodiment of the present invention in functional blocks; FIG. 2 is a diagram illustrating the configuration of the electric permanent magnet of the joint reaction force generating module based on an electric permanent magnet and a magnetorheological elastic body according to an embodiment of the present invention in functional blocks; FIG. 3 is a diagram illustrating the schematic configuration of a joint reaction force generating module based on an electric permanent magnet and a magnetorheological elastic body according to an embodiment of the present invention; and FIG. 4 is a diagram illustrating the internal configuration of the magnetorheological elastic body in the initial state and magnetic field application state of the joint reaction force generating module based on an electric permanent magnet and a magnetorheological elastic body according to an embodiment of the present invention. As illustrated in FIGS. 1 to 4, a joint reaction force generating module (100) based on an electric permanent magnet and a magnetorheological elastic body according to an embodiment of the present invention may be configured to include an electric permanent magnet (110) that forms a magnetic field outside the magnet for generating a joint reaction force, a solenoid coil (120) that is wound around the electric permanent magnet (110) and forms a magnetic field by an applied current, and a magnetorheological elastic body (130) whose stiffness changes and resistance changes occur by the magnetic field formed by the electric permanent magnet (110). Hereinafter, the specific configuration of a joint reaction force generating module based on an electric permanent magnet and a magnetorheological elastic body according to an embodiment of the present invention will be described in detail with reference to the attached drawings.

[0065] FIG. 5 is a diagram illustrating the initial state configuration of a joint reaction force generating module based on an electric permanent magnet and a magnetorheological elastic body according to an embodiment of the present invention, FIG. 6 is a diagram illustrating the current application state configuration of a joint reaction force generating module based on an electric permanent magnet and a magnetorheological elastic body according to an embodiment of the present invention, FIG. 7 is a diagram illustrating the current non-application state configuration of a joint reaction force generating module based on an electric permanent magnet and a magnetorheological elastic body according to an embodiment of the present invention, and FIG. 8 is a diagram illustrating the reverse current application state configuration of a joint reaction force generating module based on an electric permanent magnet and a magnetorheological elastic body according to an embodiment of the present invention.

[0067] Additionally, FIG. 9 is a diagram illustrating the initial state configuration of a joint reaction force generation module based on an electric permanent magnet and a magnetorheological elastomer according to an embodiment of the present invention, in which the magnetorheological elastomer is applied in a thimble shape; FIG. 10 is a diagram illustrating the current application state configuration of a joint reaction force generation module based on an electric permanent magnet and a magnetorheological elastomer according to an embodiment of the present invention, in which the magnetorheological elastomer is applied in a thimble shape; FIG. 11 is a diagram illustrating the current non-application state configuration of a joint reaction force generation module based on an electric permanent magnet and a magnetorheological elastomer according to an embodiment of the present invention, in which the magnetorheological elastomer is applied in a thimble shape; FIG. 12 is a diagram illustrating the reverse current application state configuration of a joint reaction force generation module based on an electric permanent magnet and a magnetorheological elastomer according to an embodiment of the present invention, in which the magnetorheological elastomer is applied in a thimble shape; and FIG. 13 is the actual FIG. 14 is a drawing illustrating an example of a shape, and FIG. 14 is a drawing illustrating an example of a joint reaction force generating module based on an electric permanent magnet and a magnetorheological elastic body according to an embodiment of the present invention.

[0069] In addition, FIG. 15 is a diagram illustrating the configuration of an initial state in a structure in which the electric permanent magnet of a joint reaction force generating module based on an electric permanent magnet and a magnetorheological elastic body according to an embodiment of the present invention is positioned inside a magnetorheological elastic body; FIG. 16 is a diagram illustrating the configuration of a current application state in a structure in which the electric permanent magnet of a joint reaction force generating module based on an electric permanent magnet and a magnetorheological elastic body according to an embodiment of the present invention is positioned inside a magnetorheological elastic body; FIG. 17 is a diagram illustrating the configuration of a current non-application state in a structure in which the electric permanent magnet of a joint reaction force generating module based on an electric permanent magnet and a magnetorheological elastic body according to an embodiment of the present invention is positioned inside a magnetorheological elastic body; and FIG. 18 is a diagram illustrating the configuration of a reverse current application state in a structure in which the electric permanent magnet of a joint reaction force generating module based on an electric permanent magnet and a magnetorheological elastic body according to an embodiment of the present invention is positioned inside a magnetorheological elastic body.

[0071] In addition, FIG. 19 is a diagram illustrating the configuration of an initial state in a structure in which an electric permanent magnet is fixed to the end portion of a glove in which a magnetorheological elastic is fixed, of a joint reaction force generating module based on an electric permanent magnet and a magnetorheological elastic according to an embodiment of the present invention; FIG. 20 is a diagram illustrating the configuration of a current application state in a structure in which an electric permanent magnet is fixed to the end portion of a glove in which a magnetorheological elastic is fixed, of a joint reaction force generating module based on an electric permanent magnet and a magnetorheological elastic according to an embodiment of the present invention; FIG. 21 is a diagram illustrating the configuration of a current non-application state in a structure in which an electric permanent magnet is fixed to the end portion of a glove in which a magnetorheological elastic is fixed, of a joint reaction force generating module based on an electric permanent magnet and a magnetorheological elastic according to an embodiment of the present invention; and FIG. 22 is a diagram illustrating the configuration of a reverse current application state in a structure in which an electric permanent magnet is fixed to the end portion of a glove in which a magnetorheological elastic is fixed, of a joint reaction force generating module based on an electric permanent magnet and a magnetorheological elastic according to an embodiment of the present invention.

[0073] The electric permanent magnet (110) is configured to form a magnetic field outside the magnet for generating joint reaction force. As shown in FIGS. 2 to 22, the electric permanent magnet (110) may be composed of a combination of a neodymium magnet (111), an Alnico magnet (112), and a magnetic body (113) for forming a magnetic field outside the magnet for generating joint reaction force. Here, the electric permanent magnet (110) may be configured with a structure in which the neodymium magnet (111) and the Alnico magnet (112) are placed between a pair of opposing magnetic bodies (113). At this time, the solenoid coil (120), which will be described later, may be wound around the Alnico magnet (112) of the electric permanent magnet (110).

[0075] Additionally, the electropermanent magnet (EPM) (110) forms a magnetic field outside the magnet by the application of current, and the magnetic field can be maintained even when the current is released. In this electropermanent magnet (110), the magnetic field formed outside the magnet can be eliminated by reversing the direction of the previously applied current.

[0077] In this way, when current is applied to the electric permanent magnet (110), a magnetic field is formed outside the electric permanent magnet, and this magnetic field is maintained even when the current is released. Conversely, if the direction of the current previously applied to the electric permanent magnet (110) is reversed, the magnetic field formed outside the electric permanent magnet (110) disappears.

[0079] Additionally, the electric permanent magnet (110) may be configured to be installed on top of a magnetorheological elastic body (130) that is shaped like a thimble, or installed inside the magnetorheological elastic body (130). Additionally, the electric permanent magnet (110) may be configured to be fixed to the end of a glove that fixes the magnetorheological elastic body (130), and in this case, it may function to provide a sense of proprioception to the user. That is, when current is applied to the electric permanent magnet (110), a joint reaction force can be generated using the effect of the magnetorheological elastic body (130) being pulled toward the electric permanent magnet (110).

[0081] A solenoid coil (120) is wound around an electric permanent magnet (110) and is configured to form a magnetic field by an applied current. This solenoid coil (120) serves to form a magnetic field outside the magnet of the electric permanent magnet (110) and can be wound around the Alnico magnet (112) of the electric permanent magnet (110). Here, the applied current can be applied to the solenoid coil (120) in both forward and reverse directions.

[0083] The magnetorheological elastic body (130) is configured such that its stiffness changes and resistance changes occur due to a magnetic field formed by an electric permanent magnet (110). This magnetorheological elastic body (130) can be operated such that its stiffness changes and resistance changes occur due to a magnetic field formed by an electric permanent magnet (110), and as the magnetic field is applied, the internal iron particles are pulled in the direction in which the magnetic field is generated, thereby increasing the stiffness and causing deformation in the direction of the electric permanent magnet (110). Here, the magnetorheological elastic body (130) may be configured in a thimble shape, as shown in FIGS. 9 to 18, respectively. At this time, the magnetorheological elastic body (130) may be configured in a structure in which the electric permanent magnet (110) is positioned on top, or in a structure in which the electric permanent magnet (110) is positioned inside.

[0085] Additionally, as shown in FIGS. 19 to 22, the magnetorheological elastomer (130) may be configured to be fixed to a glove worn by a user, and an electric permanent magnet (110) may be fixed to the end of the glove to which the magnetorheological elastomer (130) is fixed.

[0087] In this way, the magnetorheological elastic body (130) has the characteristic that when a magnetic field is applied, the iron particles inside are pulled in the direction in which the magnetic field is generated, and the stiffness increases. When a magnetic field is generated in the electric permanent magnet (110), the iron particles inside the magnetorheological elastic body (130) move in the direction in which the magnetic field is generated, thereby creating resistance for the user. Based on this principle, a reaction force can be generated and provided to the user's joints.

[0089] FIG. 4 shows the internal configuration of the magnetorheological elastomer in the initial state and the magnetic field application state of a joint reaction force generation module based on an electric permanent magnet and a magnetorheological elastomer according to an embodiment of the present invention. FIG. 4 shows the internal structure of the magnetorheological elastomer (130) in the initial state where no magnetic field is applied and the internal structure in which magnetic attraction between particles is generated in the state where a magnetic field is applied.

[0091] FIG. 5 shows the configuration of an initial state of a joint reaction force generating module based on an electric permanent magnet and a magnetorheological elastic body according to an embodiment of the present invention, FIG. 6 shows the configuration of a joint reaction force generating module based on an electric permanent magnet and a magnetorheological elastic body according to an embodiment of the present invention in a state where current is applied, FIG. 7 shows the configuration of a joint reaction force generating module based on an electric permanent magnet and a magnetorheological elastic body according to an embodiment of the present invention in a state where current is not applied, and FIG. 8 shows the configuration of a joint reaction force generating module based on an electric permanent magnet and a magnetorheological elastic body according to an embodiment of the present invention in a state where reverse current is applied. As shown in FIG. 5 to FIG. 8, respectively, when the magnetorheological elastic body (130) of the joint reaction force generating module (100) is affected by a magnetic field, the iron powder inside receives a force that attempts to move toward the stronger magnetic field, causing it to deform in the direction of the electric permanent magnet (110), and as a result, the stiffness increases and it is pulled in the direction of the electric permanent magnet (110).

[0093] FIG. 9 shows the configuration of an initial state in which the magnetorheological elastomer of a joint reaction force generation module based on an electric permanent magnet and a magnetorheological elastomer according to an embodiment of the present invention is applied in a thimble shape; FIG. 10 shows the configuration of a current application state in which the magnetorheological elastomer of a joint reaction force generation module based on an electric permanent magnet and a magnetorheological elastomer according to an embodiment of the present invention is applied in a thimble shape; FIG. 11 shows the configuration of a current non-application state in which the magnetorheological elastomer of a joint reaction force generation module based on an electric permanent magnet and a magnetorheological elastomer according to an embodiment of the present invention is applied in a thimble shape; FIG. 12 shows the configuration of a reverse current application state in which the magnetorheological elastomer of a joint reaction force generation module based on an electric permanent magnet and a magnetorheological elastomer according to an embodiment of the present invention is applied in a thimble shape; FIG. 13 shows an example of the actual appearance of a joint reaction force generation module based on an electric permanent magnet and a magnetorheological elastomer according to an embodiment of the present invention, and FIG. Figure 14 illustrates an example of a joint reaction force generating module based on an electric permanent magnet and a magnetorheological elastic body according to an embodiment of the present invention. As shown in FIGS. 9 to 14, when a current is applied in the forward direction to the joint reaction force generating module (100), the magnetorheological elastic body (130) is also affected by a strong magnetic field, causing its stiffness to increase and pull it toward the electric permanent magnet (110), thereby enabling it to apply a reaction force to the user's joint. At this time, when a reverse current is applied, the influence of the magnetic field on the magnetorheological elastic body (130) decreases, and the reaction force applied to the user's joint disappears.

[0095] FIG. 15 shows the configuration of an initial state in a structure in which the electric permanent magnet is positioned inside a magnetorheological elastomer of a joint reaction force generating module based on an electric permanent magnet and a magnetorheological elastomer according to an embodiment of the present invention; FIG. 16 shows the configuration of a current application state in a structure in which the electric permanent magnet is positioned inside a magnetorheological elastomer of a joint reaction force generating module based on an electric permanent magnet and a magnetorheological elastomer according to an embodiment of the present invention; FIG. 17 shows the configuration of a current non-application state in a structure in which the electric permanent magnet is positioned inside a magnetorheological elastomer of a joint reaction force generating module based on an electric permanent magnet and a magnetorheological elastomer according to an embodiment of the present invention; and FIG. 18 shows the configuration of a reverse current application state in a structure in which the electric permanent magnet is positioned inside a magnetorheological elastomer of a joint reaction force generating module based on an electric permanent magnet and a magnetorheological elastomer according to an embodiment of the present invention. FIGS. 15 to 18 show the structure of a joint reaction force generating module (100) in which an electric permanent magnet (110) is positioned inside a magnetorheological elastic body (130) instead of being placed on top of it, thereby increasing stability and completeness.

[0097] FIG. 19 shows the configuration of an initial state in a structure in which an electric permanent magnet is fixed to the end portion of a glove fixed to a magnetorheological elastic of a joint reaction force generating module based on an electric permanent magnet and a magnetorheological elastic of an embodiment of the present invention; FIG. 20 shows the configuration of a current application state in a structure in which an electric permanent magnet is fixed to the end portion of a glove fixed to a magnetorheological elastic of a joint reaction force generating module based on an electric permanent magnet and a magnetorheological elastic of an embodiment of the present invention; FIG. 21 shows the configuration of a current non-application state in a structure in which an electric permanent magnet is fixed to the end portion of a glove fixed to a magnetorheological elastic of a joint reaction force generating module based on an electric permanent magnet and a magnetorheological elastic of an embodiment of the present invention; and FIG. 22 shows the configuration of a reverse current application state in a structure in which an electric permanent magnet is fixed to the end portion of a glove fixed to a magnetorheological elastic of a joint reaction force generating module based on an electric permanent magnet and a magnetorheological elastic of an embodiment of the present invention. FIGS. 19 to 22 provide a structure of a joint reaction force generating module (100) that provides a sense of motion to a user by fixing an electric permanent magnet (110) to the end of a glove that has a magnetorheological elastic body (130) fixed thereto. When current is applied to the electric permanent magnet (110), the magnetorheological elastic body (130) is pulled toward the electric permanent magnet (110), thereby generating and providing a joint reaction force.

[0099] FIG. 23 is a diagram illustrating the flow of a control method for a joint reaction force generation module based on an electric permanent magnet and a magnetorheological elastic body according to an embodiment of the present invention. As shown in FIG. 23, the control method for a joint reaction force generation module based on an electric permanent magnet and a magnetorheological elastic body according to an embodiment of the present invention may be implemented by including the steps of: generating a magnetic field by an applied current while a solenoid coil is wound around an electric permanent magnet to form magnetic flux lines (S110); forming a magnetic field outside the magnet to generate a joint reaction force according to the magnetic flux lines formed by the electric permanent magnet in the solenoid coil (S120); and generating a reaction force against the joint by changing the stiffness of the magnetorheological elastic body by the magnetic field formed by the electric permanent magnet and causing a change in resistance force (S130).

[0101] In step S110, in a joint reaction force generating module comprising an electric permanent magnet that forms a magnetic field outside the magnet by an externally applied current for generating joint reaction force, a solenoid coil that is wound around the electric permanent magnet and forms a magnetic field by the applied current, and a magnetorheological elastic body whose stiffness changes and resistance changes by the magnetic field formed by the electric permanent magnet, a magnetic field is generated by the applied current while the solenoid coil is wound around the electric permanent magnet to form magnetic flux lines. The solenoid coil (120) in step S110 is configured to be wound around the electric permanent magnet (110) and form a magnetic field by the applied current, and serves to form a magnetic field outside the magnet of the electric permanent magnet (110), and can be wound around the Alnico magnet (112) of the electric permanent magnet (110). Here, the applied current can be applied to the solenoid coil (120) in both forward and reverse directions.

[0103] In step S120, the electric permanent magnet forms a magnetic field outside the magnet to generate a joint reaction force according to the magnetic flux lines formed by the solenoid coil. The electric permanent magnet (110) in step S120 is configured to form a magnetic field outside the magnet to generate a joint reaction force, and as illustrated in FIGS. 2 to 22, it may be composed of a combination of a neodymium magnet (111), an Alnico magnet (112), and a magnetic body (113) to form a magnetic field outside the magnet to generate a joint reaction force. Here, the electric permanent magnet (110) may be configured in a structure in which the neodymium magnet (111) and the Alnico magnet (112) are placed between a pair of opposing magnetic bodies (113). At this time, the solenoid coil (120), which will be described later, may be wound around the Alnico magnet (112) of the electric permanent magnet (110).

[0105] Additionally, the electropermanent magnet (EPM) (110) forms a magnetic field outside the magnet by the application of current, and the magnetic field can be maintained even when the current is released. In this electropermanent magnet (110), the magnetic field formed outside the magnet can be eliminated by reversing the direction of the previously applied current.

[0107] In this way, when current is applied to the electric permanent magnet (110), a magnetic field is formed outside the electric permanent magnet, and this magnetic field is maintained even when the current is released. Conversely, if the direction of the current previously applied to the electric permanent magnet (110) is reversed, the magnetic field formed outside the electric permanent magnet (110) disappears.

[0109] Additionally, the electric permanent magnet (110) may be configured to be installed on top of a magnetorheological elastic body (130) that is shaped like a thimble, or installed inside the magnetorheological elastic body (130). Additionally, the electric permanent magnet (110) may be configured to be fixed to the end of a glove that fixes the magnetorheological elastic body (130), and in this case, it may function to provide a sense of proprioception to the user. That is, when current is applied to the electric permanent magnet (110), a joint reaction force can be generated using the effect of the magnetorheological elastic body (130) being pulled toward the electric permanent magnet (110).

[0111] In step S130, the magnetorheological elastic body changes its stiffness due to a magnetic field formed by an electric permanent magnet, and generates a reaction force against the joint due to the occurrence of a change in resistance force. The magnetorheological elastic body (130) in step S130 is configured such that its stiffness changes due to a magnetic field formed by an electric permanent magnet (110) and a change in resistance force occurs. The stiffness changes due to a magnetic field formed by an electric permanent magnet (110), and the change in resistance force occurs. However, as the magnetic field is applied, the stiffness increases through the characteristic that the internal iron particles are pulled in the direction in which the magnetic field is generated, and the body can be operated to undergo deformation in the direction of the electric permanent magnet (110). Here, the magnetorheological elastic body (130) may be configured in the shape of a thimble, as shown in FIGS. 9 to 18, respectively. At this time, the magnetorheological elastic body (130) may be configured such that the electric permanent magnet (110) is positioned on top, or such that the electric permanent magnet (110) is positioned inside.

[0113] Additionally, as illustrated in FIGS. 19 to 22, the magnetorheological elastic body (130) may be configured such that it is fixed to a glove worn by a user, and an electric permanent magnet (110) is fixed to the end of the glove to which the magnetorheological elastic body (130) is fixed. This magnetorheological elastic body (130) has the characteristic that when a magnetic field is applied, the iron particles inside are pulled in the direction in which the magnetic field is generated, and the stiffness increases. When a magnetic field is generated in the electric permanent magnet (110), the iron particles inside the magnetorheological elastic body (130) move in the direction of magnetic field generation, thereby generating resistance for the user. Based on this principle, a reaction force can be generated and provided to the user's joints.

[0115] As described above, a joint reaction force generation module based on an electric permanent magnet and a magnetorheological elastomer according to an embodiment of the present invention and a control method thereof are configured to include an electric permanent magnet that forms a magnetic field outside the magnet for generating a joint reaction force, a solenoid coil that is wound around the electric permanent magnet and forms a magnetic field by an applied current, and a magnetorheological elastomer whose stiffness changes and resistance changes occur by the magnetic field formed by the electric permanent magnet. By such a configuration, it is possible to generate and provide resistance force to a user through the stiffness and characteristic of iron particles of a thimble-shaped magnetorheological elastomer being pulled in the direction in which the magnetic field is generated by the magnetic field formed by the electric permanent magnet. In particular, in a joint reaction force generation module equipped with an electric permanent magnet, a solenoid coil, and a magnetorheological elastomer, by enabling resistance force to be generated and provided to a user through the stiffness and characteristic of iron particles of a thimble-shaped magnetorheological elastomer being pulled in the direction in which the magnetic field is generated by the magnetic field formed by the electric permanent magnet, it is possible to miniaturize and lighten the structure that provides reaction force generation for a user's finger joint. Accordingly, the convenience and efficiency of using the user's joint reaction force can be further improved.

[0117] The foregoing description of the present invention is for illustrative purposes only, and those skilled in the art will understand that other specific forms can be easily modified without altering the technical spirit or essential features of the present invention. Therefore, the embodiments described above should be understood as illustrative in all respects and not restrictive. For example, each component described as a single unit may be implemented in a distributed manner, and components described as distributed may likewise be implemented in a combined form.

[0119] The scope of the present invention is defined by the claims set forth below rather than by the detailed description above, and all modifications or variations derived from the meaning and scope of the claims and equivalent concepts thereof should be interpreted as being included within the scope of the present invention. Explanation of the symbols

[0120] 100: Joint reaction force generating module according to an embodiment of the present invention 110: Electric permanent magnet 111: Neodymium magnet 112: Alnico magnets 113: Magnetic body 120: Solenoid coil 130: Magnetorheological elastomer S110: A step of generating a magnetic field by an applied current while the solenoid coil is wound around an electric permanent magnet to form magnetic flux lines. S120: A step of forming a magnetic field outside the magnet for generating joint reaction force according to the magnetic flux lines formed by the electric permanent magnet in the solenoid coil. S130: A step in which the stiffness of a magnetorheological elastic body changes due to a magnetic field formed by an electric permanent magnet, and a reaction force is generated against a joint due to the occurrence of a change in resistance force.

Claims

Claim 1 A joint reaction force generating module (100) based on an electric permanent magnet and a magnetorheological elastic body, comprising: an electric permanent magnet (110) that forms a magnetic field outside the magnet for generating a joint reaction force; and a solenoid coil (120) that is wound around the electric permanent magnet (110) and forms a magnetic field by an applied current.The apparatus includes a magnetorheological elastic body (130) in which rigidity changes and resistance changes occur due to a magnetic field formed by the electric permanent magnet (110), wherein the electric permanent magnet (110) is composed of a combination of a neodymium magnet (111), an Alnico magnet (112), and a magnetic body (113) for forming a magnetic field outside the magnet to generate joint reaction force, and forms a magnetic field outside the magnet by applying current, and the magnetic field is maintained even when the current is released, but the magnetic field formed outside the magnet disappears when the direction of the previously applied current is reversed, and the electric permanent magnet (110) is configured to be installed on top of or inside the magnetorheological elastic body (130) which is formed in the shape of a thimble, and the electric permanent magnet (110) is configured to be fixed to the end of the glove that fixes the magnetorheological elastic body (130). A joint reaction force generation module based on an electric permanent magnet and a magnetorheological elastic body, wherein, when configured, a joint reaction force is generated by utilizing the effect of the magnetorheological elastic body (130) being pulled toward the electric permanent magnet (110) according to the current applied to the electric permanent magnet (110), thereby providing a proprioceptive sensation to the user; wherein the magnetorheological elastic body (130) operates such that its stiffness changes and resistance changes occur due to the magnetic field formed by the electric permanent magnet (110), and as the magnetic field is applied, the stiffness increases through the characteristic that the internal iron particles are pulled in the direction in which the magnetic field is generated, and deformation occurs in the direction of the electric permanent magnet (110); wherein the magnetorheological elastic body (130) is configured in a thimble shape, and is configured in a structure in which the electric permanent magnet (110) is positioned on top, or in which the electric permanent magnet (110) is positioned inside. Claim 2 delete Claim 3 delete Claim 4 A method for controlling a joint reaction force generating module (100) based on an electric permanent magnet and a magnetorheological elastic body, comprising: (1) an electric permanent magnet (110) that forms a magnetic field outside the magnet by an externally applied current for generating a joint reaction force, a solenoid coil (120) that is wound around the electric permanent magnet (110) and forms a magnetic field by the applied current, and a magnetorheological elastic body (130) whose stiffness changes and resistance changes by the magnetic field formed by the electric permanent magnet (110); a step of generating a magnetic field by an applied current while the solenoid coil (120) is wound around the electric permanent magnet (110) to form a magnetic flux line; (2) a step of forming a magnetic field outside the magnet for generating a joint reaction force according to the magnetic flux line formed by the solenoid coil (120) by the electric permanent magnet (110).and (3) a step in which the magnetorheological elastic body (130) changes its stiffness by a magnetic field formed by the electric permanent magnet (110) and generates a reaction force against the joint by the occurrence of a change in resistance force, wherein the electric permanent magnet (110) is composed of a combination of a neodymium magnet (111), an Alnico magnet (112), and a magnetic body (113) to form a magnetic field outside the magnet for generating a reaction force against the joint, and forms a magnetic field outside the magnet by applying current, and the magnetic field is maintained even when the current is released, but the magnetic field formed outside the magnet disappears when the direction of the previously applied current is reversed, and the electric permanent magnet (110) is configured to be installed on top of the magnetorheological elastic body (130) which is formed in the shape of a thimble or installed inside the magnetorheological elastic body (130), and the electric permanent magnet (110) is the magnetorheological A method for controlling a joint reaction force generation module based on an electric permanent magnet and a magnetorheological elastic body, wherein the structure is configured such that the elastic body (130) is fixed to the end of a glove, and a joint reaction force is generated by utilizing the effect of the magnetorheological elastic body (130) being pulled toward the electric permanent magnet (110) according to the current applied to the electric permanent magnet (110), thereby providing a proprioceptive sensation to the user; wherein the magnetorheological elastic body (130) operates such that its stiffness changes and resistance changes occur due to the magnetic field formed by the electric permanent magnet (110), and as the magnetic field is applied, the stiffness increases through the characteristic that the internal iron particles are pulled in the direction in which the magnetic field is generated, and deformation occurs in the direction of the electric permanent magnet (110); and wherein the magnetorheological elastic body (130) is configured in a thimble shape, and is configured such that the electric permanent magnet (110) is positioned on top or the electric permanent magnet (110) is positioned inside.

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