Walking-assist wearable robot including temperature control module, wearable robot assisting arm of wearer, zero-point adjustment device of walking-assist wearable robot, and walking-assist wearable robot performing safety control function

Abstract

The present invention relates to a wearable robot module that assists the movement of a wearer's arm, the wearable robot module including: a clutch unit capable of implementing, on the basis of an operation, a plurality of modes including a fixed mode and an elastic mode; a wire having one end connected to the clutch unit; and an operation unit connected to the other end of the wire, wherein the clutch unit includes: a housing; a gear located within the housing; a plurality of levers connected to one end of the housing by a connection member and capable of independently controlling the rotatable direction of the gear; a wire pulley capable of being coupled to the gear; and an elastic member capable of being connected to the wire pulley.

Description

A walking assistance wearable robot including a temperature control module, a wearable robot that assists the wearer's arm, a walking assistance wearable robot that performs a zero point adjustment device and a safety control function of the walking assistance wearable robot

[0001] The present invention relates to a wearable robot that assists the movement of a wearer's arm and a clutch mechanism for the wearable robot.

[0002] The present invention relates to a composite wearable robot comprising a wearable robot module that assists the movement of a wearer's arm using a clutch mechanism and a wearable robot that assists the movement of a wearer's waist.

[0003] The present technology relates to a walking assistance wearable robot that performs a safety control function and a safety control method, and more specifically, to a walking assistance wearable robot that performs a safety control function to prevent danger to the wearer due to abnormal operation of the wearable robot that may occur before or during the walking process of the wearer.

[0004] The present invention relates to a temperature control module for a wearable robot that controls the temperature of the wearable robot.

[0005] The present invention relates to a walking assistance wearable robot including a temperature control module for controlling the temperature of the wearable robot.

[0006] The present invention relates to a method for controlling the temperature of a wearable robot.

[0007] The present invention relates to a non-transitory computer-readable storage medium capable of performing a method for controlling the temperature of a wearable robot.

[0008] The present invention relates to a device and method for sensing a specific relative angle between two connecting members of a walking assistance wearable robot that assists the walking of a wearer.

[0009] The present invention relates to a zero point adjustment device and method for a walking assistance wearable robot that assists the walking of a wearer.

[0010] The present invention relates to a device and method for setting and applying a correction value that can be used in a zero point adjustment device and method of a walking assistance wearable robot that assists the walking of a wearer.

[0011] Wearable robots have been developed since the 1960s, and are being developed as wearable robots for muscle strengthening and body protection for high-load, high-risk workers, wearable assistive devices for movement assistance, rehabilitation, and posture correction for the elderly and patients, and prosthetic limbs and prosthetic arms that replace physical functions for the disabled.

[0012] Among these, a wearable robot that assists the movement of the wearer's arm (or upper limb assistance robot) is a wearable robot that provides assistive force to assist the movement of the arm when the wearer grabs and lifts an object or lifts an object and moves it to another place.

[0013] Some wearable robots that assist the wearer's arm movements utilize wires. This approach has the advantage of a relatively small overall robot volume, allowing the robot to be used in close contact with the wearer's body.

[0014] The way wearable robots that assist the movement of the wearer's arm using wires are operated can be broadly categorized into three types: a fixed method that uses the wire attached to a clasp (fixed method), a method that pulls the wire using an elastic member (elastic method), and a method that pulls the wire using a motor.

[0015] Using motors increases the robot's weight and requires additional sensors to drive the motors, leading to higher costs. Therefore, passive methods—including elastic and resilient methods—that do not use additional motors are increasingly preferred.

[0016] Currently, the most commercially available robots are fixed-type robots, which manually adjust the length of the wire and then fix it in place. These are followed by robots that utilize the restoring force of elastic components.

[0017] Meanwhile, wearable robots utilizing a fixed-position design have the advantage of a simple device configuration and the ability to support heavy objects. However, they require wire length adjustment before starting work, and if the target or location changes, it's difficult to readjust the wire length during operation.

[0018] Meanwhile, wearable robots utilizing elastic technology offer the advantage of easy length adjustment, as the length of the wire can be adjusted by the elastic member. However, as the elastic member becomes more rigid, the wearer may have to exert excessive force to deform it during work. Furthermore, even when work is not in progress, the wearer must exert a constant force to maintain the elastic member's restorative force, which can lead to fatigue.

[0019] An example of a wearable robot is a walking assistance wearable robot that assists the wearer in walking or strengthens lower body muscles. When assisting walking, the wearable robot can provide assistance, while when strengthening lower body muscles, it can provide resistance.

[0020] However, if the wearer wears the wearable robot in an abnormal state or if an abnormal driving torque is generated while walking while wearing the wearable robot, the wearer's joints, muscles, and other body parts may be strained, which may pose a threat to the wearer's safety.

[0021] Furthermore, during walking, the wearable robot's operation may not align with the wearer's intentions, or excessive driving torque may be provided, potentially resulting in excessive energy consumption. This can lead to excessive current consumption, lowering energy efficiency, posing a safety risk to the wearer, and shortening battery life.

[0022] Furthermore, wearable robots utilize various sensors to detect hazardous situations to enhance user safety and convenience. While installing separate sensors or incorporating various sensors within the device allows for more accurate detection of hazards, this can increase the weight of the wearable robot and reduce user convenience. Furthermore, adding sensors can increase manufacturing costs, which could conflict with existing efforts to reduce the weight and popularize wearable robots.

[0023] Therefore, in order to prevent danger to the wearer due to abnormal operation of the wearable robot that may occur before or during walking of the wearable robot wearer, a walking assistance wearable robot and a safety control method are required that can collect data using at least one sensor and perform a safety control function based on an advanced algorithm for processing and interpreting the data collected from the sensor.

[0024] Wearable walking-assistance robots that assist the wearer's walking include actuators to generate appropriate assistive and resistance forces to the wearer's joints. These actuators typically operate using electric motors, which are coupled with position sensors for precise control.

[0025] Position sensors are used to detect the current position of an actuator in real time and control its output based on this information. Furthermore, position sensors are crucial for measuring the user's joint positions while using a wearable robot, determining whether the required assistive and / or resistive force can be accurately generated. Typically, optical or magnetic encoders are utilized for position sensors, but these have limitations in that they cannot maintain current measurements without a continuous power supply. This means that if the wearable robot is powered off and then restarted, it will no longer be able to determine the wearer's current position. While absolute position sensors capable of remembering or determining absolute position exist, their high cost hinders their commercialization.

[0026] Accordingly, developing a method for performing zero point adjustment of a wearable robot without an absolute position sensor, which is required preemptively to determine the precise position or posture information of the wearable robot and the wearer, is emerging as an important task.

[0027] Meanwhile, for zero-point adjustment of a wearable robot, information regarding the angle at which the two connecting members of the wearable robot are diverged from a reference state may be required. A common method for this involves calculating the angle of divergence of each connecting member using multiple inertial sensors capable of sensing the movement of each connecting member.

[0028] If a wearable robot is operated for an extended period of time while worn by the wearer, the temperature inside and on the surface of the wearable robot may increase. Since wearable robots are inherently in close contact with the wearer's skin or clothing, a rise in the temperature inside and on the surface of the wearable robot may result in low-temperature burns.

[0029] Therefore, a device and method are required to control the temperature of a wearable robot so that it does not rise any further when the temperature inside the device and on the surface of the device exceeds a certain threshold.

[0030] Meanwhile, temperature sensors are required to monitor the temperature inside and on the surface of a wearable robot. Equipping a separate temperature sensor for temperature control can enable accurate temperature measurement of the wearable robot. However, this increases the weight of the wearable robot, which can cause discomfort to the wearer.

[0031] The present invention can provide a wearable robot module that assists the movement of a wearer's arm, which can be driven by the wearer by selecting one of a plurality of passive assistance modes appropriate to the work situation as needed.

[0032] The present invention can provide a clutch mechanism that can be used in a wearable robot module that assists the movement of a wearer's arm, allowing the wearer to select and drive one of a plurality of passive assist modes appropriate to the work situation as needed.

[0033] The present invention can provide a composite wearable robot in which a wearable robot module that assists movement of a wearer's arm and a wearable robot that assists movement of the other body part of the wearer are combined.

[0034] The present invention can provide a walking assistance wearable robot that performs a safety control function and a safety control method.

[0035] The present invention can provide a walking assistance wearable robot and a safety control method that collects data using at least one sensor and performs a safety control function based on a risk judgment algorithm for processing and interpreting data collected from the sensor.

[0036] The present invention can provide a non-transitory computer-readable storage medium storing one or more programs for implementing a safety control method for performing a safety control function of a walking assistance wearable robot.

[0037] The problems to be solved by the present invention are not limited to the problems mentioned above, and other problems not mentioned will be clearly understood by those skilled in the art from the description below.

[0038] The present invention can provide a temperature control module for a wearable robot including a risk determination algorithm configured based on temperature data by space and / or temperature data by driving torque of the wearable robot.

[0039] The present invention can provide a temperature control module for a wearable robot including a risk determination algorithm based on a plurality of threshold values.

[0040] The present invention can provide a temperature control module for a wearable robot including a risk determination algorithm based on past input values ​​of information regarding the temperature of the wearable robot.

[0041] The present invention can provide a temperature control module for a wearable robot including a risk determination algorithm based on an existing error setting state of the wearable robot.

[0042] The present invention can provide a walking assistance wearable robot including a temperature control module for a wearable robot capable of controlling the temperature of the device based on a risk determination algorithm.

[0043] The present invention can provide a temperature control method of a wearable robot using a temperature control module of a wearable robot capable of controlling the temperature of the device based on a risk determination algorithm.

[0044] The present invention can provide a non-transitory computer-readable storage medium capable of performing a temperature control method of a wearable robot using a temperature control module of a wearable robot capable of controlling the temperature of the device based on a risk determination algorithm.

[0045] The present invention provides a walking assistance wearable robot capable of sensing whether a specific relative angle has been reached between connecting members of the walking assistance wearable robot using a general position detection sensor, and performing zero point adjustment of the device within the wearer's daily half-step to one-step process based thereon.

[0046] In order to solve the problem of the present invention, a clutch part of a wearable robot module for assisting the movement of a wearer's arm is provided, comprising: a housing; a gear positioned inside the housing; a plurality of levers connected to one end of the housing by a connecting member and capable of independently controlling the rotational direction of the gear; a wire pulley capable of being coupled to the gear; and an elastic member capable of being connected to the wire pulley.

[0047] According to one embodiment of the present invention, the wire pulley can rotate in the same direction as the rotational direction of the gear.

[0048] According to one embodiment of the present invention, the elastic member can have a rigidity that changes based on the rotational direction of the gear.

[0049] According to one embodiment of the present invention, a clutch unit of a wearable robot module for assisting movement of an arm of a wearer is provided, further comprising at least one slider positioned inside the housing, wherein the slider can be configured to independently separate the plurality of levers from the gear.

[0050] In order to solve the problem of the present invention, a clutch part of a wearable robot module for assisting the movement of a wearer's arm is provided, comprising: a housing; a gear positioned inside the housing; a plurality of levers connected to one end of the housing by a connecting member and capable of controlling the rotational direction of the gears respectively; a wire pulley capable of being coupled to the gears; and an elastic member capable of being connected to the wire pulley.

[0051] According to one embodiment of the present invention, the wire pulley provides a clutch part of a wearable robot module that assists the movement of a wearer's arm, which can rotate in the same direction as the rotational direction of the gear.

[0052] According to one embodiment of the present invention, the elastic member provides a clutch portion of a wearable robot module that assists movement of a wearer's arm, the rigidity of which can be changed based on the rotational direction of the gear.

[0053] According to one embodiment of the present invention, a clutch unit of a wearable robot module for assisting movement of an arm of a wearer is provided, further comprising at least one slider positioned inside the housing, wherein the slider can be configured to independently separate the plurality of levers from the gear.

[0054] In order to solve the problem of the present invention, a wearable robot module for assisting the movement of a wearer's arm is provided, comprising: a clutch unit capable of implementing a plurality of modes including a fixed mode and an elastic mode based on manipulation; a wire connected at one end to the clutch unit; and an operating unit connected to the other end of the wire.

[0055] According to one embodiment of the present invention, a wearable robot module for assisting movement of a wearer's arm is provided, the clutch unit including: a housing; a gear positioned inside the housing; a plurality of levers connected to one end of the housing by a connecting member and capable of independently controlling a rotational direction of the gear; a wire pulley capable of being coupled to the gear; and an elastic member capable of being connected to the wire pulley.

[0056] According to one embodiment of the present invention, a wearable robot module for assisting the movement of a wearer's arm is provided, wherein the wire pulley can rotate in the same direction as the rotational direction of the gear.

[0057] According to one embodiment of the present invention, a wearable robot module for assisting movement of a wearer's arm is provided, wherein the elastic member can have a rigidity that changes based on the rotational direction of the gear.

[0058] According to one embodiment of the present invention, a wearable robot module for assisting movement of an arm of a wearer is provided, further comprising at least one slider positioned inside the housing, wherein the slider can be configured to independently separate the plurality of levers from the gear.

[0059] In order to solve the problem of the present invention, a clutch unit capable of implementing multiple modes including a fixed mode and an elastic mode based on an operation; a wire connected to one end of the clutch unit; an operating unit connected to the other end of the wire; and

[0060] A wearable robot module for assisting the movement of a wearer's arm is provided, including a support frame to which the above-mentioned action part and one end are connected.

[0061] According to one embodiment of the present invention, a wearable robot module for assisting movement of a wearer's arm is provided, the clutch unit including: a housing; a gear positioned inside the housing; a plurality of levers connected to one end of the housing by a connecting member and capable of independently controlling a rotational direction of the gear; a wire pulley capable of being coupled to the gear; and an elastic member capable of being connected to the wire pulley.

[0062] According to one embodiment of the present invention, a wearable robot module for assisting the movement of a wearer's arm is provided, wherein the wire pulley can rotate in the same direction as the rotational direction of the gear.

[0063] According to one embodiment of the present invention, a wearable robot module for assisting movement of a wearer's arm is provided, wherein the elastic member can have a rigidity that changes based on the rotational direction of the gear.

[0064] According to one embodiment of the present invention, a wearable robot module for assisting movement of an arm of a wearer is provided, further comprising at least one slider positioned inside the housing, wherein the slider can be configured to independently separate the plurality of levers from the gear.

[0065] According to one embodiment of the present invention, the support frame provides a wearable robot module that assists the movement of the wearer's arm, wherein the support frame can bend according to the movement of the wearer at at least one position corresponding to the wearer's joint.

[0066] According to one embodiment of the present invention, a wearable robot module for assisting the movement of an arm of a wearer is provided, wherein the support frame further includes at least one wheel installed on the support frame, and the wire is wound around the at least one wheel and extends to be connected to the working part.

[0067] According to one embodiment of the present invention, a wearable robot module for assisting the movement of a wearer's arm is provided, wherein at least a portion of the wire can pass through the interior of the support frame and be connected to the working part.

[0068] In order to solve the problem of the present invention, a wearable robot for assisting movement of a wearer's arm and / or waist, comprising: a wearable robot module for assisting movement of the wearer's arm; and a wearable robot for assisting movement of the wearer's waist to which the wearable robot module for assisting movement of the wearer's arm can be connected; wherein the wearable robot module for assisting movement of the wearer's arm can be operated to assist the wearer in a plurality of modes including a fixed mode and an elastic mode.

[0069] According to one embodiment of the present invention, a wearable robot module for assisting the movement of the wearer's arm comprises: a clutch unit capable of implementing a plurality of modes including a fixed mode and an elastic mode based on manipulation; a wire having one end connected to the clutch unit; and

[0070] A wearable robot that assists the movement of the arm and / or waist of a wearer is provided, including an operating part connected to the other end of the above wire.

[0071] According to one embodiment of the present invention, a wearable robot for assisting arm and / or waist movement of a wearer is provided, the clutch unit including: a housing; a gear positioned inside the housing; a plurality of levers connected to one end of the housing by a connecting member and capable of independently controlling a rotational direction of the gear; a wire pulley capable of being coupled to the gear; and an elastic member capable of being connected to the wire pulley.

[0072] According to one embodiment of the present invention, a wearable robot for assisting arm and / or waist movement of a wearer is provided, wherein the wire pulley can rotate in the same direction as the rotational direction of the gear.

[0073] According to one embodiment of the present invention, a wearable robot for assisting arm and / or waist movement of a wearer is provided, wherein the elastic member can have a rigidity that changes based on the rotational direction of the gear.

[0074] According to one embodiment of the present invention, a wearable robot for assisting arm and / or waist movement of a wearer is provided, further comprising at least one slider positioned inside the housing, wherein the slider can be configured to independently separate the plurality of levers from the gear.

[0075] According to one embodiment of the present invention, a wearable module for assisting the movement of the arm of the wearer is provided, wherein the wearable robot for assisting the movement of the arm and / or waist of the wearer further includes a support frame having one end connected to the action part.

[0076] According to one embodiment of the present invention, the support frame provides a wearable robot that assists the movement of the wearer's arm and / or waist, wherein the support frame can be bent according to the movement of the wearer at at least one position corresponding to the wearer's joint.

[0077] According to one embodiment of the present invention, a wearable robot for assisting arm and / or waist movement of a wearer is provided, wherein the support frame further includes at least one wheel installed on the support frame, and the wire is wound around the at least one wheel and extends to be connected to the action part.

[0078] According to one embodiment of the present invention, a wearable robot for assisting arm and / or waist movement of a wearer is provided, wherein at least a portion of the wire can pass through the interior of the support frame and be connected to the working part.

[0079] In order to solve the problem of the present invention, a clutch part of a wearable robot that assists the movement of a wearable robot is provided, which includes a gear part to which a wire can be connected so that the length of the wire drawn out can change depending on the direction of rotation and the direction of rotation can be determined by operation; and an elastic member that is connected to the gear part and can contract or expand depending on the direction of rotation of the gear part.

[0080] According to one embodiment of the present invention, the gear part provides a clutch part of a wearable robot that assists the movement of a wearer without having an electric power source for rotation.

[0081] According to one embodiment of the present invention, a clutch unit of a wearable robot that assists movement of a wearer is provided, further comprising a control unit capable of determining a rotational direction of the gear unit.

[0082] According to one embodiment of the present invention, a walking assistance wearable robot controlled in a plurality of modes according to a walking purpose includes: a main body housing; a sensor unit disposed within the main body housing and sensing information about a movement of a wearer wearing the wearable robot; a memory storing the sensed information about the movement of the wearer; and a processor; wherein the processor receives mode information set to the wearable robot among the plurality of modes from the wearable robot, and when the received mode information is walking mode information, receives information about the movement of the wearer stored in the memory, and performs a safety control function of the wearable robot based on a risk judgment algorithm based on the information about the movement of the wearer.

[0083] In addition, the processor may be a walking assistance wearable robot that performs a safety control function of the wearable robot based on information on the wearable robot wearing status of the wearable robot wearer.

[0084] In addition, the processor may be a walking assistance wearable robot that performs a safety control function of the wearable robot based on the risk judgment algorithm that sequentially or in parallel applies at least one critical condition.

[0085] In addition, the processor may be a walking assistance wearable robot that performs a safety control function of the wearable robot based on the risk judgment algorithm that applies a condition regarding the walking state of the wearer, and the condition regarding the walking state of the wearer is whether the number of consecutive steps is two or more.

[0086] In addition, the risk judgment algorithm may be set based on conditions regarding the walking state of the wearer, and the processor may be a walking assistance wearable robot that performs a safety control function of the wearable robot based on the risk judgment algorithm that sequentially or in parallel applies at least one critical condition.

[0087] In addition, the safety control function of the wearable robot may include at least one of error notification and setting, error maintenance, error confirmation and release, rest mode change, driving torque reduction, and power off of the wearable robot, and the processor may be a walking assistance wearable robot that performs the safety control function of the wearable robot based on an existing error setting state.

[0088] In addition, the plurality of modes of the wearable robot may include the walking mode and the resting mode, and the walking mode may be a mode in which a driving torque is applied from the wearable robot to the wearer, and the resting mode may be a mode in which the driving torque is turned off.

[0089] In addition, the information about the movement of the wearer may include at least one of a driving angle and a driving angular velocity based on the hip angle of the wearer, a current applied to the motor, and an acceleration, an angular velocity, and an inclination of the main body housing, and the sensor unit may be at least one of a hall sensor and a motion detection sensor.

[0090] In addition, the inclination of the main body housing is measured through filtering using a low-pass filter, and the sensor unit may be a walking assistance wearable robot that is a motion detection sensor.

[0091] In addition, the driving angle and driving angular velocity based on the wearer's hip angle may be measured using an incremental encoder, and the sensor unit may be a walking assistance wearable robot that is a Hall sensor.

[0092] A safety control method of a walking assistance wearable robot according to one embodiment of the present invention may be a safety control method including: a step of receiving mode information set to the wearable robot among the plurality of modes from the wearable robot; a step of receiving information about the movement of the wearer stored in the memory when the received mode information is walking mode information; and a step of performing a safety control function of the wearable robot based on a risk judgment algorithm based on the information about the movement of the wearer.

[0093] In addition, it may be a safety control method further including a step of performing a safety control function of the wearable robot based on information on the wearable robot wearing status of the wearable robot wearer.

[0094] Additionally, the above risk assessment algorithm may be a safety control method capable of applying at least one critical condition sequentially or in parallel.

[0095] In addition, the risk judgment algorithm may apply a condition regarding the wearer's walking state, and the condition regarding the wearer's walking state may be a safety control method in which the number of consecutive steps is two or more.

[0096] In addition, the risk judgment algorithm may be set based on conditions regarding the walking state of the wearer, and may be a safety control method capable of applying at least one critical condition sequentially or in parallel.

[0097] In addition, the safety control function of the wearable robot may include at least one of error notification and setting, error maintenance, error confirmation and release, rest mode change, driving torque reduction, and power off of the wearable robot, and the safety control function of the wearable robot may be a safety control method performed based on an existing error setting state.

[0098] In addition, the plurality of modes of the wearable robot may include the walking mode and the resting mode, and the walking mode may be a mode in which a driving torque is applied from the wearable robot to the wearer, and the resting mode may be a mode in which the driving torque is turned off, which may be a safety control method.

[0099] In addition, the information about the movement of the wearer sensed by the sensor unit includes at least one of a driving angle and a driving angular velocity based on the hip angle of the wearer, a current applied to the motor, and an acceleration, angular velocity, and an inclination of the main body housing, and the sensor unit may be a safety control method in which at least one of a hall sensor and a motion detection sensor is used.

[0100] In addition, the inclination of the main body housing may be measured through filtering using a low-pass filter, and the sensor unit may be a safety control method that is a motion detection sensor.

[0101] In addition, the driving angle and driving angular velocity based on the wearer's hip angle may be measured using an incremental encoder, and the sensor unit may be a hall sensor, which may be a safety control method.

[0102]

[0103] In order to solve the problem of the present invention, a walking assistance wearable robot is provided, comprising: a first wearing part that can be mounted on a reference body part of a wearer; a second wearing part that can be mounted on a target body part of the wearer; a driving part that can be connected to the first wearing part; and a plurality of connecting members that are connected to the driving part and can transmit a rotational output provided from the driving part to the second wearing part; wherein the plurality of connecting members include: a first connecting member that can connect one end of the driving part to one end of the second wearing part; and a second connecting member that can connect the other end of the driving part to the other end of the second wearing part; wherein the driving part includes: a driving unit that can generate an assisting force that can assist the wearer; and an angle sensing unit that can sense a specific relative angle between the first connecting member and the second connecting member.

[0104] According to one embodiment of the present invention, a walking assistance wearable robot is provided, wherein the angle sensing unit includes a sensing performing unit that can rotate in the same direction as the second connecting member; and a sensing induction unit that can rotate in the same direction as the first connecting member.

[0105] According to one embodiment of the present invention, a walking assistance wearable robot is provided, wherein the sensing performing unit can generate a detection signal based on a relative angle between the first connecting member and the second connecting member, and the sensing induction unit can change the detection signal generated by the sensing performing unit.

[0106] According to one embodiment of the present invention, a walking assistance wearable robot is provided, wherein the sensing induction unit can discretely change the detection signal generated by the sensing execution unit.

[0107] According to one embodiment of the present invention, a walking assistance wearable robot is provided, wherein the sensing induction unit can continuously change the detection signal generated by the sensing execution unit.

[0108] According to one embodiment of the present invention, a walking assistance wearable robot is provided, wherein the driving unit includes a control unit capable of controlling the driving unit and performing zero point adjustment based on the specific relative angle sensed by the angle sensing unit.

[0109] According to one embodiment of the present invention, a walking assistance wearable robot is provided, wherein the control unit can transmit a driving command to the driver after performing the zero point adjustment, and the driver can be driven after receiving the driving command from the control unit.

[0110] According to one embodiment of the present invention, the actuator includes a power unit capable of generating an actuator rotational output; and a sensing unit capable of detecting a movement of a motor shaft of the power unit due to the actuator rotational output generated by the power unit; and a walking assistance wearable robot is provided, wherein the control unit can transmit an actuator rotational output command to the actuator based on information regarding the zero point adjustment and information regarding the movement of the motor shaft of the power unit detected by the sensing unit.

[0111] According to one embodiment of the present invention, the driving unit provides a walking assistance wearable robot that does not include an absolute position sensor.

[0112] In order to solve the problem of the present invention, a walking assistance wearable robot is provided, comprising: a first wearing part that can be mounted on a reference body part of a wearer; a second wearing part that can be mounted on a target body part of the wearer; a driving part that can be connected to the first wearing part; and a plurality of connecting members that are connected to the driving part and can transmit a rotational output provided from the driving part to the second wearing part; wherein the plurality of connecting members include: a first connecting member that can connect one end of the driving part to one end of the second wearing part; and a second connecting member that can connect the other end of the driving part to the other end of the second wearing part; wherein the driving part includes: a driving unit that can generate an assisting force that can assist a wearer; an angle sensing unit that can sense a specific relative angle between the first connecting member and the second connecting member; And a control unit capable of controlling the actuator and performing zero point adjustment; further comprising: a walking assistance wearable robot, wherein the actuator can be driven after the control unit performs the zero point adjustment.

[0113] According to one embodiment of the present invention, a walking assistance wearable robot is provided, wherein the control unit can transmit a driving command to the driver after performing the zero point adjustment, and the driver can be driven after receiving the driving command from the controller.

[0114] According to one embodiment of the present invention, a walking assistance wearable robot is provided, wherein the control unit can perform the zero point adjustment based on the specific relative angle sensed by the angle sensing unit.

[0115] According to one embodiment of the present invention, a walking assistance wearable robot is provided, wherein the angle sensing unit includes a sensing performing unit that can rotate in the same direction as the second connecting member; and a sensing induction unit that can rotate in the same direction as the first connecting member.

[0116] According to one embodiment of the present invention, a walking assistance wearable robot is provided, wherein the sensing performing unit can generate a detection signal based on a relative angle between the first connecting member and the second connecting member, and the sensing induction unit can change the detection signal generated by the sensing performing unit.

[0117] According to one embodiment of the present invention, a walking assistance wearable robot is provided, wherein the sensing induction unit can discretely change the detection signal generated by the sensing execution unit.

[0118] According to one embodiment of the present invention, a walking assistance wearable robot is provided, wherein the sensing induction unit can continuously change the detection signal generated by the sensing execution unit.

[0119] According to one embodiment of the present invention, the actuator includes a power unit capable of generating an actuator rotational output; and a sensing unit capable of detecting a movement of a motor shaft of the power unit due to the actuator rotational output generated by the power unit; and a walking assistance wearable robot is provided, wherein the control unit can transmit an actuator rotational output command to the actuator based on information regarding the zero point adjustment and information regarding the movement of the motor shaft of the power unit detected by the sensing unit.

[0120] According to one embodiment of the present invention, the driving unit provides a walking assistance wearable robot that does not include an absolute position sensor.

[0121] In order to solve the problem of the present invention, a walking assistance wearable robot is provided, comprising: a first wearing part that can be mounted on a reference body part of a wearer; a second wearing part that can be mounted on a target body part of the wearer; a driving part that can be connected to the first wearing part; and a plurality of connecting members that are connected to the driving part and can transmit a rotational output provided from the driving part to the second wearing part; wherein the plurality of connecting members include: a first connecting member that can connect one end of the driving part to one end of the second wearing part; and a second connecting member that can connect the other end of the driving part to the other end of the second wearing part; wherein the driving part is capable of sensing a specific relative angle between the first connecting member and the second connecting member without having an absolute position sensor.

[0122] According to one embodiment of the present invention, the driving unit provides a walking assistance wearable robot capable of performing zero point adjustment based on the sensed specific relative angle.

[0123] According to one embodiment of the present invention, the driving unit provides a walking assistance wearable robot that does not generate walking torque before performing the zero point adjustment.

[0124] In order to solve the problem of the present invention, a walking assistance wearable robot is provided, comprising: a first wearing part that can be mounted on a reference body part of a wearer; a second wearing part that can be mounted on a target body part of the wearer; and a driving part that can be connected to the first wearing part; wherein the driving part further comprises: a driving unit that can generate an assisting force that can assist the wearer; and a control unit that can control the driving unit and perform zero-point adjustment; wherein the driving unit can be driven after the control unit performs the zero-point adjustment.

[0125] In order to solve the problem of the present invention, a walking assistance wearable robot is provided, including: a first wearing member that can be mounted on one body part of a wearer; a second wearing member that can be mounted on the other body part of the wearer; and a driving unit that can be connected between the first wearing member and the second wearing member; wherein the driving unit includes: a driving unit that can generate an assisting force that can assist the wearer; and an angle sensing unit that can sense a specific relative angle between the first wearing member and the second wearing member.

[0126] According to one embodiment of the present invention, a walking assistance wearable robot is provided, wherein the angle sensing unit includes a sensing performing unit that can rotate in the same direction as the second wearing member; and a sensing induction unit that can rotate in the same direction as the first wearing member.

[0127] According to one embodiment of the present invention, a walking assistance wearable robot is provided, wherein the sensing performing unit can generate a detection signal based on a relative angle between the first wearing member and the second wearing member, and the sensing induction unit can change the detection signal generated by the sensing performing unit.

[0128] According to one embodiment of the present invention, a walking assistance wearable robot is provided, wherein the driving unit includes a control unit capable of controlling the driving unit and performing zero point adjustment based on the specific relative angle sensed by the angle sensing unit.

[0129] According to one embodiment of the present invention, the driving unit provides a walking assistance wearable robot that can be driven after the control unit performs the zero point adjustment.

[0130] In order to solve the problem of the present invention, a temperature control module for a wearable robot is provided, comprising: a temperature sensing unit capable of measuring the temperature of the wearable robot; a temperature memory unit capable of storing information about the measured temperature; and a processor capable of determining a measure for temperature control by using the information about the temperature stored in the temperature memory unit as input to a risk determination algorithm.

[0131] According to one embodiment of the present invention, the risk determination algorithm can determine the risk based on temperature data by space and / or temperature data by driving torque within the wearable robot.

[0132] According to one embodiment of the present invention, the risk determination algorithm can determine the risk based on a plurality of temperature thresholds, and the plurality of temperature thresholds can be set based on the temperature data for each space and / or the temperature data for each driving torque within the wearable robot.

[0133] According to one embodiment of the present invention, the temperature control measures determined by the processor include at least one of error setting, error notification, error maintenance, error confirmation and error release, driving torque reduction, driving torque off, and device shutdown, and the risk determination algorithm can determine the risk based on past input values ​​of the temperature-related information input to the risk determination algorithm.

[0134] According to one embodiment of the present invention, the temperature control measures determined by the processor include at least one of error setting, error notification, error maintenance, error confirmation and error release, driving torque reduction, driving torque off, and device shutdown, and the risk determination algorithm can determine the risk based on an existing error setting state.

[0135] According to one embodiment of the present invention, the risk determination algorithm can determine the risk based on whether or not a previous error setting action has been output.

[0136] According to one embodiment of the present invention, the risk determination algorithm can determine the risk based on the point in time at which an error setting was previously made.

[0137] According to one embodiment of the present invention, the risk determination algorithm can determine risk based on a plurality of temperature threshold values.

[0138] According to one embodiment of the present invention, the risk determination algorithm can determine the risk based on temperature data by space and / or temperature data by driving torque within the wearable robot, and the plurality of temperature threshold values ​​can be set based on the temperature data by space and / or temperature data by driving torque within the wearable robot.

[0139] According to one embodiment of the present invention, the temperature control measures determined by the processor include at least one of error setting, error notification, error maintenance, error confirmation and error release, driving torque reduction, driving torque off, and device shutdown, and the risk determination algorithm can determine the risk based on past input values ​​of the temperature-related information input to the risk determination algorithm.

[0140] According to one embodiment of the present invention, the temperature control measures determined by the processor include at least one of error setting, error notification, error maintenance, error confirmation and error release, driving torque reduction, driving torque off, and device shutdown, and the risk determination algorithm can determine the risk based on an existing error setting state.

[0141] According to one embodiment of the present invention, the risk determination algorithm can determine the risk based on whether or not a previous error setting action has been output.

[0142] According to one embodiment of the present invention, the risk determination algorithm can determine the risk based on the point in time at which an error setting was previously made.

[0143] According to one embodiment of the present invention, the temperature control measures determined by the processor include at least one of error setting, error notification, error maintenance, error confirmation and error release, driving torque reduction, driving torque off, and device shutdown, and the risk determination algorithm can determine the risk based on past input values ​​of the temperature-related information input to the risk determination algorithm.

[0144] According to one embodiment of the present invention, the risk determination algorithm can determine the risk based on temperature data by space and / or temperature data by driving torque within the wearable robot.

[0145] According to one embodiment of the present invention, the risk determination algorithm can determine the risk based on a plurality of temperature thresholds, and the plurality of temperature thresholds can be set based on the temperature data for each space and / or the temperature data for each driving torque within the wearable robot.

[0146] According to one embodiment of the present invention, the temperature control measures determined by the processor include at least one of error setting, error notification, error maintenance, error confirmation and error release, driving torque reduction, driving torque off, and device shutdown, and the risk determination algorithm can determine the risk based on an existing error setting state.

[0147] According to one embodiment of the invention, the risk determination algorithm can determine the risk based on whether a previous error setting action has been output.

[0148] According to one embodiment of the present invention, the risk determination algorithm can determine the risk based on the point in time at which an error setting was previously made.

[0149] According to one embodiment of the present invention, the risk determination algorithm can determine the risk based on temperature data by space and / or temperature data by driving torque within the wearable robot.

[0150] According to one embodiment of the present invention, the risk determination algorithm can determine risk based on a plurality of temperature threshold values.

[0151] According to one embodiment of the present invention, the plurality of temperature threshold values ​​may be set based on the temperature data for each space and / or the temperature data for each driving torque within the wearable robot.

[0152] In order to solve the problem of the present invention, a walking assistance wearable robot is provided, comprising: a first wearing part that can be mounted on a reference body part of a wearer; a second wearing part that can be mounted on a target body part of the wearer; a driving part that can be connected to the first wearing part and can provide a driving force to assist the wearer; and a connecting member that connects the driving part and the second wearing part and transmits the driving force provided from the driving part to the second wearing part; wherein the driving part includes a temperature control module that can control the temperature of the wearable robot.

[0153] According to one embodiment of the present invention, the first wearable part can be mounted on the wearer's waist, and the second wearable part can be mounted on the wearer's thigh.

[0154] According to one embodiment of the present invention, the temperature control module may include: a temperature sensing unit capable of measuring the temperature of the walking assistance wearable robot; a temperature memory unit capable of storing information about the measured temperature; and a processor capable of determining measures for temperature control by using the information about the temperature stored in the temperature memory unit as input to a risk determination algorithm.

[0155] According to one embodiment of the present invention, the risk determination algorithm can determine the risk based on temperature data by space and / or temperature data by driving torque within the walking assistance wearable robot.

[0156] According to one embodiment of the present invention, the risk determination algorithm can determine risk based on a plurality of temperature threshold values.

[0157] According to one embodiment of the invention, the temperature control measures determined by the processor include at least one of error setting, error notification, error maintenance, error confirmation and error release, driving torque reduction, driving torque off, and device shutdown, and the risk determination algorithm can determine the risk based on past input values ​​of the temperature-related information input to the risk determination algorithm.

[0158] According to one embodiment of the present invention, the temperature control measures determined by the processor include at least one of error setting, error notification, error maintenance, error confirmation and error release, driving torque reduction, driving torque off, and device shutdown, and the risk determination algorithm can determine the risk based on an existing error setting state.

[0159] In order to solve the problem of the present invention, a temperature control method of a wearable robot is provided, comprising: a step of measuring the temperature of the wearable robot with a temperature sensing unit; a step of storing information about the measured temperature in a temperature memory unit; a step of inputting, by a processor, the information about the temperature of the wearable robot stored in the temperature memory unit into a risk determination algorithm; and a step of determining, by the processor, a measure for temperature control of the wearable robot based on an output value of the risk determination algorithm.

[0160] According to one embodiment of the present invention, the risk determination algorithm can determine the risk based on temperature data by space and / or temperature data by driving torque within the wearable robot.

[0161] According to one embodiment of the present invention, the risk determination algorithm can determine risk based on a plurality of temperature threshold values.

[0162] According to one embodiment of the present invention, the temperature control measures determined by the processor include at least one of error setting, error notification, error maintenance, error confirmation and error release, driving torque reduction, driving torque off, and device shutdown, and the risk determination algorithm can determine the risk based on past input values ​​of the temperature-related information input to the risk determination algorithm.

[0163] According to one embodiment of the present invention, the temperature control measures determined by the processor include at least one of error setting, error notification, error maintenance, error confirmation and error release, driving torque reduction, driving torque off, and device shutdown, and the risk determination algorithm can determine the risk based on an existing error setting state.

[0164] In order to solve the problem of the present invention, a non-transitory computer-readable storage medium storing one or more programs configured to be executed by one or more processors to control the temperature of a wearable robot is provided, wherein the one or more programs include instructions for performing the temperature control method of a wearable robot described in the present invention.

[0165] The clutch part of the wearable robot module for assisting the movement of the arm of the wearer according to the present invention can control the movement of the wire connected to the clutch part by limiting the rotational direction of the gear, and based on this, implement a plurality of passive modes including a fixed mode and an elastic mode.

[0166] A wearable robot module for assisting the movement of a wearer's arm according to the present invention comprises: a clutch unit capable of implementing a plurality of modes including a fixed mode and an elastic mode based on manipulation; a wire connected to one end of the clutch unit; and an action unit connected to the other end of the wire; and can assist the movement of the wearer's arm in an assist mode selected by the wearer among a plurality of passive assist modes.

[0167] The wearable robot module for assisting the movement of the arm of the wearer according to the present invention can assist the movement of multiple body parts of the wearer by being combined with a wearable robot for assisting the movement of the other body part of the wearer.

[0168] According to the present invention, a walking assistance wearable robot performing a safety control function and a safety control method can be expected to have the following effects.

[0169] According to the present invention, a walking assistance wearable robot can measure information about the movement of a wearer using at least one sensor, and perform a risk judgment algorithm based on the measured information about the movement of the wearer, thereby performing a safety control function to protect the safety of the wearer against abnormal operation of the wearable robot, such as changing to a rest mode.

[0170] According to the present invention, a safety control function of a wearable robot can be performed for abnormal operation of the wearable robot, such as changing to a rest mode, by using a risk judgment algorithm that can consider at least one threshold value, consider the walking state of a wearable robot wearer, or consider an existing error setting state.

[0171] According to the present invention, when an excessive driving angle is detected in the wearable robot by a risk judgment algorithm, a safety control function of the wearable robot can be performed to prevent abnormal operation of the wearable robot, such as by changing to a rest mode.

[0172] According to the present invention, when an unintended overcurrent is detected in a wearable robot by a risk judgment algorithm, a safety control function of the wearable robot can be performed to prevent abnormal operation of the wearable robot, such as by changing to a rest mode.

[0173] According to the present invention, when an abnormal posture of the wearable robot, such as an excessive tilting of the wearable robot, is detected by a risk judgment algorithm, a safety control function of the wearable robot can be performed to prevent abnormal operation of the wearable robot, such as by changing to a rest mode.

[0174] According to the present invention, when an excessive driving angular velocity is detected in a wearable robot by a risk judgment algorithm, a safety control function of the wearable robot can be performed to prevent abnormal operation of the wearable robot, such as by changing to a rest mode.

[0175] According to the present invention, when a fall is detected, such as when a wearable robot wearer falls, by a risk judgment algorithm, a safety control function of the wearable robot can be performed to prevent abnormal operation of the wearable robot, such as by changing to a rest mode.

[0176] According to the present invention, when an abnormal wearing state of a wearable robot by a wearer of the wearable robot is identified, the safety control function of the wearable robot can be performed without performing a risk judgment algorithm.

[0177] The walking assistance wearable robot according to the present invention can sense whether a specific relative angle is reached between the connecting members on both sides of the walking assistance wearable robot using a general position detection sensor.

[0178] The walking assistance wearable robot according to the present invention can perform zero point adjustment of the device using a general position detection sensor.

[0179] The walking assistance wearable robot according to the present invention can perform zero point adjustment of the device based on whether a specific arrangement has been reached rather than the absolute position of the wearer or the walking assistance wearable robot.

[0180] The walking assistance wearable robot according to the present invention may not require a specific posture of the wearer to perform zero point adjustment, and may automatically perform zero point adjustment of the device within the wearer's daily half-step to one-step process.

[0181] The temperature control module of a wearable robot according to the present invention can control the temperature of the wearable robot by utilizing a risk determination algorithm configured based on temperature data by space and / or temperature data by driving torque within the wearable robot.

[0182] The temperature control module of a wearable robot according to the present invention can control the temperature of the wearable robot by utilizing a risk determination algorithm configured based on a plurality of temperature threshold values.

[0183] The temperature control module of a wearable robot according to the present invention can control the temperature of the wearable robot by utilizing a risk determination algorithm configured based on past input values ​​of information regarding the temperature of the wearable robot.

[0184] The temperature control module of a wearable robot according to the present invention can control the temperature of the wearable robot by utilizing a risk determination algorithm configured based on the existing error setting status of the wearable robot.

[0185] FIG. 1 is a perspective view showing a wearable robot module that assists movement of a wearer's arm according to one embodiment of the present invention.

[0186] Fig. 2 is a drawing showing a clutch unit according to the present invention.

[0187] FIG. 3a is a drawing showing a lever, a lever elastic member, and a gear according to the present invention.

[0188] FIG. 3b is a drawing for explaining a method for controlling the rotation direction of a gear using a lever, a lever elastic member, and a slider according to the present invention.

[0189] FIG. 3c is a drawing for explaining how a lever, a lever elastic member, and an operating wire according to the present invention control the rotation direction of a gear.

[0190] FIG. 4a is a drawing showing a slider elastic member, a slider adjuster, and a slider according to the present invention.

[0191] FIG. 4b is a drawing for explaining a method for controlling the movement of a slider using a slider elastic member and a slider adjuster according to the present invention.

[0192] FIG. 4c is a drawing for explaining a method in which a slider elastic member and an operating wire according to the present invention control the movement of the slider.

[0193] FIG. 4d is a drawing for explaining a method for controlling the movement of a slider by a slider motor according to the present invention.

[0194] FIG. 4e is a drawing showing how a slider motor and pinion according to the present invention control the movement of the slider.

[0195] FIG. 5a is a drawing showing a wire pulley, a mainspring spring, a first mainspring spring fixing part, and a second mainspring spring fixing part according to the present invention.

[0196] FIG. 5b is a cutaway view of a clutch portion showing a wire pulley, a mainspring spring, and a second mainspring spring fixing portion according to the present invention.

[0197] Figure 6 is a drawing showing the coupling relationship of a wire, wire pulley, spring, and gear according to the present invention.

[0198] FIG. 7 is a drawing showing how a wire, a spring, and a gear according to the present invention interact to allow a clutch unit to implement multiple passive modes.

[0199] FIG. 8 is a drawing showing the coupling relationship between a lever and a gear when a clutch unit according to one embodiment of the present invention implements multiple manual modes.

[0200] FIG. 9A is a front view showing a wearer wearing a wearable robot module that assists the movement of the wearer's arm according to one embodiment of the present invention.

[0201] FIG. 9b is a side view showing a wearer wearing a wearable robot module that assists the movement of the wearer's arm according to one embodiment of the present invention.

[0202] FIG. 9c is a rear view showing a wearer wearing a wearable robot module that assists the movement of the wearer's arm according to one embodiment of the present invention.

[0203] FIGS. 9d and 9e are drawings showing a wearable part that can be equipped for a wearer to wear a wearable robot module that assists the movement of the wearer's arm according to one embodiment of the present invention.

[0204] Figure 10 is a drawing showing an operating part according to the present invention.

[0205] Figure 11 is a drawing showing a clutch unit, wire, operating unit, and support frame according to the present invention.

[0206] FIG. 12 is a drawing comparing embodiments of a wearable robot module that assists the movement of a wearer's arm according to one embodiment of the present invention when equipped with a support frame or wheel and when not equipped with one.

[0207] FIG. 13 is a drawing showing a method of operating a wearable robot module that assists movement of a wearer's arm through an operating unit and an operating unit according to the present invention.

[0208] FIG. 14 is a block diagram for explaining the operation of a composite wearable robot according to one embodiment of the present invention.

[0209] FIG. 15 is a drawing showing a composite wearable robot according to one embodiment of the present invention.

[0210] FIG. 16 is a drawing showing a wearable robot that assists movement of a wearer's waist according to the present invention.

[0211] Figure 17 is a drawing showing a lumbar muscle assistance unit that can provide lumbar muscle assistance through an elastic body according to the present invention.

[0212] FIG. 18 is a drawing showing a lumbar muscle assistance unit that can provide lumbar muscle assistance through a wire and a driving body according to the present invention.

[0213] FIG. 19a is a drawing showing the configuration of a walking assistance wearable robot according to one embodiment of the present invention.

[0214] FIG. 19b is a diagram showing the configuration of a walking assistance wearable robot including a safety control mechanism according to one embodiment of the present invention.

[0215] FIG. 20 is an exploded view showing the configuration of a drive unit of a walking assistance wearable robot including a configuration of a safety control mechanism according to one embodiment of the present invention.

[0216] FIG. 21a is a diagram illustrating a series of processes in which information sensed by a sensor unit according to one embodiment of the present invention is stored in a memory.

[0217] FIG. 21b is a diagram for explaining a rule for updating information sensed in a memory buffer according to one embodiment of the present invention.

[0218] FIG. 22a is a diagram illustrating a process in which information stored in a memory is transmitted to a processor according to one embodiment of the present invention.

[0219] FIG. 22b is a diagram illustrating a method by which a processor according to one embodiment of the present invention processes information stored in a memory buffer.

[0220] FIG. 23 is a diagram illustrating a risk judgment algorithm capable of detecting an excessive driving angle in a wearable robot according to one embodiment of the present invention.

[0221] FIG. 24 is a diagram illustrating a risk judgment algorithm capable of detecting overcurrent in a wearable robot according to one embodiment of the present invention.

[0222] FIG. 25A is a diagram illustrating a risk assessment algorithm capable of detecting an abnormal posture of a wearable robot according to one embodiment of the present invention.

[0223] FIG. 25b is a drawing illustrating a threshold value set to reduce the possibility of occurrence of tilt drift (or accumulated error) of a main body housing in a wearable robot according to one embodiment of the present invention.

[0224] FIG. 26a is a diagram illustrating a risk judgment algorithm capable of detecting excessive driving angular velocity in a wearable robot according to one embodiment of the present invention.

[0225] Figure 26b is a diagram showing experimental values ​​of the maximum driving angle and driving angular velocity according to the extension according to one embodiment of the present invention.

[0226] Figure 26c is a diagram showing experimental results in which a threshold value is set to be greater when the number of consecutive steps is 2 or more than when the number of consecutive steps is less than 2, according to one embodiment of the present invention.

[0227] FIG. 27a is a diagram illustrating a risk assessment algorithm capable of detecting a fall of a wearable robot wearer according to one embodiment of the present invention.

[0228] FIG. 27b is a diagram showing fall data of a wearable robot wearer according to one embodiment of the present invention.

[0229] Figure 28 is a flowchart illustrating a method for performing a safety control function of a wearable robot according to one embodiment of the present invention.

[0230] Fig. 29 is a drawing showing the overall configuration of a temperature control module of a wearable robot according to one embodiment of the present invention.

[0231] FIG. 30a is a drawing showing a temperature sensing unit, a temperature memory unit, and a temperature memory buffer included in the temperature memory unit according to the present invention.

[0232] FIG. 30b is a diagram for explaining a rule for updating temperature-related information in a temperature memory buffer according to the present invention.

[0233] FIG. 31A is a diagram showing a processor that can access information about temperature stored in a temperature memory unit according to the present invention.

[0234] Figure 31b is a diagram showing a filtering process of information regarding temperature according to the present invention.

[0235] FIG. 32a is a diagram for explaining a process in which a processor according to the present invention determines measures for temperature control by using temperature-related information as input to a risk determination algorithm.

[0236] FIG. 32b is a diagram showing an example of temperature data by space and temperature data by driving torque in a wearable robot according to the present invention.

[0237] FIG. 32c is a diagram illustrating part of one embodiment of a risk determination algorithm that may be based on multiple thresholds according to the present invention.

[0238] FIG. 32d is a diagram illustrating some of other embodiments of a risk assessment algorithm that may be based on multiple thresholds according to the present invention.

[0239] FIG. 32e is a diagram illustrating a portion of one embodiment of a risk determination algorithm that can output different measures for temperature control depending on the driving torque of a wearable robot according to the present invention.

[0240] FIG. 32f is a diagram illustrating part of one embodiment of a risk determination algorithm that may be based on past input values ​​of temperature information input into the risk determination algorithm according to the present invention.

[0241] FIG. 32g is a diagram illustrating part of one embodiment of a risk determination algorithm that may be based on an existing error setting state according to the present invention.

[0242] FIG. 32h is a diagram illustrating some of other embodiments of a risk determination algorithm that may be based on existing error setting states according to the present invention.

[0243] Figure 32i is a diagram showing one embodiment of a risk determination algorithm according to the present invention.

[0244] Figure 32j is a diagram showing another embodiment of a risk determination algorithm according to the present invention.

[0245] FIG. 33 is a drawing showing a temperature control method of a wearable robot according to one embodiment of the present invention.

[0246] Figure 34 is an exploded view showing the configuration of a driving unit including a single motor according to the present invention.

[0247] Figure 35 is a drawing illustrating an aspect in which the rotational output generated by the driving unit according to the present invention provides assistive power to the wearer.

[0248] Figure 36 is a block diagram showing the configuration of a driver according to the present invention.

[0249] Figure 37 is an exploded view showing the configuration of a driving unit including multiple motors according to the present invention.

[0250] FIG. 38 is a drawing illustrating another aspect in which the rotational output generated by the driving unit according to the present invention provides assistive power to the wearer.

[0251] Figure 39 is a drawing for explaining a control unit according to the present invention.

[0252] Figure 40a is a drawing showing a connecting member according to the present invention.

[0253] FIG. 40b is a drawing for explaining several embodiments of a connecting member according to the present invention.

[0254] FIG. 41a is a block diagram illustrating a motion assistance method according to one embodiment of the present invention.

[0255] Figure 41b is a diagram showing examples of basic variables according to the present invention.

[0256] FIG. 41c is a diagram showing an operation of configuring a state trajectory memory buffer with operation state values ​​that can be derived from basic variables according to the present invention, and sequentially storing and deleting the operation state values ​​according to a state trajectory memory buffer update rule.

[0257] FIG. 41d is a diagram illustrating a method for determining walking torque based on motion state values ​​stored in a state trajectory memory buffer according to the present invention.

[0258] Figure 42a is a drawing showing the configuration of an angle sensing unit according to the present invention and the connection relationship between the angle sensing unit and a connecting member.

[0259] Figure 42b is a drawing showing the positional relationship between the sensing performing unit and the sensing induction unit according to the present invention.

[0260] FIG. 42c is a drawing for explaining the posture of a wearer wearing a walking assistance wearable robot according to one embodiment of the present invention, the relative angle between the first connecting member and the second connecting member, and the interrelationship between the detection signal of the sensing unit.

[0261] Figure 43a is an exploded view showing the configuration of a driving unit including an angle sensing unit including a single motor and a light sensor according to the present invention.

[0262] Figure 43b is a drawing showing a state in which a driver, a driver frame, a connecting member, a light sensor, and a motor sensor dog according to the present invention are combined.

[0263] FIG. 43c is a drawing for explaining the relative positional relationship of the light sensor and motor sensor dog according to the relative angle between the first connecting member and the second connecting member according to the present invention.

[0264] FIG. 43d is a drawing for explaining the posture of a wearer wearing a walking assistance wearable robot according to one embodiment of the present invention, the relative angle between the first connecting member and the second connecting member, and the interrelationship between the optical sensor detection signals.

[0265] Figure 44 is an exploded view showing the configuration of a driving unit including an angle sensing unit including multiple motors and a light sensor according to the present invention.

[0266] Figure 45a is an exploded view showing the configuration of a driving unit including an angle sensing unit including a single motor and a magnetic induction sensor according to the present invention.

[0267] Figure 45b is a drawing showing a state in which a driver, a driver frame, a connecting member, a magnetic induction sensor, and a motor magnet according to the present invention are combined.

[0268] FIG. 45c is a drawing for explaining the relative positional relationship between the magnetic induction sensor and the motor magnet according to the relative angle between the first connecting member and the second connecting member according to the present invention.

[0269] FIG. 45d is a drawing for explaining the posture of a wearer wearing a walking assistance wearable robot according to one embodiment of the present invention, the relative angle between the first connecting member and the second connecting member, and the interrelationship between magnetic induction sensor detection signals.

[0270] Figure 46 is an exploded view showing the configuration of a driving unit including an angle sensing unit including multiple motors and a magnetic induction sensor according to the present invention.

[0271] Figure 47 is a block diagram showing a zero point adjustment method of a control unit and a control method of a drive unit according to the present invention.

[0272] Figure 48a is a drawing showing the occurrence of an error by an angle sensing unit according to the present invention.

[0273] Figure 48b is a drawing showing the definition of a correction value for error correction by an angle sensing unit according to the present invention and a method for correcting an error by applying the correction value.

[0274] FIG. 48c is a drawing showing a method for setting and storing a correction value through manual input for a walking assistance wearable robot according to one embodiment of the present invention.

[0275] FIG. 48d is a drawing showing a method for setting and storing a correction value through manual input to an external terminal that can be linked with a walking assistance wearable robot according to one embodiment of the present invention.

[0276] FIG. 48e is a drawing showing a method for setting and storing correction values ​​through a calibration mode of a walking assistance wearable robot according to one embodiment of the present invention.

[0277] FIG. 48f is a drawing showing a method for setting and storing correction values ​​through a calibration mode of a walking assistance wearable robot by an external terminal that can be linked with a walking assistance wearable robot according to one embodiment of the present invention.

[0278] FIG. 49a is a drawing showing a graphical user interface that can perform a correction value setting and storage method according to the present invention.

[0279] FIG. 49b is a drawing showing a correction value displayed on a correction value display graphic user interface according to the present invention.

[0280] FIG. 49c is a diagram illustrating the display of correction values ​​stored in a graphical user interface capable of displaying device information.

[0281] Figure 50 is a drawing showing a wearable member according to one embodiment of the present invention.

[0282] Figure 51 is an exploded perspective view of a connecting member of a wearable robot according to one embodiment of the present invention.

[0283] Figure 52 is an exploded perspective view of a third member according to one embodiment of the present invention.

[0284] Figures 53 to 58 are drawings showing the operating state of a wearable robot according to one embodiment of the present invention.

[0285] Figures 59 and 60 are diagrams showing the operation of a connecting member according to one embodiment of the present invention.

[0286] Figure 61 is an exploded perspective view of a connecting member in a wearable robot according to one embodiment of the present invention.

[0287] Fig. 62 is a cross-sectional view of a connecting member in a wearable robot according to one embodiment of the present invention.

[0288] Figures 63 and 64 are partially enlarged views of a connecting member of a wearable robot according to one embodiment of the present invention.

[0289] Figures 65 and 66 are drawings showing the operating state of a wearable robot according to one embodiment of the present invention.

[0290] Figure 67 is a diagram showing the operation of a connecting member of a wearable robot according to one embodiment of the present invention.

[0291] Figure 68 is a perspective view of a waist belt and a waist wearing frame combined according to one embodiment of the present invention.

[0292] Figures 69 to 71 are drawings showing the process of attaching / detaching the waist wearable part of a wearable robot.

[0293] Fig. 72 is a perspective view of a thigh wearable part of a wearable robot according to one embodiment of the present invention.

[0294] Figure 73 is an exploded perspective view of a thigh wearable according to one embodiment of the present invention.

[0295] Figure 74 is a drawing showing the process of separating / attaching the plate and strap.

[0296] Figure 75 is a drawing showing how the first button operates within the plate.

[0297] Figure 76 is a drawing showing the process of separating / joining a plate and a connecting member.

[0298] FIGS. 77 to 79 are drawings showing an elastic member connecting a waist wearable part and a thigh wearable part in a wearable robot according to one embodiment of the present invention.

[0299] Figure 80 is a perspective view of a motion assistance device according to one embodiment of the present invention.

[0300] Figure 81 is a drawing showing a state of wearing a motion assistance device according to one embodiment of the present invention.

[0301] Figure 82 is a diagram showing the rules by which operation state values ​​are stored and updated in the state trajectory memory buffer.

[0302] Figure 83 is a diagram showing the mapping relationship between the operation state values ​​stored in the state trajectory memory buffer and the user actions.

[0303] Figure 84 is a schematic diagram of a motion assistance system according to one embodiment of the present invention.

[0304] Below, a wearable robot that assists arm movement of a wearer according to a preferred embodiment of the present invention will be described in detail with reference to the attached drawings. However, the attached drawings are provided solely to more easily disclose the contents of the present invention, and it will be readily apparent to those skilled in the art that the scope of the present invention is not limited to the scope of the attached drawings.

[0305] Overall configuration of a wearable robot module that assists the wearer's arm movements

[0306] FIG. 1 is a perspective view showing a wearable robot module that assists movement of a wearer's arm according to one embodiment of the present invention.

[0307] As illustrated in FIG. 1, a wearable robot module (10) for assisting the movement of a wearer's arm according to one embodiment of the present invention may include a clutch unit (300), a wire (500), and an action unit (200). Specifically, the wearable robot module (10) for assisting the movement of a wearer's arm according to one embodiment of the present invention may be operated to assist the wearer in a plurality of modes including a fixed mode and an elastic mode.

[0308] According to one embodiment of the present invention, the clutch unit (300) can implement multiple passive modes including a fixed mode and an elastic mode based on manipulation. Specifically, the clutch unit (300) can control the movement of the wire (500), and based on this, the wearable robot module (10) that assists the movement of the wearer's arm can be operated in multiple passive modes. One end of the wire (500) can be connected to the clutch unit (300). Specifically, the operating unit (200) can be connected to the other end of the wire (500), and can receive the assisting force generated from the clutch unit (300) through the wire (500) and transmit it to the wearer. The operating unit (200) can be fixed to at least one of the wearer's hand or wrist.

[0309] The purpose of a wearable robot module (10) that assists the movement of a wearer's arm according to one embodiment of the present invention is to provide an assistive force that assists the movement of the arm when the wearer grabs and lifts an object or moves a lifted object.

[0310] In addition, the wearable robot module (10) for assisting the movement of the arm of a wearer according to one embodiment of the present invention is intended to provide a wearable robot module for assisting the movement of the arm of a wearer, which allows the wearer to select and operate one of a plurality of passive assistance modes appropriate to the work situation as needed.

[0311] Multiple modes according to the present invention

[0312] The clutch unit (300) of the wearable robot module (10) that assists the movement of the wearer's arm according to one embodiment of the present invention can implement a plurality of passive modes, including a fixed mode and an elastic mode, based on manipulation. Hereinafter, the plurality of passive modes, including the fixed mode and the elastic mode, will be described in detail.

[0313] The multiple modes may refer to multiple passive assist types that can be selected based on the wearer's work type. Specifically, the multiple passive modes may be distinguished based on whether an external force can pull the wire (500) out of the clutch unit (300) or whether the wire (500) can be pulled into the clutch unit (300).

[0314] More specifically, the plurality of modes may include a mode in which an external force cannot pull the wire (500) out of the clutch unit (300) and the wire (500) cannot be pulled into the clutch unit (300), a mode in which an external force can pull the wire (500) out of the clutch unit (300) but the wire (500) cannot be pulled into the clutch unit (300), a mode in which an external force cannot pull the wire (500) out of the clutch unit (300) but the wire (500) can be pulled into the clutch unit (300), and a mode in which an external force can pull the wire (500) out of the clutch unit (300) and the wire (500) can be pulled into the clutch unit (300).

[0315] Meanwhile, the external force may include, but is not limited to, at least one of a force applied by the wearer to the wire (500) or the weight of an object lifted by the wearer.

[0316] The plurality of modes according to the present invention may include a fixed mode. The fixed mode may refer to a mode in which an external force cannot pull the wire (500) out of the clutch unit (300). For example, even if the wearer lifts an object, the wire (500) may not be pulled out further from the clutch unit (300) than before the wearer lifted the object. Accordingly, the wearer can maintain the posture in which the object is lifted without using his or her arm muscles.

[0317] According to one embodiment of the present invention, one embodiment included in the plurality of modes may be an elastic mode. The elastic mode may refer to a mode in which an external force can pull the wire (500) out from the clutch unit (300) and the wire (500) can be pulled into the clutch unit (300). For example, when a wearer extends his / her arm to grab an object on the ground and applies an external force to the wire (500), the wire (500) can be pulled out from the clutch unit (300), and when the wearer bends his / her arm to lift the grabbed object, the wire (500) can be pulled into the clutch unit (300). As described below, the wearer lifting the object at this time can be assisted by the elastic force.

[0318] Clutch unit according to one embodiment of the present invention

[0319] A clutch unit (300) according to one embodiment of the present invention may include a housing (310), a gear unit (60), and an elastic unit (400). Specifically, the gear unit (60) may be located inside the housing (310). A wire (500) may be connected to the gear unit (60), so that the length of the wire (500) may vary depending on the rotational direction of the gear unit (60), and the rotational direction of the gear unit (60) may be determined by manipulation. In addition, the elastic unit (400) may be connected to the gear unit (60), and may contract or expand depending on the rotational direction of the gear unit (60) to accumulate or release elastic energy. As described below, the elastic energy accumulated in the elastic unit (400) may be used to assist the wearer's movement.

[0320] According to one embodiment of the present invention, the gear unit (60) may not be provided with an electrical power source for rotation, such as a motor or actuator. The gear unit (60) may be rotated by the movement of a wire (500) connected to the gear unit (60) or the movement of an elastic member (400) connected to the gear unit (60).

[0321] According to one embodiment of the present invention, the gear portion (60) may include a gear (320) and a wire pulley (390), and the elastic portion (400) may include a spring (400'), but is not limited thereto.

[0322] The clutch unit (300) according to one embodiment of the present invention may further include a control unit (70). Specifically, the control unit (70) may determine the rotational direction of the gear unit (60).

[0323] According to one embodiment of the present invention, the control unit (70) may include a lever (330) and a slider (360), but is not limited thereto.

[0324] Referring to the drawings below, one embodiment of a clutch unit (300) according to the present invention will be described.

[0325] Control of gear by lever according to the present invention

[0326] Fig. 2 is a drawing showing a clutch unit according to one embodiment of the present invention. Fig. 3a is a drawing showing a lever, a lever elastic member, and a gear according to the present invention. Fig. 3b is a drawing explaining a method for controlling the rotational direction of a gear using a lever, a lever elastic member, and a slider according to the present invention.

[0327] As illustrated in FIGS. 2 and 3a, a clutch unit (300) according to one embodiment of the present invention may include a housing (310), a gear (320), and a plurality of levers (330).

[0328] Specifically, the gear (320) may be positioned inside the housing (310). A plurality of levers (330) may be connected to one end of the housing (310) by a connecting member to independently or individually control the rotational direction of the gear (320). More specifically, the plurality of levers (330) may be individually or independently separated from the gear (320) or brought into contact with the gear (320). When the lever (330) is separated from the gear (320), the rotation of the gear (320) is not blocked, and when the lever (330) is brought into contact with the gear (320), the rotation of the gear (320) can be blocked. At this time, the plurality of levers (330) may each control the rotation of the gear (320) in different directions. For example, some of the plurality of levers (330) may control the rotation of the gear (320) in one direction, and the remaining levers (330) may control the rotation of the gear (320) in the other direction.

[0329] A method for controlling a lever according to the present invention

[0330] One embodiment of a method for controlling a lever according to the present invention

[0331] As illustrated in FIG. 3b, the clutch unit (300) according to one embodiment of the present invention may further include a plurality of lever elastic members (340) and at least one slider (360).

[0332] Specifically, the lever elastic member (340) can connect one end of the housing (310) and a plurality of levers (330). The slider (360) can be positioned inside the housing, and the slider (360) can be configured to independently separate the plurality of levers from the gear (320).

[0333] More specifically, when the lever elastic member (340) is not subjected to force, the lever (330) connected to the lever elastic member (340) remains in contact with the gear (320). Meanwhile, according to one embodiment of the present invention, a plurality of lever elastic members (340) may correspond to a plurality of levers (330), and at least one slider (360) may be configured to correspond to a plurality of levers (330), respectively.

[0334] The slider (360) can be separated from the lever (330) by manipulation, or can be brought into contact with the lever (330) to push the lever (330). When the slider (360) is separated from the lever (330), the lever (330) is in a state of not receiving force and remains in contact with the gear (320). When the slider (360) is brought into contact with the lever (330) to push the lever (330), the lever (330) is separated from the gear (320), and accordingly, the length of the lever elastic member (340) is contracted. At this time, elastic energy is stored in the lever elastic member (340). When the slider (360) that was in contact with the lever (330) is separated from the lever (330), the lever elastic member (340) releases the stored elastic energy and returns to the length of the basic state in which no force is applied, thereby pushing the lever (330). At this time, the lever (330) comes into contact with the gear (320) again.

[0335] FIG. 3c is a drawing for explaining a method for controlling the rotation direction of a gear using a lever, a lever elastic member, and an operating wire according to the present invention.

[0336] As illustrated in FIG. 3c, the clutch unit (300) according to one embodiment of the present invention may further include a plurality of lever elastic members (340), and the plurality of lever elastic members (340) may be connected to an operating wire (500''). Specifically, the lever elastic members (340) may connect one end of the housing (310) and a plurality of levers (330). The operating wire (500'') may have one end connected to the lever (330) so that the lever (330) may be pulled by operation. As described below, the other end of the operating wire (500'') may be connected to an operating unit (700) according to the present invention.

[0337] More specifically, when the lever elastic member (340) is not subjected to force, the lever (330) connected to the lever elastic member (340) maintains a state of contacting the gear (320). Meanwhile, according to one embodiment of the present invention, a plurality of lever elastic members (340) may respectively correspond to a plurality of levers (330). Meanwhile, according to one embodiment of the present invention, the operating wire (500'') may be configured such that one side is respectively connected to a plurality of levers (330) so that each lever (330) can be independently controlled. When the operating wire (500'') is in a state of pulling the lever (330) by manipulation, the lever (330) is separated from the gear (320), and the length of the lever elastic member (340) is contracted accordingly. At this time, elastic energy is stored in the lever elastic member (340). When the operating wire (500'') is no longer pulling the lever (330) by manipulation, the lever elastic member (340) releases the stored elastic energy and returns to the length of the basic state in which no force is applied, thereby pushing the lever (330). At this time, the lever (330) comes into contact with the gear (320) again.

[0338] Meanwhile, according to one embodiment of the present invention, the clutch unit (300) may further include a motor capable of controlling the operating wire (500''). The motor may be connected to the other side of the operating wire (500''), and the motor may control the lever (330) by pushing or pulling the operating wire (500'').

[0339] Fig. 4a is a drawing showing a slider elastic member, a slider adjuster, and a slider according to the present invention. Fig. 4b is a drawing for explaining a method for controlling the movement of a slider using a slider elastic member and a slider adjuster according to the present invention.

[0340] As illustrated in FIG. 4A, the clutch unit (300) according to one embodiment of the present invention may further include a slider adjustment body (380) and a slider elastic member (370). For convenience of explanation, a state in which the slider (360) is separated from the lever (330) is defined as a first state, and a state in which the slider (360) contacts the lever (330) and pushes the lever (330) is defined as a second state. Specifically, the slider adjustment body (380) can control the movement of the slider (360) between the first state and the second state. The slider elastic member (370) can connect the housing (310) and the slider adjustment body (380).

[0341] Meanwhile, according to one embodiment, there may be at least one slider adjuster (380) for adjusting movement between the first state and the second state of at least one slider (360), and there may be at least one slider elastic member (370) connected to each of the at least one slider adjuster (380).

[0342] According to one embodiment of the present invention, the movement of the slider (360) can be restricted by the slider adjustment body (380). Specifically, the slider adjustment body (370) can prevent the movement of the slider (360) when the slider elastic member (370) is not subjected to force by the wearer's manipulation.

[0343] According to one embodiment of the present invention, when a wearer applies force to a slider (360) through manipulation, the force can be transmitted to a slider elastic member (370) through a slider adjustment body (380). The slider elastic member (370) that has received the force can store elastic energy and contract, and accordingly, the slider adjustment body (380) connected to the slider elastic member (370) can move in the direction in which the slider elastic member contracts. As the slider adjustment body (380) moves, the slider (360) can slide along the surface of the slider adjustment body (380) in the direction in which the force applied by the wearer's manipulation is applied.

[0344] At this time, the slider (360) can move from the first state to the second state, or from the second state to the first state. When the slider (360) has completed moving to the first state or the second state and the force applied by the wearer's manipulation is no longer applied, the slider elastic member (370) can release the stored elastic energy and return to the length when the force is not applied. In this case, the movement of the slider (360) can be restricted again by the slider adjustment body (380).

[0345] In the same manner as above, the slider (360) can be separated from the lever (330) or brought into contact with the lever (360) to push the lever (360) by moving between the first state and the second state by the wearer's manipulation.

[0346] Meanwhile, according to one embodiment of the present invention, the wearer may be able to operate the slider (360) according to the present invention without a separate operating unit. For example, the wearer may directly push or pull the slider (360). Alternatively, for example, the wearer may directly push or pull a separate connecting member that can be connected to the end of the slider (360). However, this is not a limitation.

[0347] FIG. 4c is a drawing for explaining a method for controlling the movement of a slider by a slider elastic member and an operating wire according to the present invention.

[0348] As illustrated in FIG. 4C, the clutch unit (300) according to one embodiment of the present invention may further include a slider elastic member (370), and one end of the operating wire (500'') may be connected to the slider elastic member (370). For convenience of explanation, a state in which the slider (360) is separated from the lever (330) is defined as a first state, and a state in which the slider (360) contacts the lever (330) and pushes the lever (330) is defined as a second state. Specifically, one end of the slider elastic member (370) may be fixed to the housing (310), and the other end may be connected to the operating wire (500'') and the slider. Meanwhile, the slider elastic member (370) may be inserted into the interior of the slider (360). The manipulation wire (500'') can pull and expand the slider elastic member (370) by manipulation, thereby pulling the slider (360) together. As described later, the other end of the manipulation wire (500'') can be connected to the manipulation unit (700) according to the present invention.

[0349] According to one embodiment of the present invention, when the manipulation wire (500'') does not pull the slider elastic member (370) by manipulation, the slider elastic member (370) may be in a basic state in which no force is applied. At this time, the slider (360) may be placed in a second state.

[0350] According to one embodiment of the present invention, when the manipulation wire (500'') pulls and expands the slider elastic member (370) by manipulation, the slider (360) in the second state can be pulled together and placed in the first state. At this time, elastic energy can be stored in the slider elastic member (370).

[0351] Meanwhile, when the manipulation wire (500'') does not pull the slider elastic member (370) by manipulation, the slider elastic member (370) can release the stored elastic energy and contract to a basic state where no force is applied. At this time, the slider (360) can return from the first state to the second state.

[0352] According to one embodiment of the present invention, the clutch unit (300) may further include a slider motor (50) capable of controlling a manipulation wire (500''). The slider motor (50) may be connected to the other side of the manipulation wire (500'') and may move the slider (360) by pushing or pulling the manipulation wire (500'').

[0353] FIG. 4d is a drawing showing a method by which a slider motor according to the present invention controls the movement of a slider.

[0354] As illustrated in FIG. 4D, a clutch unit (300) according to one embodiment of the present invention may include a slider motor (50). For convenience of explanation, a state in which the slider (360) is separated from the lever (330) is defined as a first state, and a state in which the slider (360) comes into contact with the lever (330) and pushes the lever (330) is defined as a second state. Specifically, the slider motor (50) may have one end connected to the slider (360) and the other end fixed to the housing (310). The slider motor (50) may push or pull the connected slider (360) by manipulation.

[0355] The slider motor (50) according to the present invention may be configured to be driven in a direction that can push or pull the slider (360). For example, the slider motor (50) may be a solenoid motor, but is not limited thereto.

[0356] According to one embodiment of the present invention, when the slider motor (50) pushes the slider (360) connected by manipulation, the slider (360) can be placed in a second state. When the slider motor (50) pulls the slider (360) connected by manipulation, the slider (360) can be placed in a first state.

[0357] FIG. 4e is a drawing showing a method for controlling the movement of a slider by a slider motor and pinion according to the present invention.

[0358] As illustrated in FIG. 4E, a clutch unit (300) according to one embodiment of the present invention may include a slider motor (50) and a pinion (51), and the slider (360) may include a rack structure on one side thereof. For convenience of explanation, a state in which the slider (360) is separated from the lever (330) is defined as a first state, and a state in which the slider (360) contacts the lever (330) and pushes the lever (330) is defined as a second state. Specifically, the slider motor (50) may have one side fixed to the housing (310) and the other side connected to the pinion (51). The pinion (51) may rotate according to the rotation of the slider motor (50) and may engage with the rack structure of the slider (360). That is, as the slider motor (50) rotates, the slider may move between the first state and the second state.

[0359] The slider motor (50) according to the present invention may be configured to rotate a connected pinion (51). For example, the slider motor (50) may be a DC motor, but is not limited thereto.

[0360] Fig. 5a is a drawing showing a wire pulley, a mainspring spring, a first mainspring spring fixing portion, and a second mainspring spring fixing portion according to the present invention. Fig. 5b is a cutaway view of a clutch portion showing a wire pulley, a mainspring spring, and a second mainspring spring fixing portion according to the present invention.

[0361] As illustrated in FIGS. 5a and 5b, a clutch unit (300) according to one embodiment of the present invention may further include a wire pulley (390), a mainspring spring (400'), a first mainspring spring fixing portion (410), and a second mainspring spring fixing portion (420). In addition, the second mainspring spring fixing portion (420) according to the present invention may include a mainspring spring fixing body (420a) and a mainspring spring fixing body groove (420b).

[0362] Specifically, the wire pulley (390) can be coupled to the gear (320), and the wire (500) can be wound around it. The mainspring spring (400') can be connected to the wire pulley (390). The first mainspring spring fixing portion (410) and the second mainspring spring fixing portion (420) can fix the mainspring spring (400') to the wire pulley (390). The mainspring spring fixing body (420a) can be located at the center of the rotational axis of the wire pulley (390). The mainspring spring fixing body groove (420b) can allow the other end of the mainspring spring (400') to be connected to the mainspring spring fixing body (420a).

[0363] Figure 6 is a drawing showing the coupling relationship of a wire, wire pulley, spring, and gear according to the present invention.

[0364] As illustrated in FIG. 6, the wire pulley (390) according to the present invention can rotate in the same direction as the rotation direction of the gear (320) when the gear (320) rotates. One end of the spiral spring (400') according to the present invention is connected to the wire pulley (390) at the outer edge of the wire pulley (390) by the first spiral spring fixing part (410), and the other end is connected to the wire pulley (390) at the center of the rotation axis of the wire pulley (390) by the second spiral spring fixing part (420). The stiffness of the spiral spring (400') can change based on the rotation direction of the wire pulley (390) or the gear (320). Meanwhile, the wire (500) can be wound with one end fixed to the wire pulley (390). For example, when the wire pulley (390) rotates in one direction, the wound wire (500) can be released, and when the wire pulley (390) rotates in the other direction, the released wire (500) can be wrapped around the wire pulley (390).

[0365] Meanwhile, the control method of the specific slider (360) described above is merely a simple example described to explain the driving method of the wearable robot module according to one embodiment of the present invention, and the present invention is not limited thereto.

[0366] According to the present invention, the rotation direction of the gear part (60) can be determined by the control part (70), and depending on the rotation direction of the gear part (60), the wire (500) connected to the gear part (60) can be pulled from the gear part (60) or wound into the gear part (60). Meanwhile, the elastic part (400) can contract or expand depending on the rotation direction of the gear part (60) and accumulate or release elastic energy, and the elastic part (400) can provide an assistive force when the wearer moves his / her body through the accumulated elastic energy.

[0367] Referring to the drawings below, an embodiment of a clutch unit (300) according to the present invention implementing multiple modes is described.

[0368] FIG. 7 is a drawing illustrating a method in which a wire, a spring, and a gear according to the present invention interact to enable a clutch unit to implement multiple passive modes. FIG. 8 is a drawing illustrating a coupling relationship between a lever and a gear when a clutch unit according to one embodiment of the present invention implements multiple passive modes.

[0369] Referring to FIGS. 7 and 8, one embodiment of the clutch unit (300) according to the present invention implementing multiple modes is described. The specific embodiments described below are merely examples for illustrative purposes and are not limiting.

[0370] For convenience of explanation, an embodiment in which the clutch unit (300) according to the present invention includes a pair of levers (330a and 330b), a pair of lever elastic members (340a and 340b), and a pair of sliders (360a and 360b) will be described. Specifically, the first lever (330a), the first lever elastic member (340a), and the first slider (360a) may correspond to each other, and the second lever (330b), the second lever elastic member (340b), and the second slider (360b) may correspond to each other.

[0371] According to the present invention, the rotational direction in which the wire (500) can be unwound from the wire pulley (390) is defined as the first direction, and the rotational direction in which the wire (500) can be wound into the wire pulley (390) is defined as the second direction. The first lever (330a) can prevent the gear (320) from rotating in the first direction. The second lever (330b) can prevent the gear (320) from rotating in the second direction.

[0372] According to the present invention, the wire pulley (390) can be coupled with the gear (320) and can rotate in the same direction as the gear (320). The stiffness of the spiral spring (400') can change based on the rotational direction of the wire pulley (390). For example, the spiral spring (400') that can be connected to the wire pulley (390) can store elastic energy when the wire pulley (390) rotates in a first direction. For example, the spiral spring (400') that can be connected to the wire pulley (390) can release the stored elastic energy when the wire pulley (390) rotates in a second direction.

[0373] FIG. 7 (a) and FIG. 8 (a) are drawings showing a mode (hereinafter, the first mode) in which both the first direction and second direction rotation of the gear (320) are restricted, as one embodiment of a plurality of modes implemented by the clutch unit (300) according to the present invention.

[0374] As illustrated in (a) of FIG. 7 and (a) of FIG. 8, when the first slider (360a) is separated from the first lever (330a) and the second slider (360b) is separated from the second lever (330b), and both the first lever (330a) and the second lever (330b) are in contact with the gear (320), the rotation of the gear (320) in the first and second directions can be restricted. Accordingly, the length of the wire (500) drawn out from the wire pulley (390) does not change, and the wearer can freely move his or her arm as long as the length of the wire (500) drawn out from the wire pulley (390) is maintained. However, the wearer cannot move beyond the length of the wire (500) drawn out.

[0375] FIG. 7 (b) and FIG. 8 (b) are drawings showing a mode (hereinafter, the second mode) in which rotation of the gear (320) in the first direction is possible but rotation in the second direction is restricted, as one embodiment of a plurality of modes implemented by the clutch unit (300) according to the present invention.

[0376] As shown in (b) of FIG. 7 and (b) of FIG. 8, when the first slider (360a) is pushed while in contact with the first lever (330a), the first lever (330a) can be separated from the gear (320). At this time, the rotation of the gear (320) in the first direction may not be restricted. When the second slider (360b) is separated from the second lever (330b) and does not contact it, the second lever (330b) can be in contact with the gear (320). At this time, the rotation of the gear (320) in the second direction may be restricted. Accordingly, the wire (500) can be released from the wire pulley (390) by an external force, but even if the external force disappears, the wire (500) may not be wound back into the wire pulley (390).

[0377] When the wearer moves his / her arm to the extent that the length of the wire (500) extended from the wire pulley (390) is maintained, an external force that releases the wire (500) from the wire pulley (390) is not transmitted to the wire pulley (390) through the wire (500), and the wire pulley (390) does not rotate. In this case, the wearer can move his / her arm freely.

[0378] When the wearer moves his or her arm beyond the length at which the wire (500) is pulled out from the wire pulley (390), an external force that causes the wire (500) to be released from the wire pulley (390) is transmitted to the wire pulley (390) through the wire (500), and the wire pulley (390) rotates in the first direction, causing the wire (500) to be released from the wire pulley (390). At this time, the length at which the wire (500) is pulled out from the wire pulley (390) may become longer.

[0379] Meanwhile, when the wire pulley (390) rotates in the first direction due to an external force, elastic energy can be stored in the mainspring (400'). However, even when the external force disappears, since the second direction rotation of the gear (320) and the second direction rotation of the wire pulley (390) are restricted, the wire (500) may not be wound back into the wire pulley (390) due to the restoring force. Accordingly, the wearer can freely move his / her arm without additional force as long as the extended wire (500) is maintained in its extended length.

[0380] That is, in the second mode, the wearer can freely move the arm as long as the length of the wire (500) drawn out from the wire pulley (390) is maintained. When the wearer wants to move the arm beyond the length of the drawn wire (500), the wearer can apply force to the wire (500) to increase the length of the drawn wire (500).

[0381] Figures 7 (c) and 8 (c) are drawings showing a mode (hereinafter, the third mode) among a plurality of modes implemented by the clutch unit (300) according to the present invention, in which the rotation of the gear (320) in the first direction is restricted and the rotation in the second direction is possible.

[0382] As shown in (c) of FIG. 7 and (c) of FIG. 8, when the first slider (360a) is separated from the first lever (330a) and does not come into contact with it, the first lever (330a) comes into contact with the gear (320). At this time, the rotation of the gear (320) in the first direction may be restricted. When the second lever (330b) is pushed while the second slider (360b) is in contact with the second lever (330b), the second lever (330b) is separated from the gear (320). At this time, the rotation of the gear (320) in the second direction is not restricted. Accordingly, the wire (500) cannot be released from the wire pulley (390) by an external force, but can be wound into the wire pulley (390) by a restoring force of the mainspring (400').

[0383] If the sum of the force of the wearer lifting the object and the restoring force of the mainspring (400') is less than the weight of the object, the wire (500) cannot be wound around the wire pulley (390). However, since the first direction rotation of the gear (320) and the wire pulley (390) is restricted, the wire (500) does not come out from the wire pulley (390). At this time, the length of the wire (500) pulled out from the wire pulley (390) can be fixed without changing.

[0384] When the sum of the force of the wearer lifting an object and the restoring force of the mainspring (400') is greater than the weight of the object, the wearer can lift the object. At this time, the gear (320) and the wire pulley (390) rotate in the second direction, and the wire (500) can be wound around the wire pulley (390).

[0385] That is, in the third mode, the wearer can hold an object without applying additional force. Alternatively, if the wearer wishes to further bend their arm while holding an object, they can apply force to lift the object further. If the wearer bends their arm to lift the object further, they can maintain the bend without applying additional force.

[0386] FIG. 7 (d) and FIG. 8 (d) are drawings showing a mode (hereinafter, the fourth mode) in which the gear (320) can rotate in the first direction and the second direction, which is one of the multiple modes implemented by the clutch unit (300) according to the present invention.

[0387] As shown in (d) of FIG. 7 and (d) of FIG. 8, when the first slider (360a) pushes the first lever (330a) while in contact with the first lever (330a), and the second slider (360b) pushes the second lever (330b) while in contact with the second lever (330b), the first lever (330a) and the second lever (330b) come into contact with the gear (320). At this time, the rotation of the gear (320) in the first direction and the second direction is not restricted. Accordingly, the wire (500) can be released from the wire pulley (390) by an external force, and can be wound into the wire pulley (390) by a restoring force of the mainspring (400').

[0388] When the wearer applies an external force to the wire (500) by stretching his / her arm to grab an object, the wire (500) can be released from the wire pulley (390). Accordingly, the gear (320) can rotate in the first direction, and thus the wire pulley (390) can rotate in the first direction. At this time, the mainspring (400') can store elastic energy.

[0389] When the wearer bends his / her arm to lift an object by applying an external force to the object, the wire (500) can be wound around the wire pulley (390). Accordingly, the gear (320) can rotate in the second direction, so that the wire pulley (390) can rotate in the second direction. At this time, the restoring force of the mainspring (400') can act as an auxiliary force to assist the movement of the wearer's arm through the wire (500).

[0390] According to one embodiment of the present invention, the wearer can select an appropriate mode among multiple passive modes implemented by the clutch unit (300) of the wearable robot module (10) that assists the movement of the wearer's arm by manipulating the clutch unit (300) according to the working environment. For example, the wearer can select any one of the first to fourth modes described above.

[0391] The first mode of the wearable robot module (10) that assists the movement of the arm of a wearer according to one embodiment of the present invention may be a mode in which the length of the wire (500) extended from the clutch unit (300) remains constant. The first mode may be used when the wearer does not perform any work while wearing the wearable robot module (10) according to one embodiment of the present invention or when the wearer wishes to perform work without receiving any assistance. Meanwhile, the wearer cannot move the arm beyond the length of the wire (500) extended from the clutch unit (300).

[0392] The second mode of the wearable robot module (10) for assisting the movement of the arm of the wearer according to one embodiment of the present invention may be a mode in which only the wire (500) can be pulled out from the clutch unit (300). The wearer can use the second mode like the first mode. That is, the wearer can use the second mode when he or she does not perform a task while wearing the wearable robot module (10) according to one embodiment of the present invention or when he or she wants to perform a task without receiving any assistance. Meanwhile, unlike the first mode, the wearer can move his or her arm beyond the length of the wire (500) extended from the clutch unit (300). For example, when a longer range of arm movement than before is required during a task, the wearer can apply an external force to pull the wire (500) out from the clutch unit (300). Once the length of the wire (500) extended from the clutch unit (300) has increased, the wearer no longer needs to apply an external force to maintain the length of the extended wire (500).

[0393] The third mode of the wearable robot module (10) for assisting the movement of the arm of a wearer according to one embodiment of the present invention may be a mode in which only the wire (500) is pulled into the clutch unit (300). The wearer may use the third mode to maintain a posture in which an object is lifted without additional force. That is, the wearer may use the wearable robot module (10) for assisting the movement of the arm of a wearer according to one embodiment of the present invention in a fixed mode. Meanwhile, the wearer may apply an external force to further lift the object from the existing posture, and at this time, the length of the wire (500) pulled out from the clutch unit (300) shortens, allowing the wearer to further lift the object. In the above process, the wearer may receive an assisting force.

[0394] The fourth mode of the wearable robot module (10) for assisting the movement of the arm of a wearer according to one embodiment of the present invention may be a mode in which the length of the wire (500) extended from the clutch unit (300) is variable. The wearer may apply an external force to pull the wire (500) out of the clutch unit (300), and when the external force disappears, the extended wire (500) may be pulled back into the clutch unit (300) by a restoring force. For example, the wearer may use the fourth mode to receive an assisting force when repeatedly lifting an object. That is, the wearer may use the wearable robot module (10) for assisting the movement of the arm of a wearer according to one embodiment of the present invention in an elastic mode.

[0395] According to the present invention, switching between multiple passive modes can be implemented in a single wearable robot without requiring the operation of an additional power source. Specifically, the wearer can select one of the first to fourth modes through manipulation. For example, if the wearer does not wish to receive assistance from the wearable robot, the wearer can select the first or second mode. For example, if the wearer wishes to use the wearable robot in a fixed mode, the wearer can select the third mode. For example, if the wearer wishes to use the wearable robot in an elastic mode, the wearer can select the fourth mode.

[0396] According to one embodiment of the present invention, the wearer can simplify the process of adjusting the wire (500) to a length suitable for the wearer's body before working to support a heavy object by utilizing the third mode. For example, if the length of the wire (500) needs to be increased, the wearer can increase the length of the wire (500) by switching the driving mode to the second mode or the fourth mode. For example, if the length of the wire (500) needs to be decreased, the wearer can decrease the length of the wire (500) with the help of the restoring force of the mainspring (400') in the third mode.

[0397] For example, the wearer can change the drive mode to the fourth mode to reduce the length of the wire (500) with the help of the restoring force of the mainspring (400').

[0398] According to one embodiment of the present invention, when the wearer is working while utilizing the third mode and the working object and its location change, the wearer can reduce the length of the wire (500) while supporting the object. Specifically, while maintaining the driving mode in the third mode while supporting the object, the wearer can lift the object further than before and reduce the length of the wire (500) with the help of the restoring force of the mainspring (400').

[0399] According to one embodiment of the present invention, if the wearer determines that it is difficult to lift or support an object solely with the help of the restoring force of the mainspring (400') during a repetitive task, the wearer can freely temporarily switch the driving mode to receive greater assist force. For example, the wearer can temporarily lift or support an object by switching the driving mode to the third mode with a simple operation, and then switch the driving mode back to the fourth mode to continue the existing repetitive task.

[0400] According to one embodiment of the present invention, when the wearer feels fatigue due to accumulated resistance in the arm caused by the continuous restoring force of the mainspring (400') during repetitive tasks utilizing the fourth mode, the wearer can freely temporarily switch the driving mode to relieve the fatigue. For example, the wearer can simply temporarily switch the driving mode to any one of the first, second, and third modes to take a break without taking off the wearable robot.

[0401] Fig. 10 is a drawing showing an operating part according to the present invention.

[0402] As illustrated in FIG. 10, a wearable robot module (10) for assisting the movement of a wearer's arm according to one embodiment of the present invention may include an action unit (200). Specifically, the action unit (200) is a portion connected to a wire (500) and to which an assisting force applied from a clutch unit (300) is directly transmitted. The action unit (200) is connected to one end of the wire (500) and is connected to the clutch unit (300).

[0403] As illustrated in (a) of Fig. 10, the action part (200) according to the present invention may be in the shape of a plate. Specifically, the action part (200) may be in contact with the wearer's hand or may be connected to the wearer's hand through a connecting member.

[0404] As illustrated in (b) of Fig. 10, the operating portion (200) according to the present invention may be in the shape of a glove. Specifically, the wearer may insert the wearer's hand into the glove-shaped operating portion (200).

[0405] As illustrated in (c) of FIG. 10, the operating part (200) according to the present invention may include a wrist joint (210) and a support part (220). Specifically, the wrist joint (210) may have one end connected to one end of a wire (500) and may wrap around the wearer's wrist to secure the operating part (200) to the wearer's hand. The support part (220) may have one end connected to the wrist joint (210), and when the wearer lifts an object, the support part (220) may be a portion that directly contacts the object. According to one embodiment of the present invention, the support part (220) may be in the shape of a plate. Also, for example, the support part (220) may be in the shape of a hook. However, the present invention is not limited thereto.

[0406] As illustrated in (d) of FIG. 10, the operating part (200) according to the present invention may be in the form of a glove in which a support (230) is attached. Specifically, the support (230) may be attached to a portion of the glove that comes into contact with the wearer's palm. The support (230) may be a rigid body in the shape of the letter (L), and the support (230) may be used to support the load of an object when the wearer lifts the object.

[0407] As illustrated in (e) of FIG. 10, the support (230) according to the present invention can be configured to be foldable. According to the present invention, the wearer can manipulate the structure of the support (230) to appear or not appear on the working portion (200) as needed. For example, when the support (230) is not needed, the wearer can use the working portion (200) with the support (230) folded. Also, for example, when the support (230) is needed, the wearer can use the working portion (200) by converting the folded support (230) into an (L) shape. That is, when the support (230) is not needed, the wearer can fold the support (230) so that it does not interfere with the work and use the working portion (200) like a normal glove.

[0408] As illustrated in (f) of FIG. 10, the operating part (200) according to the present invention may be a structure shaped like a wearer's hand. Specifically, the structure may cover and enclose the wearer's hand. Alternatively, the structure may be connected to and fixed to the wearer's hand. Alternatively, the structure may be configured such that the wearer's hand can be inserted therein.

[0409] According to one embodiment of the present invention, a portion corresponding to a finger of the wearer in a structure having the shape of a hand of the wearer may be formed of a plurality of frames and may be bent at a position corresponding to at least one finger joint of the wearer.

[0410] According to one embodiment of the present invention, a plurality of frames may be connected via a wheel. Meanwhile, a wire (500) according to the present invention may be wound around a wheel connecting the plurality of frames and extended thereto, thereby being connected to the frame. When no force is applied to the wire (500), the plurality of frames may move freely. When force is applied to the wire (500), at least one frame corresponding to the tip of the wearer's finger among the plurality of frames may be restricted from bending as the wire (500) is pulled. For example, when the wearer lifts an object and pulls the wire (500), the operating part (200) according to the present invention may support the wearer's hand and allow the wearer's finger portion to maintain an (L) shape.

[0411] According to one embodiment of the present invention, when the operating portion (200) is a structure shaped like a wearer's hand, the operating portion (200) can transmit auxiliary force while maintaining finger placement appropriate for the shape of the object when the wearer lifts the object. In addition, the operating portion (200) can be configured to support the load of the object when the load is applied.

[0412] Meanwhile, if the operating part (200) according to the present invention is a structure shaped like a wearer's hand, the portion corresponding to the wearer's finger may be in the shape of a single plate. Alternatively, for example, the portion corresponding to the wearer's finger may be in the shape of multiple independent plates. However, this is not a limitation.

[0413] Fig. 11 is a drawing showing a clutch unit, wire, operating unit, and support frame according to one embodiment of the present invention. Fig. 12 is a drawing comparing embodiments of a wearable robot that assists the movement of a wearer's arm according to one embodiment of the present invention when equipped with a support frame or wheels and when not equipped with one.

[0414] As illustrated in (a) of FIG. 11, a wearable robot module (10) for assisting movement of a wearer's arm according to an embodiment of the present invention may include a clutch unit (300), a wire (500), an action unit (200), and a wearing unit (100). Meanwhile, a wearable robot module (10) for assisting movement of a wearer's arm according to an embodiment of the present invention may not include a support frame (600) connecting the action unit (200) and the wearing unit (100).

[0415] According to one embodiment of the present invention, when the support frame (600) is not included, the wearable robot module (10) for assisting the movement of the arm of the wearer according to one embodiment of the present invention can have a simpler structure and improved usability. Meanwhile, referring to (a) and (c) of FIG. 12, the closer the object being lifted by the wearer is to the wearer's body, the more the wearable robot module (10) for assisting the movement of the arm of the wearer can provide assistive force to the wearer in an appropriate direction.

[0416] As illustrated in (b) of FIG. 11, a wearable robot module (10) for assisting the movement of a wearer's arm according to an embodiment of the present invention may further include a support frame (600). One end of the support frame (600) may be connected to the action part (200), and the other end may be connected to the wearing part (100). That is, the support frame (600) may connect the action part (200) and the wearing part (100). Meanwhile, the support frame (600) may serve to support the arm of the wearer when the wearer wears the wearable robot module (10) for assisting the movement of the wearer's arm.

[0417] As illustrated in (c) of FIG. 11, the support frame (600) according to the present invention can be bent according to the movement of the wearer at at least one position corresponding to the wearer's joint. The wearer's joint may include at least one joint selected from the group consisting of a shoulder joint, an elbow joint, and a wrist joint, but is not limited thereto. According to one embodiment, the support frame (600) may be composed of a plurality of frames, and adjacent frames and a frame adjacent to the wearable part (100) and the wearable part (100) may be connected through a joint part (620). The joint part (620) may be configured to enable rotational movement of each of the plurality of frames relative to an adjacent frame or the wearable part (100). In addition, the joint part (620) may be positioned to correspond to the wearer's joint.

[0418] Accordingly, the wearer can receive support from the support frame (600) while using the wearable robot module (10) that assists the movement of the wearer's arm, and also the movement of the joints may not be restricted.

[0419] Embodiment of the case in which a wheel (630) according to the present invention is further included

[0420] As illustrated in (d) of FIG. 11, the support frame (600) according to the present invention may further include at least one wheel (630). Specifically, the wheel (630) may be installed inside or outside the support frame (600) and connected to one end of the support frame (600). The wire (500) may be wound around at least one wheel (630) and extended to be connected to the operating part (200). At this time, the path along which the wire (500) extends may not be a straight path from the wearing part (100) to the operating part (200), and may be formed along the support frame (600).

[0421] According to one embodiment of the present invention, when the support frame (600) further includes at least one wheel (630), the wire (500) can advance from the wearing part (100) to the working part (200) along a path formed by the support frame (600). Referring to (b) of FIG. 12, this can have the advantage of no interference between the object and the wire (500) compared to a case where the wire (500) advances from the wearing part (100) to the working part (200) along a straight path.

[0422] According to one embodiment of the present invention, when the support frame (600) further includes at least one wheel (630), the assistive force generated by the clutch unit (300) can be distributed and transmitted to the wearer's body part corresponding to the support frame (600) through the wire (500). At this time, the direction of the assistive force may not be formed in a straight direction, but may follow the support frame (600) positioned along the wearer's arm. Referring to FIG. 12(c), accordingly, even if an object moves away from the wearer, the assistive force can assist the wearer's movement in an appropriate direction. In addition, referring to FIG. 12(d), the wire (500) can be formed in a shape that can wrap around the wearer's arm, which can prevent excessive force from being concentrated on the wearer's wrist by pulling only the action part (200) connected to the other end of the wire (500).

[0423] As illustrated in (d) of FIG. 12, at least a portion of the wire (500) that is wound around the wheel (630) according to one embodiment of the present invention may pass through the interior of the support frame (600) and be connected to the operating part (200). In this case, it is preferable that at least one wheel (630) be installed inside the support frame (600). If at least a portion of the wire (500) passes through the support frame (600), the degree of wear of the wire (500) during use by the wearer may be reduced.

[0424] Operating unit according to the present invention

[0425] FIG. 13 is a drawing showing a method of operating a wearable robot module that assists movement of a wearer's arm through an operating unit and an operating unit according to the present invention.

[0426] As illustrated in FIG. 13, a wearable robot module (10) for assisting the movement of the arm of another wearer according to one embodiment of the present invention may further include a manipulation unit (700) for manipulating a clutch unit (300). As illustrated in (a) of FIG. 13, the manipulation unit (700) may be attached to the action unit (200).

[0427] As illustrated in (b) of FIG. 13, the operating unit (700) can be directly connected to the operating wire (500'') to control the operating wire (500''). For example, the operating unit (700) can include a switch, and the operating wire (500'') can be manually pushed or pulled by operating the switch. Accordingly, the operating unit (700) can control the rotational direction of the gear (320) by controlling the movement of the lever (330) or the slider (360). The wearer can select a desired mode from among a plurality of passive modes implemented by the clutch unit (300) by operating the operating unit (700).

[0428] As illustrated in (c) of Fig. 13, the operating unit (700) can be wired to a motor or slider motor (50) connected to an operating wire (500'') and control the same. For example, the operating unit (700) can include a switch capable of driving the motor or slider motor (50), and the motor or slider motor (50) can be driven by operating the switch. Accordingly, the operating unit (700) can control the rotational direction of the gear (320) by controlling the movement of the lever (330) or the slider (360). The wearer can select a desired mode from among a plurality of passive modes implemented by the clutch unit (300) by operating the operating unit (700).

[0429] As illustrated in (d) of FIG. 13, the operating unit (700) can be wirelessly connected to and control a motor or slider motor (50) connected to a manipulation wire (500''). According to the present invention, the operating unit (700) can include a communication module and a battery, and the motor or slider motor (50) can include a sensor. For example, the wearer can transmit a driving signal to the motor or slider motor (50) through the communication module of the operating unit (700). The motor or slider motor (50) that receives the driving signal can push or pull the manipulation wire (500''), and accordingly, the operating unit (700) can control the movement of the lever (330) or the slider (360) to control the rotational direction of the gear (320). The wearer can select a desired mode from among a plurality of passive modes implemented by the clutch unit (300) by operating the operating unit (700).

[0430] FIG. 9A is a front view showing a wearer wearing a wearable robot module for assisting arm movement according to one embodiment of the present invention. FIG. 9B is a side view showing a wearer wearing a wearable robot module for assisting arm movement according to one embodiment of the present invention. FIG. 9C is a rear view showing a wearer wearing a wearable robot module for assisting arm movement according to one embodiment of the present invention.

[0431] As illustrated in FIGS. 9A to 9C, when a wearer wears a wearable robot module (10) that assists the movement of the wearer's arm, a wearable part (100) may be used together. The wearable part (100) may be configured to be fixed to the wearer's body, and the wearable robot module (10) that assists the movement of the wearer's arm according to an embodiment of the present invention may be attached to the wearable part (100). That is, the wearable part (100) may serve to fix the wearable robot module (10) that assists the movement of the wearer's arm to the wearer's body in a structure that the wearer can use. More specifically, a clutch part (300) according to the present invention may be attached to the wearable part (100).

[0432] FIGS. 9d and 9e are drawings showing a wearable part that can be equipped for a wearer to wear a wearable robot module that assists the movement of the wearer's arm according to one embodiment of the present invention.

[0433] As illustrated in FIGS. 9d and 9e, the wearable part (100) according to the present invention may include a shoulder belt body (120), a waist belt body (130), a belt body connection part (140), and a chest tightening buckle (110). Specifically, the shoulder belt body (120) may wrap around the wearer's shoulder. The waist belt body (130) may wrap around the wearer's waist. The belt body connection part (140) may connect the shoulder belt body (120) and the waist belt body (130). The chest tightening buckle (110) may fix the shoulder belt body (120) at the front of the wearer. At this time, the clutch part (300) according to the present invention may be attached to the shoulder belt body (120).

[0434] As described above, the wearable robot module (10) for assisting the movement of the arm of the wearer according to one embodiment of the present invention may further include a support frame (600). In this case, one end of the support frame (600) according to the present invention may be fixed to the wearable part (100). Specifically, the support frame (600) may be positioned on the front of the wearer with one end attached to the shoulder belt body (120) of the wearable part (100). Alternatively, one end of the support frame (600) may be fixed to the clutch part (300). Alternatively, one end of the support frame (600) may be fixed to the wearable part (100) and the other end may be fixed to the clutch part (300). However, the present invention is not limited thereto.

[0435] FIG. 15 is a drawing showing a composite wearable robot according to one embodiment of the present invention.

[0436] The wearable robot module (10) for assisting the movement of the arm of a wearer according to one embodiment of the present invention can be used alone. In addition, as illustrated in FIGS. 14 and 15, the wearable robot module (10) for assisting the movement of the arm of a wearer according to one embodiment of the present invention has a modular structure and can be used in combination with a wearable robot (1) for assisting the movement of the waist of a wearer. The wearable robot (1) for assisting the movement of the waist of a wearer is a wearable robot that can maintain a bent posture for a wearer during a work process that requires bending and straightening the waist, or can provide assistance power to assist the wearer's waist muscles when straightening the waist from a bent posture. Hereinafter, a robot in which the wearable robot module (10) for assisting the movement of the arm of a wearer and the wearable robot (1) for assisting the movement of the waist of a wearer are combined is referred to as a composite wearable robot (30).

[0437] As illustrated in FIGS. 14 and 15, a composite wearable robot (30) according to an embodiment of the present invention may include a wearable robot (1) that assists movement of the wearer's waist and a wearable robot module (10) that assists movement of the wearer's arm. Specifically, the wearable robot module (10) that assists movement of the wearer's arm may be connected to the wearable robot (1) that assists movement of the wearer's waist. Meanwhile, the configuration of the wearable robot module (10) that assists movement of the wearer's arm is as described above.

[0438] FIG. 16 is a drawing showing a wearable robot that assists movement of a wearer's waist according to the present invention.

[0439] As illustrated in FIG. 16, a wearable robot (1) for assisting movement of a wearer's waist according to the present invention may include an upper wearing part (21), a lower wearing part (22), and a waist muscle assisting part (23). Specifically, the upper wearing part (21) is worn on the wearer's upper body and may fix the waist muscle assisting part (23). The waist muscle assisting part (23) is fixed to the upper wearing part (21) and is positioned on the wearer's lower back and may assist the waist muscle for bending or straightening movements. The lower wearing part (22) is worn below the wearer's waist and may be connected to the lower end of the waist muscle assisting part (23).

[0440] According to one embodiment of the present invention, the lower wearable part (22) may include a leg-mounted part (22a) and a connecting part (22b). Specifically, the leg-mounted part (22a) may be a part of the lower wearable part (22) that is worn on the wearer's body, and the connecting part (22b) may connect the leg-mounted part (22a) and the waist muscle support part (23).

[0441] The lumbar muscle assisting unit (23) according to the present invention can provide assistance to the wearer to maintain a bent posture during a work process requiring bending and straightening movements, or to assist the wearer's lumbar muscle strength when straightening from a bent posture. For example, the lumbar muscle assisting unit (23) can provide assistance using an elastic body. Also, for example, the lumbar muscle assisting unit (23) can provide assistance using a wire and a motor.

[0442] Meanwhile, according to the present invention, a wearable robot module (10) that assists the movement of the wearer's arm can be fixed to the upper wearing part (21). Specifically, a clutch part (300) according to one embodiment of the present invention can be attached to the upper wearing part (21) to fix the wearable robot that assists the movement of the wearer's arm. When the wearable robot module (10) that assists the movement of the wearer's arm includes a support frame (600), one end of the support frame (600) can be fixed to the upper wearing part (21). Alternatively, one end of the support frame (600) can be fixed to the clutch part (300). Alternatively, one end of the support frame (600) can be fixed to the upper wearing part (100) and the other end can be fixed to the clutch part (300). However, the present invention is not limited thereto.

[0443] Figure 17 is a drawing showing a lumbar muscle assistance unit that can provide lumbar muscle assistance through an elastic body according to the present invention.

[0444] As illustrated in FIG. 17, the lumbar muscle strength assisting device (23) according to the present invention may include a housing (24) that can be fixed to the upper wearing part (21), a lumbar muscle strength elastic member (25), and a moving part (26). Specifically, the lumbar muscle strength elastic member (25) may be placed inside the housing (24), and one end may be fixed to the upper wearing part (21) by a connecting member. The moving part (26) may be fixed by being connected to the connecting part (22b) of the lower wearing part (22), and the other end may be connected to the other end of the lumbar muscle strength elastic member (25).

[0445] The waist muscle elastic member (25) according to the present invention can contract or expand when the wearer bends or straightens the waist. When the wearer bends the waist and the waist muscle elastic member (25) expands, elastic energy is stored in the waist muscle elastic member (25), and when the wearer straightens the waist, the waist muscle elastic member (25) can use the stored elastic energy to provide assistive power to the wearer.

[0446] Meanwhile, the waist muscle elastic member (25) according to the present invention can be configured to be able to adjust the elastic coefficient by manipulation.

[0447] FIG. 18 is a drawing showing a lumbar muscle assistance unit that can provide lumbar muscle assistance through a wire and a driving body according to the present invention.

[0448] As illustrated in FIG. 18, the lumbar muscle assist device (23) according to the present invention may include a wire (500'), a moving part (26), and a driving body (27). Specifically, the driving body (27) may be attached and fixed to the upper wearing part (21). The driving body (27) may include a motor or an actuator, but is not limited thereto. One end of the wire (500') may be connected to the driving body (27). One end of the moving part (26) may be connected and fixed to the connecting part (22b) of the lower wearing part (22), and the other end may be connected to the other end of the wire (500').

[0449] As illustrated in (a) of FIG. 18, the driving body (27) according to the present invention can be configured so that a wire (500') can be wound inside, and the wire (500') can be wound inside the driving body (27) using driving force. For example, when the wearer bends the waist, the length of the wire (500') drawn out from the driving body (27) can increase. For example, when the wearer straightens the waist, the driving body (27) can be driven in the direction in which the wire (500') is wound around the driving body (27), and at this time, an assisting force can be provided to the wearer.

[0450] As illustrated in (b) of FIG. 18, the actuator (27) according to the present invention can be configured to allow the wire (500') to be twisted in the circumferential direction, and the wire (500') can include a plurality of strings. When the actuator (27) is driven so that the wire (500') is twisted in the circumferential direction, the length of the wire (500') can be shortened. For example, when the wearer straightens the waist from a bent state, the actuator (27) can be driven so that the wire (500') is twisted in the circumferential direction, and at this time, an assistive force can be provided to the wearer.

[0451] FIG. 14 is a block diagram for explaining the operation of a composite wearable robot according to one embodiment of the present invention.

[0452] As illustrated in FIG. 14, a composite wearable robot (30) according to one embodiment of the present invention may include a composite operating unit (40). Specifically, the composite operating unit (40) according to the present invention may be used to operate a wearable robot module (10) that assists movement of a wearer's arm and / or a wearable robot (1) that assists movement of a wearer's waist.

[0453] As described above, the wearable robot module (10) that assists the movement of the wearer's arm may include an operation unit (700) for switching between multiple passive assistance modes. Meanwhile, for convenience of explanation, the operation unit (700) of the wearable robot module (10) that assists the movement of the wearer's arm in the composite wearable robot (30) according to one embodiment of the present invention is defined as a first operation unit (40a).

[0454] The wearable robot (1) for assisting the movement of the wearer's waist according to the present invention may further include a control unit. For convenience of explanation, the control unit of the wearable robot (1) for assisting the movement of the wearer's waist is defined as a second control unit (40b).

[0455] Specifically, when a wearable robot (1) that assists the movement of the wearer's waist according to the present invention includes an elastic member (25) whose overall elastic coefficient can be changed by manipulation within the waist muscle assistance unit (23), the wearer can change the overall elastic coefficient of the elastic member (25) through the second manipulation unit (40b).

[0456] Specifically, when the wearable robot (1) that assists the movement of the wearer's waist according to the present invention includes a driving body (27) driven by manipulation, the wearer can operate the driving body (27) through a second manipulation unit (40b).

[0457] As illustrated in (a) of FIG. 14, a composite wearable robot (30) according to an embodiment of the present invention may include a first operating unit (40a) and a second operating unit (40b). Specifically, the wearer may operate a wearable robot module (10) that assists the movement of the wearer's arm through the first operating unit (40a). Specifically, the wearer may operate a wearable robot (1) that assists the movement of the wearer's arm and waist through the second operating unit (40b). Meanwhile, according to an embodiment of the present invention, the first operating unit (40a) and the second operating unit (40b) may be provided independently of each other.

[0458] As illustrated in (b) of FIG. 14, a composite wearable robot (30) according to an embodiment of the present invention may include a composite operating unit (40). The composite operating unit (40) according to the present invention may include a first operating unit (40a) used for operating a wearable robot module (10) that assists the movement of the wearer's arm, and a second operating unit (40b) used for operating a wearable robot (1) that assists the movement of the wearer's waist. Meanwhile, according to an embodiment of the present invention, the first operating unit (40a) and the second operating unit (40b) may be interconnected to form a composite operating unit (40) as an integral unit.

[0459] A composite wearable robot (30) according to one embodiment of the present invention is a wearable robot capable of assisting the movement of a wearer's arms and / or waist. During a task of lifting or moving an object, the wearer can receive assistance power to assist the movement of the arms and / or waist by using the composite wearable robot (30) according to one embodiment of the present invention.

[0460] When lifting objects, workers may perform bending and straightening movements at the waist. This requires the use of both arm and back strength. When the wearer receives assistance with arm and back movements, work efficiency increases and injuries to the arms or waist can be prevented.

[0461] That is, the composite wearable robot (30) according to one embodiment of the present invention can improve work efficiency and prevent injury to the arm or waist by assisting the movement of both the arm and waist when the wearer uses both the arm and waist muscles during the work process.

[0462] safety

[0463] FIG. 19a is a drawing showing the configuration of a walking assistance wearable robot according to one embodiment of the present invention.

[0464] As illustrated in FIG. 19A, a walking assistance wearable robot (1) may include a first wearing part (11), a driving part (13), a connecting member (15), and a second wearing part (17). Specifically, the first wearing part (11) may be mounted on a reference body part of the wearer and may wrap around the reference body part of the wearer. The second wearing part (17) may be mounted on a target body part of the wearer and may wrap around the target body part of the wearer. The driving part (13) may be connected to the first wearing part (11), and may generate a walking torque (or driving torque) that may assist the walking of the wearer by being connected to the first wearing part (11). The connecting member (15) may be connected to the driving part (13) and may support the legs of the wearer. In addition, the connecting member (15) can connect the driving unit (13) and the second wearing unit (17), and can transmit the rotational output provided from the driving unit (13) to the second wearing unit (17).

[0465] Meanwhile, according to one embodiment of the present invention, the reference body part of the wearer may refer to the wearer's waist, and the target body part of the wearer may refer to the wearer's thigh. For example, the first wearable part (11) may be mounted on the wearer's waist, and the second wearable part (17) may be mounted on the wearer's thigh. However, this is merely exemplary and is not limiting.

[0466] FIG. 19b is a diagram showing the configuration of a walking assistance wearable robot including a safety control mechanism according to one embodiment of the present invention.

[0467] As illustrated in Fig. 19b, the driving unit (13) of the walking assistance wearable robot (1) may include a safety control mechanism. The safety control mechanism may detect an abnormal operating state of the wearable robot (1) before or during the walking process of the wearable robot wearer, and may perform a safety control function of the wearable robot (1) to prevent danger to the wearer due to the abnormal operation of the wearable robot (1).

[0468] Specifically, the safety control mechanism can sense and store information about the movements of the wearable robot wearer before or during walking. Furthermore, the safety control mechanism can perform a safety control function for the wearable robot (1) if abnormal operation of the wearable robot is detected by a risk assessment algorithm based on the stored information about the wearer's movements.

[0469] As illustrated in Fig. 1b, the drive unit (13) of the wearable robot (1) may include a safety control mechanism. Specifically, the safety control mechanism may include a sensor unit (200), a memory (210), and a processor (220). In addition, the safety control mechanism may perform the safety control function of the wearable robot (1) through a series of processes starting from the sensor unit (200), passing through the memory (210), and reaching the processor (220).

[0470] According to one embodiment of the present invention, the sensor unit (200) can sense information regarding the movement of a wearable robot wearer. In addition, the memory (210) can store information regarding the movement of the wearer sensed by the sensor unit (200). In addition, the processor (220) can process the information regarding the movement of the wearer stored in the memory (210) or perform a safety control function of the wearable robot based on the results of a risk assessment algorithm execution based on the information regarding the movement of the wearer stored in the memory (210).

[0471] FIG. 20 is an exploded view showing the configuration of a drive unit of a walking assistance wearable robot including a configuration of a safety control mechanism according to one embodiment of the present invention.

[0472] As illustrated in FIG. 20, the driving unit (13) may include a main body housing (131), a driving frame (133), a driving unit (135), a sensor unit (200), and a processor (220). Specifically, the main body housing (131) may form an outer wall of the driving unit (13). The driving frame (133) may be disposed inside the main body housing (131). In addition, a driving unit (135) may be inserted and connected inside the driving frame (133). The driving frame (133) may be connected to a second connecting member (150b), and the driving frame (133) and the second connecting member (150b) may rotate in the same direction. At this time, the second connecting member (150b) may include a second support frame (151b) and a second joint part (153b).

[0473] According to one embodiment of the present invention, the actuator (135) may be configured to rotate in the same direction as the actuator frame (133) rotates. The motor shaft of the actuator (135) is connected to the first connecting member (150a) and may rotate in the same direction as the first connecting member (150a). At this time, the first connecting member (150a) may include a first support frame (151a) and a first joint portion (153a).

[0474] According to one embodiment of the present invention, the sensor unit (200) can sense information about the movement of a wearable robot wearer and transmit the information about the movement sensed by the processor (220) to the memory (210).

[0475] Specifically, the sensor unit (200) can detect the movement of the wearable robot wearer and measure information about the movement of the wearer based on the detected movement. The information about the movement of the wearer may include at least one of a driving angle (or driving angle) and a driving angular velocity based on the hip angle of the wearer, a current applied to the motor, and an acceleration, angular velocity, and inclination of the main body housing (131). In this case, the information about the movement of the wearer may be information used in a risk assessment algorithm described in detail below.

[0476] According to one embodiment of the present invention, the driving angle and driving angular velocity based on the wearer's hip angle may be information sensed by the Hall sensor (230). Additionally, the driving angle and driving angular velocity based on the hip angle may be information measured using an incremental encoder.

[0477] According to one embodiment of the present invention, the current applied to the motor may be information measured by an analog-to-digital converter (ADC) on the main board of a walking assistance wearable robot. Furthermore, the current applied to the motor may be information measured using a Hall Effect sensor based on the Hall Effect.

[0478] According to one embodiment of the present invention, the acceleration, angular velocity, and inclination of the main body housing (131) may be information sensed by a motion detection sensor (221). For example, the motion detection sensor (221) may be an inertial sensor. In addition, the inclination of the main body housing (131) may be measured through filtering using a low-pass filter to reduce the possibility of drift (or accumulated error) that may occur in the process of generating inclination information.

[0479] According to one embodiment of the present invention, the sensor unit (200) may include at least one sensor. The at least one sensor may include a motion detection sensor (221), a hall sensor (230), a light sensor (250), and a magnetic induction sensor (not shown). In this case, the light sensor (250) may be paired with a motor sensor dog (270), and the magnetic induction sensor (not shown) may be paired with a motor magnet unit (not shown).

[0480] According to one embodiment of the present invention, the motion detection sensor (221) is a sensor that detects the movement of a wearable robot wearer, and may be an inertial sensor, an angle sensor, an infrared sensor, an ultrasonic sensor, a microwave sensor, a limit sensor, or the like. For example, the motion detection sensor (221) of the present invention may be an inertial sensor. An inertial sensor is a sensor that measures the acceleration and angular velocity of an object, and can measure the inclination, acceleration, and angular velocity of the main body housing (131) during the walking process of a wearable robot wearer.

[0481] According to one embodiment of the present invention, the inertial sensor may be at least one of an acceleration sensor, a gyroscope, and a magnetometer. For example, the inertial sensor may be an acceleration sensor or a gyroscope. Specifically, the acceleration sensor is a sensor that measures the acceleration of an object and may generally be composed of a mass, a spring, and a sensing element. The mass may be a small mass located inside the sensor. The spring may provide a force to return the mass to its original position after it has been displaced.

[0482] The sensing element can detect the displacement of mass and convert it into an electrical signal. The acceleration sensor can detect both gravitational acceleration and acceleration caused by external forces. Through this, the acceleration of the main body housing (131) can be measured during the walking process of the wearable robot wearer. The gyroscope is a sensor that measures the angular velocity (or rotational velocity) of an object, and can measure the angular velocity of an object by utilizing the property of a rotating object to maintain its rotational direction due to inertia based on the law of conservation of angular momentum. Through this, the angular velocity of the main body housing (131) can be measured during the walking process of the wearable robot wearer.

[0483] According to one embodiment of the present invention, the inertial sensor may be an inertial measurement unit (IMU) including both an acceleration sensor and a gyroscope. Specifically, the inertial measurement unit (IMU) can more accurately measure the inclination of the main body housing (131) based on the acceleration and angular velocity of the main body housing (131). The inclination of the main body housing (131) can be accurately calculated only when measured based on the acceleration measured by gravity. For example, when a wearable robot wearer is walking, the acceleration sensor can measure not only the acceleration due to gravity but also the acceleration due to an external force.

[0484] Because of this, although accurate values ​​can be derived in static situations where the user is not walking, there is a high possibility of errors occurring in dynamic situations where the user is walking. On the other hand, a gyroscope can derive accurate values, such as changes in the angular velocity of an object, in dynamic situations, but there may be a high possibility of drift (or accumulated errors). Because of this, in static situations where the user is not walking, the inclination of the main body housing (131) can be accurately measured with only an acceleration sensor, but in dynamic situations where the user is walking, by using an acceleration sensor and a gyroscope simultaneously, the inclination data of the main body housing (131) with high accuracy can be provided through mutual complementation of each sensor.

[0485] Accordingly, the motion detection sensor (221) can sense various information based on the wearer's movements before or during the wearable robot wearer's walking. The inertial sensor, which is one of the motion detection sensors (221), can sense the acceleration, angular velocity, and inclination of the main body housing (131) based on the wearer's movements.

[0486] As illustrated in FIG. 20, the Hall sensor (230) may be positioned at a portion where the actuator (135) is coupled to the second joint portion (153b), rather than at a portion where the actuator (135) is coupled to the first joint portion (153a). The Hall sensor (230) is a sensor that detects a magnetic field and converts it into an electric signal, and can measure a driving angle based on a hip angle of a wearable robot wearer. At this time, the driving angle based on the hip angle of the wearer may correspond to the driving angle of a motor disposed inside the actuator (135). In addition, the Hall sensor (230) can continuously measure the rotation angle of the motor of the actuator (135) over time. As a result, the Hall sensor (230) can measure a driving angular velocity based on the hip angle of the wearer.

[0487] Specifically, the Hall sensor (230) can detect a change in the position of a magnet attached to the motor shaft of the driver (135) when the motor of the driver (135) rotates due to the operation of the wearable robot (1) and generate a voltage signal. The Hall sensor (230) can measure a driving angle based on the generated voltage signal. In addition, the Hall sensor (230) can measure a driving angular velocity by dividing the difference between two consecutive driving angle measurement values ​​measured at regular time intervals by the time interval.

[0488] In addition, according to one embodiment of the present invention, the Hall sensor (230) can measure the driving angle and driving angular velocity based on the hip angle of the wearer by using an incremental encoder. The Hall sensor and the incremental encoder can generate pulses to measure the rotation angle of the motor of the actuator (135), and the processor (220) can count them. Through this pulse count, the Hall sensor (230) can measure the driving angle based on the hip angle of the wearer. In addition, the Hall sensor (230) can measure the driving angular velocity based on the hip angle of the wearer by dividing the pulse change amount based on the pulse count recorded at a regular time interval by the time interval.

[0489] Additionally, according to one embodiment of the present invention, the Hall sensor (230) may be an analog Hall sensor or a digital Hall sensor. An analog Hall sensor may generate a continuous voltage signal proportional to the strength of a magnetic field, i.e., an analog signal. Furthermore, an analog Hall sensor may require an ADC to convert the analog signal into a digital signal. A digital Hall sensor may generate a digital signal whenever the magnetic field exceeds a certain threshold.

[0490] Additionally, the Hall sensor (230) may include a Hall effect sensor. A Hall effect sensor that operates on the same principle as the Hall sensor (230) can measure the current value applied to the motor based on the current flow and magnetic field generated by the operation of the wearable robot (1) and the generated Hall voltage.

[0491] According to one embodiment of the present invention, the light sensor (250) and the motor sensor dog (270) may form a pair. At this time, the light sensor (250) may sense information for zero point adjustment of the wearable robot (1), which is required in advance to determine the current position of the wearer when the wearable robot (1) is restarted. In addition, the motor sensor dog (270) may be attached to the motor shaft portion of the driver (135) and may detect a specific position based on information sensed by the light sensor (250).

[0492] Specifically, information for zero point adjustment of the wearable robot (1) may be information about whether a specific relative angle is reached between the connecting members (150) of the wearable robot (1). That is, the light sensor (250) and the motor sensor dog (270) may be means for determining whether the first connecting member (150a) and the second connecting member (150b) are aligned for zero point adjustment of the wearable robot (1). At this time, the light sensor (250) may be replaced with a magnetic induction sensor (not shown), and the motor sensor dog may be replaced with a motor magnet part (not shown). The replaced magnetic induction sensor and the motor magnet part, like the light sensor (250) and the motor sensor dog (270), may be means for determining whether the first connecting member (150a) and the second connecting member (150b) are aligned for zero point adjustment of the wearable robot (1) by forming a pair.

[0493] Specifically, the optical sensor (250) or the magnetic induction sensor (not shown) can sense a change in a physical phenomenon or physical quantity and generate a detection signal based on this. Specifically, the optical sensor (250) can sense a change in the amount of light and generate an electrical signal based on this, and the magnetic induction sensor can sense a change in a magnetic field and generate an electrical signal based on this. The motor sensor dog (270) or the motor magnet unit (not shown) can induce a change in a physical phenomenon or physical quantity that the optical sensor (250) or the magnetic induction sensor can sense, and can determine the alignment position of the motor based on this. Specifically, the motor sensor dog (270) can determine the alignment position of the motor by inducing a change in the amount of light that the optical sensor (250) can sense, and the motor magnet unit can determine the alignment position of the motor by inducing a change in a magnetic field that a low-cost induction sensor can sense.

[0494] FIG. 21a is a diagram illustrating a series of processes for storing information sensed by a sensor unit in memory according to one embodiment of the present invention. FIG. 21b is a diagram illustrating a rule for updating sensed information in a memory buffer according to one embodiment of the present invention.

[0495] As illustrated in FIG. 21A, the memory (210) can access information about the movement of the wearable robot wearer and store information about the movement of the wearer. The memory (210) includes a memory buffer (211). The memory buffer (211) can store information about the movement of the wearable robot wearer sensed by the sensor unit (200). Specifically, the memory (210) can receive information about the movement of the wearable robot wearer transmitted by the sensor unit (200) and store the information in a memory buffer (320) built into the memory (210).

[0496] According to one embodiment of the present invention, the memory (210) can store one or more programs. The memory (210) capable of storing one or more programs includes high-speed random access memory such as DRAM, SRAM, DDR RAM, or other random access solid state memory devices, and may include non-volatile memory such as one or more magnetic disk storage devices, optical disk storage devices, flash memory devices, or other non-volatile solid state storage devices.

[0497] As illustrated in FIG. 21b, the memory buffer (211) serves as a temporary storage space that optimizes data transmission and can sequentially store information about the wearer's movements. Specifically, information about the wearer's movements transmitted by the sensor unit (200) can be sequentially stored in the memory buffer (320), and the maximum value of the information about the wearer's movements that is stored can have the same value as the number of memory arrays in the memory buffer (211). For example, when the number of memory arrays in the memory buffer (211) is N, information about the wearer's movements at most N can be stored in the memory buffer (211). At this time, the information about the wearer's movements stored in the first memory array may be the information about the wearer's movements that is stored last. Additionally, the information about the wearer's movements stored in the last memory array may be the oldest information among the stored information about the wearer's movements.

[0498] As illustrated in FIG. 21b, the memory buffer (211) can sequentially store, delete, and update information about the wearer's movements according to the FIFO (First In First Out) rule. Specifically, information about the wearer's movements that is initially stored in the memory buffer (211) can be stored in the first memory array of the memory buffer (211). At this time, information about the wearer's movements that was already stored in the memory buffer (211) can be moved to a memory array that is one space ahead of the previous one.

[0499] According to one embodiment of the present invention, the memory (210) can transmit information about the wearer's movement stored in the memory buffer (211) to the processor (220). Specifically, the processor (220) can access the information about the wearer's movement stored in the memory buffer (211) built into the memory (210) and receive necessary information. At this time, the memory (210) can be connected to the processor (220) wirelessly or by wire. In addition, the memory (210) can be implemented as a separate chip from the processor (220), or can be implemented as a single chip that is integrated with the processor (220) as a component of the processor (220).

[0500] FIG. 22a is a diagram illustrating a process in which information stored in a memory is transmitted to a processor according to one embodiment of the present invention.

[0501] According to one embodiment of the present invention, the processor (220) can perform a safety control function to prevent danger to the wearer due to abnormal operation of the wearable robot that may occur before or during the walking process of the wearable robot wearer.

[0502] As illustrated in FIG. 22A, the processor (220) can access information about the movement of a wearable robot wearer stored in a memory buffer (211), and perform a safety control function of the wearable robot based on a result value of a risk assessment algorithm based on information about the movement of the wearer. Specifically, the processor (220) can receive mode information set to the wearable robot (1) among a plurality of modes from the wearable robot (1). If the received mode information is walking mode information, information about the movement of the wearable robot wearer stored in the memory (210) can be received. Accordingly, the safety control function of the wearable robot (1) can be performed based on a risk assessment algorithm based on information about the movement of the wearer. In addition, the processor (220) can perform the safety control function of the wearable robot (1) based on information about the wearer's wear status. At this time, the processor (220) can perform the safety control function of the wearable robot (1) independently of the result value of the risk assessment algorithm.

[0503] According to one embodiment of the present invention, the plurality of modes refers to a plurality of modes for controlling the wearable robot (1). The plurality of modes may include a walking mode and a resting mode. The walking mode may be a mode in which a driving torque is applied from the wearable robot (1) to the wearer. Specifically, the walking mode may include at least one torque transmission mode, and each torque transmission mode may include a mode for transmitting a torque corresponding to the purpose of walking. For example, when the wearable robot (1) is used for the purpose of assisting the walking of the wearer, the wearable robot may provide a torque that acts as an assisting force to the wearer, and when the wearable robot (1) is used for the purpose of strengthening the lower body muscles of the wearer, the wearable robot (1) may provide a torque that acts as a resisting force to the wearer.

[0504] For example, the walking mode of the wearable robot (1) may be at least one of an assist mode, an exercise mode, and a climbing mode. The assist mode may be a mode in which the wearable robot (1) applies assistive force to the wearer to assist the wearer's walking, and the exercise mode may be a mode in which the wearable robot (1) applies resistance to the wearer to strengthen the wearer's lower body muscles. The climbing mode may be a mode for assisting the walking of the wearable robot wearer moving uphill or downhill rather than on flat ground. In this case, the climbing mode may provide the wearable robot (1) with assistive force to assist the wearer's walking or resistance to strengthen the wearer's lower body muscles during the uphill climbing process. Similarly, the climbing mode may provide assistance or resistance depending on the wearer's walking purpose during the downhill climbing process. In addition, the climbing mode may be divided into an uphill mode or a downhill mode. In addition, the climbing mode may be replaced with an uphill mode or a downhill mode.

[0505] Among the multiple modes of the wearable robot (1), the rest mode refers to a mode in which the driving torque is turned off. Specifically, the rest mode may be a mode in which the wearable robot (1) does not apply any torque to the wearer. In other words, the rest mode may be a mode in which the torque applied from the wearable robot to the wearer is 0.

[0506] FIG. 22B is a diagram illustrating a method by which a processor according to an embodiment of the present invention processes information stored in a memory buffer. FIG. 22B (a) is a diagram illustrating a method by which a processor according to an embodiment of the present invention processes information stored in a memory buffer using a weighted moving average. FIG. 22B (b) is a diagram illustrating a method by which a processor according to an embodiment of the present invention processes information stored in a memory buffer using a low-pass filter.

[0507] According to one embodiment of the present invention, the processor (220) can perform a safety control function of the wearable robot (1) when abnormal operation of the wearable robot (1) is detected by using information about the movement of the wearer stored in the memory buffer (211) as an input value of a risk judgment algorithm. Specifically, information about the current movement of the wearer sensed by the sensor unit (200) is stored as X0 in the memory array of the memory buffer (211), and the processor (220) can access X0 stored in the memory buffer (211), use X0 as an input value of a risk judgment algorithm, detect abnormal operation of the wearable robot, and perform a safety control function of the wearable robot (1).

[0508] In addition, as illustrated in FIG. 22b, the processor (220) can process information about the movement of the wearable robot wearer stored in the memory buffer (211). Specifically, the processor (220) can process the information about the movement of the wearable robot wearer stored in the memory buffer (211) in various ways, and can use the information about the movement of the wearer processed by the processor (220) as an input value of a risk assessment algorithm.

[0509] As illustrated in (a) of FIG. 22b, the processor (220) can process information about the movement of the wearable robot wearer stored in the memory buffer (211) by performing a Weighted Moving Average (WMA) method. The Weighted Moving Average (WMA) is a method commonly used in time-series data or signal processing, and the basic principle of this method is to give weight to past data so that recent data can play a more important role than past data. Specifically, the processor (220) can use the Weighted Moving Average (WMA) for information about the movement of the wearer corresponding to time-series data, thereby making an average value that places more weight on recent information than past information about the movement of the wearer as an input value of a risk judgment algorithm.

[0510] However, the Weighted Moving Average (WMA) is distinct from the Simple Moving Average (SMA), which assigns equal weight to all data. The Weighted Moving Average (WMA) places greater emphasis on recent data than the Simple Moving Average (SMA), making it more sensitive to changes. This reduces noise and allows for more accurate identification of data trends than the Simple Moving Average (SMA).

[0511] For a specific example, as shown in (a) of Fig. 22b, it is assumed that the memory buffer (211) is composed of a total of n+1 memory arrays from 0 to n. Here, the Weighted Moving Average (WMA) method is applied to information about the movement of n+1 wearers stored in a total of n+1 memory arrays. The information about the current movement of the wearer measured by the sensor unit (200) can be stored as X0 in the 0th memory array of the memory buffer (211), and accordingly, the nth memory array can be stored as X n This can be stored. The processor (220) performs the safety control function of the wearable robot (1) by calculating X0 from X by the weighted moving average (WMA). n The average value of information about the movements of n+1 wearers up to avg ) can be used as an input value of the risk judgment algorithm. As shown in (a) of Fig. 4b, the average value (X) by the weighted moving average (WMA) avg ) can be calculated using the following [Formula 1].

[0512] [Formula 1]

[0513]

[0514] At this time, X i is information about the movement of the wearable robot wearer stored in the i-th memory array of the memory buffer (211), is X i is the weight assigned to , and n is the last memory array among the total n+1 memory arrays of the memory buffer (211). X i It can be one of a driving angle based on the wearer's hip angle, a driving angular velocity based on the wearer's hip angle, a current applied to the motor, an acceleration of the main body housing (131), and an angular velocity of the main body housing (131).

[0515] According to one embodiment of the present invention, there may be cases where information on the movement of the wearable robot wearer is not stored in some of the memory arrays of the memory buffer (211). In such cases, the average value (X) by the weighted moving average (WMA) avg ) can be calculated only based on the information about the wearer's movement stored in the memory array. For example, if the information about the wearer's movement is stored only in the memory arrays 0 to k of the memory buffer (211), the average value (X avg ) can be calculated using the following [Formula 2]. Here, k is a non-negative integer that does not exceed n.

[0516] [Formula 2]

[0517]

[0518] In one embodiment of the present invention, the Weighted Moving Average (WMA) method used by the processor (220) to process data may be a filtering method. Specifically, the Weighted Moving Average (WMA) method may be a type of time-domain filtering. In addition, the method by which the processor (220) processes data is not limited thereto, and a Simple Moving Average (SMA) may be used to reduce noise and identify data trends.

[0519] As illustrated in (b) of FIG. 22B, the processor (220) can process information about the movement of a wearable robot wearer stored in a memory buffer (211) by performing a filtering method. Filtering time-series data or signals refers to removing unnecessary parts from time-series data or signals, or smoothing a signal to emphasize certain characteristics. Specifically, the processor (220) can use information about the movement of the wearer corresponding to time-series data by using a filtering method, thereby processing information about the movement of the wearer that is easy to interpret, such as by removing noise or smoothing, as an input value of a risk assessment algorithm.

[0520] According to one embodiment of the present invention, the filtering method generally includes a frequency domain filtering method and a time domain filtering method. The frequency domain filtering method is a method of converting time series data or signals into the frequency domain using a Fourier transform and then using a filter to remove or pass specific frequency components. For example, the filter may be a low-pass filter or a high-pass filter. The time domain filtering method refers to a method of applying a filter based on the characteristics of time series data or signals that change over time. In addition, the filter may be a finite impulse response filter (FIR filter) or an infinite impulse response filter (IIR filter).

[0521] In addition, as shown in (b) of FIG. 22b, when the information about the movement of the wearer is the inclination of the main body housing (131), it is more preferable to filter using a low-pass filter. For example, it is assumed that the memory buffer (211) is composed of a total of n+1 memory arrays from 0 to n. At this time, a frequency domain filtering method using a low-pass filter is applied to the information about the movement of the wearer stored in the memory buffer (211). The information about the current movement of the wearer measured by the sensor unit (200) can be stored as X0 in the 0th memory array of the memory buffer (211), and accordingly, X is stored in the nth memory array. n This can be stored. The processor (220) uses a low-pass filter to filter information (X) about the wearer's movement to perform the safety control function of the wearable robot (1). low pass, cur ) can be used as an input value of the risk judgment algorithm. As shown in (b) of Fig. 22b, information about the wearer's movement filtered using a low-pass filter (X low pass, cur ) can be calculated using the following [Formula 3].

[0522] [Formula 3]

[0523]

[0524]

[0525] At this time, Xi is information about the movement of the wearable robot wearer stored in the i-th memory array of the memory buffer (211), is a constant that can control the response speed of the filter. The 'cutoff freq' included in the equation defining the cutoff frequency was set to 0.4, and the 'sampling freq' was set to 100 Hz as the sampling frequency. X i It may be the inclination of the main body housing (131) measured based on the acceleration or angular velocity of the main body housing (131).

[0526] According to one embodiment of the present invention, the manner in which the processor (220) processes information regarding the wearer's movements is not limited to the aforementioned method. Furthermore, the method may be any of a variety of methods for generating optimal input values ​​required by a risk assessment algorithm used to detect abnormal operation of the wearable robot (1).

[0527] According to one embodiment of the present invention, the processor (220) receives information about the movement of the wearer stored in the memory (210), and when abnormal operation of the wearable robot (1) is detected by a risk judgment algorithm based on the information, the processor (220) can perform a safety control function of the wearable robot (1). Specifically, the safety control function of the wearable robot (1) includes at least one of error notification and setting, error maintenance, error confirmation and release, rest mode change, driving torque reduction, and power off of the wearable robot. In addition, the safety control function of the wearable robot (1) can be performed based on an error setting state previously set in the wearable robot (1).

[0528] According to one embodiment of the present invention, when the input information regarding the movement of the wearer of the wearable robot (1) exceeds a specific threshold condition of the risk judgment algorithm, the processor (220) may perform error notification and setting. Specifically, the error notification may notify the wearer that the wearable robot (1) is operating abnormally. For example, when the processor (220) performs the error notification as a safety control function, the wearable robot (1) may generate an alarm sound, or a user terminal (not shown) may generate an alarm sound or vibration. The error setting may store information indicating that the wearable robot (1) is operating abnormally in the wearable robot (1). In addition, the error setting may set the status of the wearable robot (1) to an error state. Meanwhile, the error notification and the error setting may be performed independently or simultaneously.

[0529] According to one embodiment of the present invention, if the input information regarding the movement of the wearer of the wearable robot (1) exceeds a specific threshold condition of the risk assessment algorithm, the processor (220) may perform error maintenance. Specifically, error maintenance may be to not delete information indicating that the wearable robot (1) is operating abnormally from the wearable robot. In addition, error maintenance may be to maintain an error setting state previously set in the wearable robot.

[0530] According to one embodiment of the present invention, if the information input value regarding the movement of the wearer of the wearable robot (1) does not exceed a specific threshold condition of the risk judgment algorithm, the processor (220) can perform error confirmation and release.

[0531] Specifically, error checking may be to check whether an error setting has been performed on the wearable robot (1) in the past. This is to check whether the wearable robot (1) is in an error setting state and, based on this, determine whether to release the error. However, even if the information input value regarding the movement of the wearer of the wearable robot (1) exceeds a specific threshold condition of the risk judgment algorithm, if the wearable robot (1) is in an error setting state through error checking, the processor (220) does not need to perform error setting again.

[0532] Specifically, error clearing may be the reverse process of error setting. Specifically, if normal operation of the wearable robot (1) is detected based on information input about the movement of a new wearer after error setting for the wearable robot (1), the processor (220) may store information indicating that the wearable robot (1) is operating normally in the wearable robot (1). In addition, error clearing may be performed while setting the state of the wearable robot (1) from an error state to a normal state. In addition, if an error setting has been performed for the wearable robot (1) at the time of error confirmation and normal operation of the wearable robot (1) is detected, the processor (220) may perform error clearing. In addition, if an error setting has not been performed for the wearable robot (1) at the time of error confirmation, the processor (220) does not need to perform error clearing. Meanwhile, error confirmation and error clearing may be performed independently or simultaneously.

[0533] According to one embodiment of the present invention, when the information input value regarding the movement of the wearer of the wearable robot (1) exceeds a specific threshold condition of the risk judgment algorithm, the processor (220) may perform a rest mode change. Specifically, the rest mode change may be a mode change of the wearable robot (1) from a walking mode to a rest mode. The rest mode refers to one of a plurality of modes of the wearable robot (1) in which the wearable robot (1) does not generate driving force and thus the driving torque applied to the wearer is 0. Meanwhile, the error setting and the rest mode change may be performed independently or simultaneously.

[0534] According to one embodiment of the present invention, when the information input value regarding the movement of the wearer of the wearable robot (1) exceeds a specific threshold condition of the risk judgment algorithm, the processor (220) may perform a driving torque reduction. Specifically, the driving torque reduction may be a method of controlling the wearable robot (1) so that the driving force generated from the wearable robot (1) and the driving torque applied to the wearer are reduced. Meanwhile, the error setting and the driving torque reduction may be performed independently or simultaneously.

[0535] According to one embodiment of the present invention, when the information input value regarding the movement of the wearer of the wearable robot (1) exceeds a specific threshold condition of the risk judgment algorithm, the processor (220) may perform a power-off of the wearable robot (1). Specifically, the power-off of the wearable robot (1) may be to turn off the power of the wearable robot (1) itself. Meanwhile, the threshold condition of the information input value regarding the movement of the wearer for performing the power-off of the wearable robot (1) as a safety control function may be a value greater than the threshold condition of the information input value regarding the movement of the wearer for performing the other safety control functions described above. Meanwhile, the error setting and the power-off of the wearable robot (1) may be performed independently or simultaneously.

[0536] According to one embodiment of the present invention, the processor (220) can perform a safety control function of a wearable robot based on a risk assessment algorithm. The risk assessment algorithm refers to an algorithm for detecting abnormal operation of the wearable robot (1). The risk assessment algorithm may include at least one critical condition. In addition, the risk assessment algorithm may apply the at least one critical condition sequentially or in parallel. In addition, the risk assessment algorithm may consider a condition regarding the wearer's walking state and may apply the at least one critical condition sequentially or in parallel according to the condition regarding the wearer's walking state. In this case, the 'condition regarding the wearer's walking state' may be whether the number of consecutive steps of the wearable robot wearer is two or more. Therefore, the processor (220) can perform a safety control function of the wearable robot (1) based on a risk assessment algorithm that applies at least one critical condition sequentially or in parallel.

[0537] In addition, according to one embodiment of the present invention, the processor (220) can perform a safety control function of the wearable robot (1) based on a risk judgment algorithm that applies conditions regarding the walking state of the wearer. In addition, the processor (220) can perform a safety control function of the wearable robot (1) based on a risk judgment algorithm that is set based on conditions regarding the walking state of the wearer and sequentially or in parallel applies at least one threshold condition according to conditions regarding the walking state of the wearer.

[0538] According to one embodiment of the present invention, the risk judgment algorithm may include an algorithm for detecting excessive driving angle, unintended overcurrent in the wearable robot (1), abnormal posture of the wearable robot (1), excessive driving angular velocity, and fall.

[0539] FIG. 23 is a diagram illustrating a risk judgment algorithm capable of detecting an excessive driving angle in a wearable robot according to one embodiment of the present invention.

[0540] According to one embodiment of the present invention, a risk judgment algorithm for detecting an excessive driving angle in a wearable robot (1) may be conditioned on the driving angle based on the hip angle exceeding a threshold value under the premise that the current is not in a rest mode. The risk judgment algorithm for detecting an excessive driving angle in a wearable robot (1) may be conditioned on the driving angle (Deg) based on the hip angle exceeding a threshold value (TH) of the driving angle based on the hip angle. Deg ) may include a step (E101) of determining whether the value exceeds the limit value.

[0541] At this time, if the driving angle exceeds the threshold value, a step of providing an error notification and setting (E103) and a step of changing to a rest mode (E105) may be included, and if the driving angle does not exceed the threshold value, an error confirmation and release (E107) may be included. The error notification and setting may be performed independently or simultaneously. In addition, the error confirmation and release may be performed independently or simultaneously.

[0542] This algorithm can be repeatedly performed by the processor (400) using the driving angle as an input value as the driving angle is sensed by the sensor unit (200) based on the hip angle and the sensed driving angle information is stored in the memory (210). At this time, the driving angle based on the hip angle can be a value measured together with the sensor unit (200) using an incremental encoder. In addition, the sensor unit (200) can be a Hall sensor (230).

[0543] According to one embodiment of the present invention, in a risk judgment algorithm for detecting an excessive driving angle in a wearable robot (1), a threshold value (TH) of the driving angle based on the hip angleDeg ) can be 120 degrees. These threshold settings may be derived from experimental data.

[0544] For example, there is a case where the wearer's daily life movement is the widest leg opening, that is, climbing two steps. In this case, the average of the driving angle based on the hip angle is 89.36 degrees, the standard deviation is 9.32 degrees, and the maximum value is 101.6 degrees, according to statistical data. Based on these statistical data, the threshold value of the driving angle is set to 120 degrees, which is larger than the maximum value of the statistical data, in order to prevent the safety control function from being performed even when an excessive driving angle does not occur. Alternatively, the driving angle based on the wearer's hip angle sensed by the sensor unit (200) may be inaccurate data, and the safety control function is to be prevented from being performed based on such data.

[0545] According to one embodiment of the present invention, a safety control function of a wearable robot (1) can be performed based on information on a wearable robot wearing state of a wearable robot wearer independently of the result value of a risk judgment algorithm for detecting an excessive driving angle in the wearable robot (1). Specifically, when information regarding a state in which the wearer is abnormally wearing the wearable robot (1) is sensed by the sensor unit (200), a safety control function of the wearable robot (1), such as switching the wearable robot (1) to a rest mode, can be performed independently of the result value of the risk judgment algorithm.

[0546] According to one embodiment of the present invention, a case in which an excessive driving angle is detected in a wearable robot (1) may be, for example, a case in which the angle of two connecting members (150) exceeds a threshold value of 120 degrees. In addition, this may be a case in which one of the connecting members (150) rotates excessively when the wearable robot (1) is unworn. In addition, this may be a case in which a wearable robot wearer is forced to climb up or down two steps of a staircase, or a case in which a wearable robot wearer climbs up or down three steps. However, this is merely an example, and may include various situations in which an excessive driving angle may cause danger to a wearable robot wearer. In addition, although the risk judgment algorithm for detecting an excessive driving angle in a wearable robot (1) applies one threshold condition, this is merely an example, and any other threshold condition may be added or replaced with any other threshold condition as needed.

[0547] FIG. 24 is a diagram illustrating a risk judgment algorithm capable of detecting overcurrent in a wearable robot according to one embodiment of the present invention.

[0548] According to one embodiment of the present invention, a risk judgment algorithm for detecting unintended overcurrent in a wearable robot (1) may be conditioned on the current applied to the motor exceeding a threshold value under the premise that it is not currently in rest mode.

[0549] As shown in Fig. 24, the risk judgment algorithm for detecting unintended overcurrent in a wearable robot (1) is based on the current applied to the motor, and the current (I) applied to the motor is greater than the threshold value (TH) of the current. I ) may include a step (E201) of determining whether the value exceeds the limit value.

[0550] At this time, if the current applied to the motor exceeds the threshold value, a step of performing error notification and setting (E203) and a step of changing to a rest mode (E205) may be included, and if the current applied to the motor does not exceed the threshold value, an error confirmation and release (E207) may be included. The error notification and setting may be performed independently or simultaneously. The same applies to the error confirmation and release. In addition, the current applied to the motor may be information measured by an ADC (Analog-to-Digital Converter) on the main board of the walking assistance wearable robot (1), or information measured using a Hall Effect sensor that utilizes the Hall Effect.

[0551] This algorithm can be repeatedly performed using the current value applied to the motor by the processor (400) as an input value, as the current information applied to the motor measured using the ADC on the main board or the Hall effect sensor of the sensor unit (200) is stored in the memory (210).

[0552] According to one embodiment of the present invention, in a risk judgment algorithm for detecting unintended overcurrent in a wearable robot (1), the current (I) applied to the motor is greater than the threshold value (TH) of the current I ) may be greater than 120% of the maximum current applied to the motor. This threshold value can be calculated by [Formula 4] below, and the constant values ​​constituting [Formula 4] may be values ​​derived based on experimental data.

[0553] [Formula 4]

[0554]

[0555]

[0556]

[0557] At this time, I max is the maximum current applied to the motor, and SFI is the safety factor at the maximum current value, and T max is the maximum driving torque that the wearable robot applies to the wearer, and K T is the torque constant.

[0558] In [Formula 4], TH I is I max and SF I is expressed as the product of , I max is T to K T It is expressed as a value divided by K T is expressed as the product of the motor torque constant, torque efficiency, and gear reduction ratio. Specifically, T max is the maximum value of the driving torque that the wearable robot applies to the wearer, and 6 Nm may be the maximum value of the ideal driving torque. This is because the range of the ideal torque value that the wearable robot (1) applies to the wearer may be from -6 Nm to +6 Nm.

[0559] This range may not necessarily accurately reflect the range of torque values ​​generated during a typical walking motion for all wearers. However, a torque that is too low may not provide sufficient support or resistance during walking, and a torque that is too high may disrupt the wearer's walking pattern or increase the risk of injury. Therefore, from this empirical perspective, a range of -6 Nm to +6 Nm may be a range that satisfies both the purpose of using the wearable robot (1) and the safety of the wearer. For example, the average maximum torque applied to the motor during a typical walking motion is 4.44 Nm, and the standard deviation is 0.54 Nm.

[0560] Additionally, according to one embodiment of the present invention, SF Ican be set to 1.2. This is a value derived from empirical data from experiments, etc. Specifically, the average value of the noise generated when measuring the current by the ADC on the main board is first checked, and a threshold value that can satisfy all within the normal current range is set as a result, so the safety factor of 1.2 can be confirmed. For a specific example, the average of the maximum value of the torque applied to the motor is 4.44 Nm, the standard deviation is 0.54 Nm, and the CoV (Coefficient of Variance) is 0.1219, so it can be confirmed that the safety factor is 1.2 based on CoV.

[0561] Also, K T The motor torque constant is 30.4, the torque efficiency is 0.849, and the gear reduction ratio is 35. These constant values ​​were also set to derive the ideal threshold value of the current applied to the motor based on experimental data.

[0562] According to one embodiment of the present invention, a safety control function of a wearable robot (1) can be performed based on information on a state in which a wearer of the wearable robot (1) is wearing the wearable robot (1), independently of the result value of a risk judgment algorithm for detecting unintended overcurrent in the wearable robot (1). Specifically, when information regarding a state in which the wearer is abnormally wearing the wearable robot (1) is sensed by the sensor unit (200), a safety control function of the wearable robot (1), such as switching the wearable robot (1) to a rest mode, can be performed independently of the result value of the risk judgment algorithm.

[0563] According to one embodiment of the present invention, when an unintended overcurrent is detected in a wearable robot (1), it may be a case where excessive current is generated due to the operation of the wearable robot (1). For example, this may be a case where an excessive current is generated in the robot due to an internal problem in the wearable robot (1). In addition, this may be a case where an excessive current is generated due to a failure of an internal component of the wearable robot (1) caused by excessive movement of the wearer of the wearable robot. However, this is merely an example, and may include various situations in which an unintended overcurrent is generated in the wearable robot (1) and may put the wearer of the wearable robot at risk.

[0564] According to one embodiment of the present invention, a risk judgment algorithm for detecting unintended overcurrent in a wearable robot (1) applies one threshold condition, but this is merely exemplary, and any other threshold condition may be added or replaced with any other threshold condition as needed.

[0565] FIG. 25a is a diagram illustrating a risk assessment algorithm capable of detecting an abnormal posture of a wearable robot according to one embodiment of the present invention. FIG. 25b is a diagram illustrating a threshold value set to reduce the possibility of tilt drift (or accumulated error) of the main body housing (131) of a wearable robot according to one embodiment of the present invention.

[0566] According to one embodiment of the present invention, a risk assessment algorithm for detecting an abnormal posture of a wearable robot (1) may be conditioned on exceeding a plurality of threshold conditions under the premise that the robot is not currently in rest mode. Specifically, as a condition regarding the walking state of the wearable robot wearer, if the number of consecutive steps is two or more, the slope difference value, the driving angle based on the hip angle, and the inclination of the main body housing (131) may each exceed the threshold values. If the number of consecutive steps is less than two, the driving angle based on the hip angle and the inclination of the main body housing (131) may each exceed the threshold values. In other words, the threshold conditions applied to the risk assessment algorithm may vary depending on the conditions regarding the walking state of the wearable robot wearer. However, the fact that the two cases are distinguished based on the conditions regarding the walking state of the wearable robot wearer does not mean that the conditions regarding the walking state of the wearable robot wearer must be determined first before determining the threshold conditions applied to the risk assessment algorithm.

[0567] As shown in Fig. 25a, the risk judgment algorithm for detecting an abnormal posture of a wearable robot (1) uses a low-pass filter to calculate the current slope value (S) filtered based on the slope of the main body housing (131). low pass, cur ) is the threshold (TH tilt ) is determined (E301), the driving angle (Deg) based on the hip angle exceeds the threshold value (TH Deg ) is exceeded, the number of consecutive steps (Step cntd ) is the threshold (TH step ) is exceeded (E303), and the difference between the current slope and the previous slope (S diff ) is the threshold (TH diff ) may include a step (E304) of determining whether the value exceeds the limit value.

[0568] At this time, if the posture of the wearable robot (1) is abnormal, a step of providing an error notification and setting (E305) and a step of changing to a rest mode (E306) may be included, and if the posture of the wearable robot (1) is normal, an error confirmation and release (E307) may be included. The error notification and setting may be performed independently or simultaneously. The same applies to the error confirmation and release.

[0569] This algorithm can be repeatedly performed by the processor (220) using the inclination of the main body housing (131) as an input value as the inclination information of the main body housing (131) sensed by the sensor unit (200) and the sensed inclination of the main body housing (131) is stored in the memory (210). At this time, the acceleration and angular velocity of the main body housing (131) used to measure the inclination of the main body housing (131) may be values ​​measured by the inertial sensor of the sensor unit (200). In addition, the driving angle based on the hip angle may be a value measured together with the sensor unit (200) using an incremental encoder. At this time, the sensor unit (200) may be a Hall sensor.

[0570] Specifically, in the risk judgment algorithm for detecting the posture of an abnormal wearable robot (1), first, the current slope calculation value (S) filtered using a low-pass filter is low pass, cur ) is the threshold (TH tilt) is exceeded. If the current slope calculation value does not exceed the threshold value, the posture of the wearable robot (1) is normal, so the safety control function of the wearable robot (1) is not performed. However, if an error is set and maintained, a process of performing error confirmation and release may be included. If the current slope calculation value exceeds the threshold value, the driving angle (Deg) based on the hip angle is greater than the driving angle threshold value (TH Deg ) is determined to exceed.

[0571] According to one embodiment of the present invention, in the process of determining whether the driving angle based on the hip angle exceeds the threshold value, if the driving angle based on the hip angle exceeds the threshold value, the posture of the wearable robot (1) is in a normal state, so the safety control function of the wearable robot (1) is not performed. However, if an error is set and maintained, a process of performing error confirmation and release may be included. If the driving angle based on the hip angle does not exceed the threshold value, the number of consecutive steps (Step cntd ) is the threshold (TH step ) is determined to exceed.

[0572] According to one embodiment of the present invention, in the process of determining whether the number of consecutive steps exceeds a threshold value, if the number of consecutive steps does not exceed the threshold value, an error notification and setting may be performed, and the wearable robot (1) may be changed from a walking mode to a resting mode. If the number of consecutive steps exceeds the threshold value, the difference value (S) between the current slope and the previous slope diff ) is the threshold (TH diff ) is determined to exceed.

[0573] According to one embodiment of the present invention, in the process of determining whether the difference between the current slope and the previous slope exceeds a threshold value, if the difference exceeds the threshold value, an error notification and setting may be performed, and the wearable robot (1) may be changed from a walking mode to a resting mode. If the difference does not exceed the threshold value, the posture of the wearable robot (1) is normal, and thus the safety control function of the wearable robot (1) is not performed. However, if an error is set and maintained, a process of performing error confirmation and release may be included.

[0574] In addition, as illustrated in FIG. 25A, at least one threshold condition applied in the risk assessment algorithm for detecting an abnormal posture of a wearable robot (1) may be applied sequentially or in parallel. Specifically, although one embodiment shows that a plurality of threshold conditions are applied sequentially to the risk assessment algorithm, this is exemplary and is not limited thereto, and may be applied in parallel. However, in the risk assessment algorithm for detecting an abnormal posture of a wearable robot (1), it is preferable to first determine whether the current slope calculation value exceeds the threshold value, and the process of determining whether the driving angle based on the hip angle exceeds the threshold value and whether the number of consecutive steps exceeds the threshold value may be performed sequentially or in parallel.

[0575] As illustrated in (b) of Fig. 22b, the inclination of the main body housing (131) input to the risk judgment algorithm for detecting an abnormal posture of the wearable robot (1) may be a value calculated by a filtering method. For example, the filter used for filtering may be a low-pass filter or a high-pass filter. At this time, it is preferable that the filter used for the inclination of the main body housing (131) uses a low-pass filter. In the process of measuring the angular velocity of the main body housing (131) using a gyroscope, which is a type of inertial sensor included in the motion detection sensor (221), an error occurs due to noise caused by the gyroscope itself or noise caused by other external factors, and in the process of integrating the angular velocity of the main body housing (131) having an error to obtain the inclination of the main body housing (131), the error caused by such noise accumulates, resulting in a drift (or accumulated error). To reduce the possibility of such drift (or accumulated error) occurring, a low-pass filter can be used.

[0576] However, the reason why a high-pass filter for removing low-frequency noise is not used, although it is more effective in removing drift, is because a lot of meaningful data is removed in the process of removing drift, and a low-pass filter for removing high-frequency noise is more effective in removing noise that causes drift. Therefore, the current slope calculation value of the main body housing (131) input to the risk judgment algorithm can be calculated using the following [Formula 5].

[0577] [Formula 5]

[0578]

[0579]

[0580] At this time, S i is a measurement value of the inclination of the main body housing (131) sensed by the sensor unit (200), is a constant that can control the response speed of the filter. The 'cutoff freq' included in the equation defining the cutoff frequency was set to 0.4, and the 'sampling freq' was set to 100 Hz as the sampling frequency. At this time, the values ​​of 'cutoff freq' and 'sampling freq' correspond to values ​​that are generally used to be applicable to human movement.

[0581] According to one embodiment of the present invention, in a risk judgment algorithm for detecting an abnormal posture of a wearable robot (1), the current inclination calculation value (S) of the main body housing (131) low pass, cur ) threshold (TH) tilt ) may be 65 degrees. These threshold settings may be derived from experimental data.

[0582] For example, as shown in (a) of FIG. 25b, if we look at a graph showing the inclination of the main body housing (131) over time in a situation where the walking speed is 5 km / h or more, we can visually confirm the degree of change in the inclination value (70) of the main body housing (131) according to walking. The range of the inclination value (70) of the main body housing (131) is from -20 degrees to -60 degrees, and the normal inclination in a situation where the walking speed is 5 km / h or more is generally around -20 degrees. However, the inclination value (70) of the main body housing (131) may be -60 degrees even in a situation where the wearable robot (1) is operating normally. This is because a gyroscope, which is one of the motion detection sensors (221), is used to measure the inclination of the main body housing (131). In general, when sensing information about the wearer's movement by the sensor unit (200), there is a high possibility of noise generation.

[0583] In addition, when measuring the angular velocity of the main body housing (131) by a gyroscope, errors may occur due to various factors. For example, factors that may cause errors may include temperature changes, electronic noise, mechanical stress, vibration, and aging of the sensor. Therefore, in the process of measuring the angular velocity of the main body housing (131), errors may occur due to noise caused by the gyroscope itself or noise caused by other external factors, and in the process of integrating the angular velocity of the main body housing (131) with errors to obtain the inclination of the main body housing (131), errors caused by such noise accumulate, resulting in accumulated errors, resulting in an inclination value that differs from the actual value over time. Accordingly, by assuming that the threshold value of the slope calculation value of the current main body housing (131) is set to 65 degrees, which is higher than the case where the slope is tilted by about 60 degrees due to drift (or accumulated error) during a normal walking process, it is possible to prevent the safety control function of the wearable robot (1) from being performed due to drift (or accumulated error) even though the wearable robot (1) is operating normally.

[0584] According to one embodiment of the present invention, in a risk judgment algorithm for detecting an abnormal posture of a wearable robot (1), a threshold value (TH) of a driving angle (Deg) based on a hip angle Deg) may be 50 degrees. This threshold setting may be a value derived based on experimental data. In addition, it may be set by the same principle as the method of setting the threshold of the driving angle based on the hip angle to detect the excessive driving angle described above. However, in order for the posture of the wearable robot (1) to be abnormal, if the driving angle based on the hip angle is not excessively widened and the degree of inclination of the main body housing (131) is large, the posture of the wearable robot (1) can be determined to be abnormal. Therefore, the threshold of the driving angle for detecting the posture of the wearable robot (1) may be set to 50 degrees, which is larger than the average driving angle during the wearer's normal walking process, and if the degree of inclination of the main body housing (131) is large while the driving angle based on the hip angle is less than 50 degrees, the posture can be determined to be abnormal.

[0585] According to one embodiment of the present invention, in a risk judgment algorithm for detecting an abnormal posture of a wearable robot (1), the number of consecutive steps (Step cntd ) threshold (TH) step ) can be 2 steps. Generally, 2 steps in the wearer's gait means 2 steps of 1 stride. '1 stride' is defined as the distance from when one foot is taken until the foot touches the ground again, and it includes steps of a pair of left and right feet. Since it is possible to determine whether the current walking phase or the walking phase is about to begin based on the threshold of '2 steps' for the continuous step count, this threshold condition can be referred to as 'conditions regarding the walking state of the wearable robot wearer'.

[0586] Furthermore, according to one embodiment of the present invention, the risk assessment algorithm may vary the threshold condition depending on the "condition regarding the walking state of the wearer of the wearable robot." Specifically, the "condition regarding the walking state of the wearer" may be determined by whether the number of consecutive steps is two or more. For example, if the number of consecutive steps is two or more, it may indicate a state in which walking is continuously taking place. In other words, it refers to a state in which the wearable robot wearer is continuously walking without stopping in the middle. Conversely, if the number of consecutive steps is less than two, it may indicate a state in which the wearable robot wearer is at a standstill or is starting to walk from a standstill. In other words, it refers to a state in which the wearable robot wearer is not walking or is about to start walking again. Therefore, the threshold condition applied to the risk assessment algorithm may be distinguished depending on whether the wearable robot wearer is currently walking or is about to start walking.

[0587] According to one embodiment of the present invention, in a risk judgment algorithm for detecting an abnormal posture of a wearable robot (1), the difference value (S) between the current slope and the previous slope diff ) threshold (TH) diff ) can be 10 degrees. These threshold settings may be derived from experimental data.

[0588] As shown in (a) of FIG. 25b, if we look at the graph showing the inclination of the main body housing (131) over time in a situation where the walking speed is 5 km / h or more, we can visually confirm the degree of change in the inclination value (70) of the main body housing (131) according to walking. In addition, referring to (b) of FIG. 25b, we can know the difference between the current inclination and the previous inclination. At this time, the difference between the current inclination and the previous inclination can also be defined as the inclination change rate (71) of the main body housing (131) per 0.5 seconds. In the present embodiment, when a drift occurs, the inclination of the main body housing (131) changes by about 20 degrees over about 10 seconds, so the time interval between the current inclination and the previous inclination is set to 0.5 seconds for quick response.

[0589] As shown in (b) of FIG. 25b, it can be confirmed that the inclination change rate (71) of the main body housing (131) per 0.5 seconds is approximately 1 degree. Therefore, if the inclination change rate (71) of the main body housing (131) per 0.5 seconds is less than 1 degree, it can be determined as drift rather than actual movement. However, if the inclination change rate (71) of the main body housing (131) per 0.5 seconds exceeds 10 degrees, it can be determined as a wearable robot. At this time, the reason why the threshold value of the inclination change rate (71) of the main body housing (131) per 0.5 seconds is 10 degrees instead of 1 degree is that the allowable error range existing based on 1 degree can be assumed, and the threshold value was set by multiplying the commonly used safety factor of 10 to prevent the safety control function of the wearable robot (1) from being performed in a situation where the wearable robot (1) is operating normally.

[0590] According to one embodiment of the present invention, a safety control function of a wearable robot (1) can be performed based on information on a wearable robot wearing state of a wearer of the wearable robot, independently of the result value of a risk judgment algorithm for detecting an abnormal posture of the wearable robot (1). Specifically, when information regarding a state in which the wearer is abnormally wearing the wearable robot (1) is sensed by the sensor unit (200), a safety control function of the wearable robot (1), such as switching the wearable robot to a rest mode, can be performed independently of the result value of the risk judgment algorithm.

[0591] According to one embodiment of the present invention, when an abnormal posture of a wearable robot (1) is detected, it may be when the wearer of the wearable robot is in a lying position or is excessively inclined. In addition, it may be when the wearable robot (1) is on a desk and a driving torque is generated. In addition, it may be when the waist wearing part of the wearable robot (1) is released and the main body housing (131) falls off the wearer. However, this is merely an example, and various abnormal postures of the wearable robot (1) that may put the wearer of the wearable robot at risk may be included. In addition, the threshold conditions applied in the risk judgment algorithm for detecting an abnormal posture of the wearable robot (1) are merely an example, and any other threshold conditions may be added, deleted, or changed as needed.

[0592] FIG. 26a is a diagram illustrating a risk assessment algorithm capable of detecting excessive driving angular velocity in a wearable robot according to one embodiment of the present invention. FIG. 26b is a diagram illustrating experimental values ​​measured for the maximum driving angle and driving angular velocity according to height according to one embodiment of the present invention. FIG. 26c is a diagram illustrating experimental results in which a larger threshold value is set for cases where the number of consecutive steps is two or more than for cases where the number of consecutive steps is less than two, according to one embodiment of the present invention.

[0593] According to one embodiment of the present invention, a risk judgment algorithm for detecting excessive driving angular velocity in a wearable robot (1) may be conditioned on exceeding a plurality of threshold conditions under the premise that the robot is not currently in a resting mode. Specifically, as a condition regarding the walking state of a wearable robot wearer, if the number of consecutive steps is two or more, the driving angle based on the hip angle and the driving angular velocity based on the hip angle each exceed a second threshold, and if the number of consecutive steps is less than two, the driving angle based on the hip angle and the driving angular velocity based on the hip angle each exceed a first threshold. In this case, the second threshold may be greater than the first threshold.

[0594] In other words, the threshold conditions applied to the risk assessment algorithm may vary depending on the conditions regarding the wearable robot wearer's gait state. However, the distinction between two cases based on the conditions regarding the wearable robot wearer's gait state does not imply that the conditions regarding the wearable robot wearer's gait state must be determined before determining the threshold conditions applied to the risk assessment algorithm.

[0595] As shown in Fig. 26a, a risk judgment algorithm for detecting excessive driving angular velocity in a wearable robot (1) is based on the driving angle and driving angular velocity based on the hip angle, and the number of consecutive steps (Step cntd ) is the threshold (TH step ) and, if the number of consecutive steps does not exceed the threshold, the driving angle (Deg) based on the hip angle is determined to be a first threshold (TH Deg1 ) and the drive angular velocity (Dps) based on the hip angle exceeds the first threshold (TH Dps1) is further included (E402), and if the number of consecutive steps exceeds the threshold, the driving angle (Deg) based on the hip angle is set to a second threshold (TH Deg2 ) and the drive angular velocity (Dps) based on the hip angle exceeds the second threshold (TH Dps2 ) may further include a step (E405) of determining whether the value exceeds the limit value.

[0596] At this time, if the posture of the wearable robot (1) is abnormal, a step of providing an error notification and setting (E403) and a step of changing to a rest mode (E404) may be included, and if the posture of the wearable robot (1) is normal, an error confirmation and release (E406) may be included. The error notification and setting may be performed independently or simultaneously. The same applies to the error confirmation and release.

[0597] This algorithm senses the driving angle and driving angular velocity based on the hip angle in the sensor unit (200), and as the sensed driving angle and driving angular velocity information is stored in the memory (210), the processor (220) can repeatedly perform the algorithm using the driving angle and driving angular velocity based on the hip angle as input values. At this time, the driving angle and driving angular velocity based on the hip angle may be values ​​measured together with the sensor unit (200) using an incremental encoder. In addition, the sensor unit (200) may be a Hall sensor.

[0598] Specifically, in the risk judgment algorithm for detecting excessive driving angular velocity in a wearable robot (1), first, the number of consecutive steps (Step cntd ) is the threshold (TH Step ) is determined. If the number of consecutive steps does not exceed the threshold, the driving angle (Deg) based on the hip angle is determined based on the first threshold (TH Deg1) and the drive angular velocity (Dps) based on the hip angle exceeds the first threshold (TH Dps1 ) is exceeded. If the number of consecutive steps exceeds the threshold, the driving angle (Deg) based on the hip angle is set to the second threshold (TH Deg2 ) and the drive angular velocity (Dps) based on the hip angle exceeds the second threshold (TH Dps2 ) is determined to exceed.

[0599] According to one embodiment of the present invention, in a process of determining whether a driving angle and a driving angular velocity based on a hip angle exceed a first threshold value, provided that the number of consecutive steps does not exceed a threshold value, if both the driving angle and the driving angular velocity based on the hip angle exceed their respective first threshold values, an error notification and setting may be performed, and the wearable robot (1) may be changed from a walking mode to a rest mode. If at least one of the driving angle and the driving angular velocity based on the hip angle does not exceed its respective first threshold value, the wearable robot (1) is in a normal operating state, and therefore the safety control function of the wearable robot (1) is not performed. However, if an error is set and maintained, a process of performing error confirmation and release may be included.

[0600] According to one embodiment of the present invention, in a process of determining whether a driving angle and a driving angular velocity based on a hip angle exceed a second threshold value, assuming that the number of consecutive steps exceeds a threshold value, if both the driving angle and the driving angular velocity based on the hip angle exceed the respective second threshold values, an error notification and setting may be performed, and the wearable robot (1) may be changed from a walking mode to a resting mode. If at least one of the driving angle and the driving angular velocity based on the hip angle does not exceed the respective second threshold values, the wearable robot (1) is in a normal operating state, and therefore the safety control function of the wearable robot (1) is not performed. However, if an error is set and maintained, a process of performing error confirmation and release may be included.

[0601] According to one embodiment of the present invention, in a risk judgment algorithm for detecting excessive driving angular velocity in a wearable robot (1), the number of consecutive steps (Step cntd ) threshold (TH) step ) can be two steps. Since it is possible to determine whether the current walking phase is in progress or is about to start walking based on the threshold of 'two steps' for the number of consecutive steps, this threshold condition can be referred to as a 'condition regarding the walking state of the wearable robot wearer.'

[0602] Furthermore, according to one embodiment of the present invention, the risk assessment algorithm may vary the threshold condition depending on the "condition regarding the walking state of the wearer of the wearable robot." Specifically, the "condition regarding the walking state of the wearer" may be determined by whether the number of consecutive steps is two or more. For example, if the number of consecutive steps is two or more, it may indicate a state in which walking is continuously taking place. In other words, it refers to a state in which the wearable robot wearer is continuously walking without stopping in the middle. Conversely, if the number of consecutive steps is less than two, it may indicate a state in which the wearable robot wearer is at a standstill or is starting to walk from a standstill. In other words, it refers to a state in which the wearable robot wearer is not walking or is about to start walking again. Therefore, the threshold condition applied to the risk assessment algorithm may be distinguished depending on whether the wearable robot wearer is currently walking or is about to start walking.

[0603] According to one embodiment of the present invention, in a risk judgment algorithm for detecting excessive driving angular velocity in a wearable robot (1), a threshold value (TH) of the driving angle (Deg) based on the hip angle when the number of consecutive steps of the wearable robot wearer is less than 2 steps Deg1 ) can be 60 degrees, and the threshold value (TH) of the driving angular velocity (Dps) Dps1 ) can be 500deg / s. At this time, the threshold value of the driving angle based on the hip angle becomes the first threshold value of the driving angle, and the threshold value of the driving angular velocity becomes the first threshold value of the driving angular velocity. In addition, the threshold value (TH) of the driving angle (Deg) based on the hip angle when the number of consecutive steps of the wearable robot wearer is 2 or more Deg2 ) can be 80 degrees, and the threshold value (TH) of the driving angular velocity (Dps) Dps1) can be 580deg / s. At this time, the threshold of the driving angle based on the hip angle becomes the second threshold of the driving angle, and the threshold of the driving angular velocity becomes the second threshold of the driving angular velocity.

[0604] According to one embodiment of the present invention, the threshold value setting of the critical condition applied in the risk judgment algorithm for detecting excessive driving angular velocity in a wearable robot (1) may be a value derived based on experimental data.

[0605] Referring to Fig. 26b, a graph showing changes in the driving angle and driving angular velocity over time based on the hip angle according to height during the walking process can be confirmed. The x-axis of the graph represents the timestep, the first axis (left axis) of the y-axis represents the driving angle, and the second axis (right axis) of the y-axis represents the driving angular velocity. Fig. 26b (a) is a diagram showing a graph showing changes in the maximum driving angle and driving angular velocity over time when a wearable robot wearer with a height of 160 cm walks or jogs. Referring to Fig. 26(b) (a), in the graph (81) showing the change in the maximum driving angle, it can be confirmed that the average value of the maximum driving angle when the wearable robot wearer walks or jog is approximately 60 degrees. In addition, in the graph (81') showing the change in the maximum driving angular velocity, it can be confirmed that the average value of the maximum driving angular velocity when the wearable robot wearer walks or jog is approximately 550 deg / s.

[0606] In addition, (b) of Fig. 26b is a diagram showing a graph showing changes in the maximum driving angle and driving angular velocity over time when a wearable robot wearer with a height of 177 cm walks or jogs. Referring to (b) of Fig. 26(b), in the graph (81) showing the change in the maximum driving angle, it can be confirmed that the average value of the maximum driving angle when the wearable robot wearer walks or jog is approximately 55 degrees. In addition, in the graph (81') showing the change in the maximum driving angular velocity, it can be confirmed that the average value of the maximum driving angular velocity when the wearable robot wearer walks or jog is approximately 400 deg / s.

[0607] Figure 26b (c) is a graph showing changes in the maximum driving angle and driving angular velocity over time when a wearable robot wearer with a height of 155 cm walks or jogs. Referring to Figure 26b (c), in the graph (81) showing the change in the maximum driving angle, it can be confirmed that the average value of the maximum driving angle when the wearable robot wearer walks or jog is approximately 40 degrees. In addition, in the graph (81') showing the change in the maximum driving angular velocity, it can be confirmed that the average value of the maximum driving angular velocity when the wearable robot wearer walks or jog is approximately 400 deg / s.

[0608] As illustrated in Fig. 26b, the average values ​​of the driving angle and the driving angular velocity based on the hip angle are different depending on the height of the wearable robot wearer. However, in order to set a single threshold that can serve as a criterion for determining the critical condition regardless of the difference depending on the height, the second threshold value of the driving angle based on the hip angle was set to 80 degrees and the second threshold value of the driving angular velocity was set to 580 deg / s based on the experimental data when the number of continuous steps of the wearable robot wearer was 2 or more. The first threshold value of the driving angle and the first threshold value of the driving angular velocity when the number of continuous steps of the wearable robot wearer was less than 2 were also set based on the experimental data (not shown).

[0609] According to one embodiment of the present invention, in a risk assessment algorithm for detecting excessive driving angular velocity in a wearable robot (1), a second threshold value for the driving angle based on the hip angle is greater than a first threshold value. Furthermore, the second threshold value for the driving angular velocity based on the hip angle is greater than the first threshold value. This will be described in detail below with reference to FIG. 26c.

[0610] Fig. 26c (a) is a drawing showing a graph showing the driving angle and driving angular velocity according to a fast walking situation (7 km / h) and an abnormal operating situation of a wearable robot (1) (e.g., loosening of the wearing part). The x-axis of the graph represents the driving angle, and the y-axis represents the driving angular velocity. Fig. 26c (b) is a drawing showing the contents of the two graphs of Fig. 26c (a) in a single graph.

[0611] As illustrated in (b) of Fig. 26c, it may be ideal to classify an area (hereinafter, an exception area) that deviates from the graph (82) of a fast walking situation as an abnormal operating situation. It can be seen that the threshold value (first threshold value) (84) in the case of transitioning from a stationary state to a walking state is positioned closer to the starting point of the exception area on the graph (83) of the abnormal operating situation, whereas the threshold value (second threshold value) (85) in the case of a situation in which walking continues is positioned further from the starting point of the exception area than the first threshold value. Therefore, in order to reduce false detection due to sensor noise in the process of sensing the driving angle and driving angular velocity based on the hip angle in the sensor unit (200) of the wearable robot (1), the second threshold value was set higher than the first threshold value within a range that can prevent damage to the wearer of the wearable robot and the surrounding environment.

[0612] According to one embodiment of the present invention, since both the driving angle and the driving angular velocity based on the hip angle are considered in the risk assessment algorithm for detecting excessive driving angular velocity in a wearable robot (1), a safety control function can be performed at a lower driving angle when an excessive driving angle is detected. In addition, the safety control function of the wearable robot (1) can be performed based on information on the wearable robot wearing state of the wearer of the wearable robot independently of the result value of the risk assessment algorithm for detecting excessive driving angular velocity in the wearable robot (1). Specifically, when information regarding a state in which the wearer is abnormally wearing the wearable robot (1) is sensed by the sensor unit (200), a safety control function of the wearable robot (1), such as switching the wearable robot (1) to a rest mode, can be performed independently of the result value of the risk assessment algorithm.

[0613] According to one embodiment of the present invention, when an excessive driving angular velocity is detected in a wearable robot (1), it may be caused by a problem with the wearing of the wearable robot (1) or a more dynamic running situation, rather than a normal walking process. In addition, it may be caused by an excessive rotation of the connecting member (15) of the wearable robot (1) when climbing stairs. In addition, it may be caused by a loosening of the second wearing part (17) and an excessive rotation of one of the connecting members (15). However, this is merely exemplary and may include various situations in which an excessive driving angular velocity occurs in the wearable robot (1) and may endanger the wearer of the wearable robot. In addition, the threshold conditions applied in the risk judgment algorithm for detecting an excessive driving angular velocity in the wearable robot (1) are merely exemplary, and any other threshold conditions may be added, deleted, or changed as needed.

[0614] FIG. 27a is a diagram illustrating a risk assessment algorithm capable of detecting a fall of a wearable robot wearer according to one embodiment of the present invention. FIG. 27b is a diagram illustrating fall data of a wearable robot wearer according to one embodiment of the present invention.

[0615] According to one embodiment of the present invention, a risk judgment algorithm for detecting a fall in a wearable robot (1) may be conditioned on the fact that the acceleration and angular velocity of the main body housing (131) each exceed a threshold value, under the premise that the robot is not currently in a rest mode. The risk judgment algorithm for detecting a fall in a wearable robot (1) may be conditioned on the fact that the acceleration (Acc) of the main body housing (131) exceeds a threshold value (TH) of the acceleration based on the acceleration (Acc) and angular velocity (Gyr) of the main body housing (131). ACC ) and whether the angular velocity (Gyr) of the main body housing (131) exceeds the threshold value of the angular velocity (TH ACC ) may include a step (E501) of determining whether the value exceeds the limit value.

[0616] At this time, if the acceleration and angular velocity of the main body housing (131) exceed the threshold value, a step of providing an error notification and setting (E503) and a step of changing to a rest mode (E505) may be included, and if the acceleration and angular velocity of the main body housing (131) do not exceed the threshold value, an error confirmation and release (E506) may be included. The error notification and setting may be performed independently or simultaneously. The same applies to the error confirmation and release.

[0617] This algorithm senses the acceleration and angular velocity of the main body housing (131) in the sensor unit (200), and as the sensed acceleration and angular velocity are stored in the memory (210), the processor (220) can repeatedly perform the algorithm using the acceleration and angular velocity as input values. At this time, the acceleration and angular velocity of the main body housing (131) used to measure the inclination of the main body housing (131) may be values ​​measured by the inertial sensor of the sensor unit (200).

[0618] According to one embodiment of the present invention, in a risk judgment algorithm for detecting a fall in a wearable robot (1), a threshold value (TH) of the acceleration (Acc) of the main body housing (131) ACC )silver It can be, and the threshold value (TH) of the angular velocity (Gyr) of the main body housing (131) ACC ) can be 450deg / s. This threshold setting can be derived from experimental data.

[0619] As shown in Fig. 27b, a graph showing the change in acceleration and angular velocity over time in normal walking and the change in acceleration and angular velocity over time in a fall state can be confirmed. In the case of a normal walking state, the average value of the acceleration calculated through the normalized acceleration value (91) is , and the average value of the angular velocity calculated through the normalized angular velocity value (91') is 71.0251deg / s. On the other hand, when a fall occurs, the average value of the acceleration is , and the average value of the angular velocity is 477 deg / s. As can be seen from the average values ​​of each acceleration and angular velocity and the graph shown in Fig. 27b, in the case where a fall occurs in the wearable robot (1), the acceleration and angular velocity values ​​of the main body housing (131) increase significantly compared to the case of a normal walking state. Therefore, based on these experimental data, a threshold value was set by applying safety values ​​that can encompass this.

[0620] According to one embodiment of the present invention, a fall detected in a wearable robot (1) may be when the wearer of the wearable robot trips over a rock or object, or when the device is dropped on the ground. However, this is merely an example, and may include various situations in which a fall may occur and put the wearable robot wearer at risk. In addition, although the risk assessment algorithm for detecting an excessive driving angle in the wearable robot (1) applies a single threshold condition, this is merely an example, and any other threshold condition may be added or replaced as needed.

[0621] Figure 28 is a flowchart illustrating a method for performing a safety function of a wearable robot according to one embodiment of the present invention.

[0622] As illustrated in FIG. 28, a safety control method for preventing danger to a wearer due to abnormal operation of a wearable robot that may occur before or during walking of the wearer may include a step (S101) of receiving mode information set to a wearable robot (1) among multiple modes of a walking assistance wearable robot (1), a step (S103) of receiving information about the movement of the wearer stored in a memory (210) when the mode set to the wearable robot (1) is a walking mode, and a step (S105) of performing a safety control function of the wearable robot (1) based on a risk judgment algorithm based on information about the movement of the wearable robot wearer.

[0623] Specifically, the step (S101) of receiving mode information set in the wearable robot (1) among multiple modes of the walking assistance wearable robot (1) may receive information about the mode set in the wearable robot (1) among multiple modes for assisting walking of a wearable robot wearer from the wearable robot (1) or may receive information from a user terminal (not shown) that controls the mode and torque intensity of the wearable robot (1).

[0624] Specifically, when the mode set in the wearable robot (1) is a walking mode, the step (S103) of receiving information about the movement of the wearer stored in the memory (210) is, when the mode set in the wearable robot (1) is a walking mode and the mode information received from the wearable robot (1) is walking mode information, the sensor unit (200) senses information about the movement of the wearer, and the sensed information about the movement of the wearer can be stored in the memory (210). In addition, information about the movement of the wearer stored in the memory (210) can be received. At this time, the plurality of modes of the wearable robot (1) may be one of a walking mode and a resting mode, and the walking mode may be a mode in which a driving torque is applied to the wearable robot (1) from the wearable robot (1), and the resting mode may be a mode in which the driving torque is turned off.

[0625] According to one embodiment of the present invention, the walking mode may include at least one torque transmission mode, and each torque transmission mode may include a mode for transmitting a torque corresponding to the purpose of walking. For example, when the wearable robot (1) is used for the purpose of assisting the walking of the wearer, the wearable robot may provide a torque that acts as an assisting force to the wearer, and when the wearable robot (1) is used for the purpose of strengthening the lower body muscles of the wearer, the wearable robot (1) may provide a torque that acts as a resisting force to the wearer. In addition, the walking mode may be at least one of an assisting mode, an exercise mode, and a climbing mode. In addition, in the safety control method, information about the movement of the wearable robot wearer may include at least one of a driving angle (or driving angle) and a driving angular velocity based on the hip angle of the wearer, a current applied to the motor, and an acceleration, angular velocity, and inclination of the main body housing (131). In this case, the information about the movement of the wearer may be information used in a risk assessment algorithm described below.

[0626] According to one embodiment of the present invention, the driving angle and driving angular velocity based on the wearer's hip angle may be information sensed by a Hall sensor (230). In addition, the driving angle and driving angular velocity based on the hip angle may be information measured using an incremental encoder. In addition, the current applied to the motor may be information measured by an ADC (Analog-to-Digital Converter) on the main board of the walking assistance wearable robot (1). In addition, it may be information measured using a Hall Effect sensor utilizing the Hall Effect.

[0627] According to one embodiment of the present invention, the acceleration, angular velocity, and inclination of the main body housing (131) may be information sensed by the motion detection sensor (221). For example, the motion detection sensor (221) may be an inertial sensor. In addition, the inclination of the main body housing (131) may be measured through filtering using a low-pass filter in order to reduce the possibility of accumulated errors that may occur in the process of generating inclination information. Specifically, the step (S105) of performing the safety control function of the wearable robot (1) based on the risk assessment algorithm based on the information on the movement of the wearable robot wearer is performed by using the information on the movement of the wearer received from the memory (210) as an input value to perform the risk assessment algorithm, and when abnormal operation of the wearable robot (1) is detected by the result value of the risk assessment algorithm, the safety control function of the wearable robot (1) may be performed.

[0628] According to one embodiment of the present invention, the safety control function of the wearable robot (1) performed by the safety control method includes at least one of error notification and setting, error maintenance, error confirmation and release, rest mode change, driving torque reduction, and power off of the wearable robot. In addition, the safety control function of the wearable robot (1) may be performed based on an error setting state previously set in the wearable robot (1).

[0629] According to one embodiment of the present invention, when the information input value regarding the movement of the wearer of the wearable robot (1) exceeds a specific threshold condition of the risk assessment algorithm, a safety control function called error notification and setting can be performed. Specifically, the error notification and setting may be to notify the wearer that the wearable robot (1) is operating abnormally and to store information indicating that the wearable robot (1) is operating abnormally in the wearable robot (1). At this time, the error notification and error setting may be performed independently or simultaneously. In addition, when the information input value regarding the movement of the wearer of the wearable robot (1) exceeds a specific threshold condition of the risk assessment algorithm, a safety control function called error maintenance can be performed. Specifically, error maintenance may be to maintain information indicating that the wearable robot (1) is operating abnormally without deleting it from the wearable robot. In addition, error maintenance may be to maintain an error setting state previously set in the wearable robot.

[0630] According to one embodiment of the present invention, if the input information regarding the movement of the wearer of the wearable robot (1) does not exceed a specific threshold condition of the risk judgment algorithm, a safety control function called error confirmation and release can be performed. Specifically, error confirmation and release can be performed to check whether an error setting has been performed for the wearable robot (1) when abnormal operation of the wearable robot (1) is detected. In addition, if the wearable robot (1) is operating normally rather than abnormally, the previously set error setting can be released. At this time, error confirmation and error release can be performed independently or simultaneously.

[0631] According to one embodiment of the present invention, when the information input value regarding the movement of the wearer of the wearable robot (1) exceeds a specific threshold condition of the risk judgment algorithm, a safety control function such as changing to a rest mode or reducing the driving torque can be performed. Changing to a rest mode can be a method of changing the mode of the wearable robot (1) from a walking mode to a rest mode in which the driving torque is 0, and reducing the driving torque can be a method of controlling the wearable robot (1) so that the driving torque applied to the wearer from the wearable robot (1) is reduced.

[0632] According to one embodiment of the present invention, in a safety control method, a risk assessment algorithm may include at least one critical condition. Furthermore, the risk assessment algorithm may apply at least one critical condition sequentially or in parallel. Furthermore, the risk assessment algorithm may consider a condition regarding the walking state of the wearer, and may apply at least one critical condition sequentially or in parallel according to the condition regarding the walking state of the wearer. In this case, the 'condition regarding the walking state of the wearer' may be whether the number of consecutive steps of the wearable robot wearer is two or more. Accordingly, the safety control method may include a risk assessment algorithm that sequentially or in parallel applies at least one critical condition for performing a safety control function of the wearable robot (1). Furthermore, the safety control method may include a risk assessment algorithm that applies a condition regarding the walking state of the wearer for performing a safety control function of the wearable robot (1). In addition, the safety control method is set based on conditions regarding the walking state of the wearer for performing the safety control function of the wearable robot (1), and may include a risk judgment algorithm that sequentially or in parallel applies at least one critical condition according to the conditions regarding the walking state of the wearer.

[0633] In addition, the safety control method may further include a step of performing a safety control function of the wearable robot based on information about the wearable robot wearing status of the wearable robot wearer. In this case, the safety control function by the safety control method may be performed independently from the result value of the risk assessment algorithm. In addition, the risk assessment algorithm may include an algorithm for detecting excessive driving angle, unintended overcurrent within the wearable robot (1), abnormal posture of the wearable robot (1), excessive driving angular velocity, and fall. However, this is merely a specific example and is not limited thereto.

[0634] Fig. 29 is a drawing showing the overall configuration of a temperature control module of a wearable robot according to one embodiment of the present invention.

[0635] As illustrated, the temperature control module (1') of the wearable robot includes a temperature sensing unit (1'-1), a temperature memory unit (1'-2), and a processor (1'-3).

[0636] Specifically, the temperature sensing unit (1'-1) according to the present invention can measure the temperature of the wearable robot and transmit information about the measured temperature to the temperature memory unit (1'-2). The temperature sensing unit (1'-1) can be located inside the wearable robot. For example, the temperature sensing unit (1'-1) can be a temperature sensor built into the IMU (Inertial Measurement Unit) of the wearable robot. As another example, the temperature sensing unit (1'-1) can be a separate temperature sensor existing inside the wearable robot. As another example, the temperature sensing unit (1'-1) can be a temperature sensor attached to the surface of the wearable robot. However, the present invention is not limited thereto.

[0637] Specifically, the temperature memory unit (1'-2) according to the present invention can receive information about the temperature measured by the temperature sensing unit (1'-1) from the temperature sensing unit (1'-1) and store it in the temperature memory buffer (1'-2') built into the temperature memory unit (1'-2).

[0638] The processor (1'-3) according to the present invention can access information about temperature stored in the temperature memory buffer (1'-2') and determine measures for temperature control of the wearable robot by using the information about temperature as input to the risk determination algorithm (1'-3'). Specifically, the processor (1'-3) can transmit a signal about the measures determined for temperature control of the wearable robot to a control unit that controls the drive module of the wearable robot. Alternatively, the processor (1'-3) can directly control the drive module of the wearable robot based on the measures determined for temperature control of the wearable robot.

[0639] According to the present invention, the temperature sensing unit (1'-1) can measure the temperature of the wearable robot according to the present invention and transmit information about the measured temperature to the temperature memory unit (1'-2). The temperature sensing unit (1'-1) can be located inside the wearable robot. For example, the temperature sensing unit (1'-1) can be a temperature sensor built into the IMU of the wearable robot. As another example, the temperature sensing unit (1'-1) can be a separate temperature sensor existing inside the wearable robot. For example, the temperature sensing unit (1'-1) can be a temperature sensor attached to the surface of the wearable robot.

[0640] Meanwhile, if the temperature sensing unit (1'-1) according to the present invention is a separate temperature sensor existing inside the wearable robot, it may be preferable for the temperature sensing unit (1'-1) to be present in a space where it does not come into contact with other parts of the wearable robot or in a space near the drive module of the wearable robot where the temperature change is extreme. However, this is not limited thereto.

[0641] According to the present invention, the space where the temperature sensing unit (1'-1) senses the temperature may vary depending on the space where the temperature sensing unit (1'-1) is located. For example, if the temperature sensing unit (1'-1) is a temperature sensor built into an IMU of a wearable robot, the temperature sensing unit (1'-1) can measure the internal temperature of the IMU of the wearable robot. For another example, if the temperature sensing unit (1'-1) is a temperature sensor attached to the surface of a wearable robot, the temperature sensing unit (1'-1) can measure the surface temperature of the wearable robot.

[0642] According to the present invention, the temperature sensing unit (1'-1) can sense the temperature of the wearable robot at regular time intervals. The time interval at which the temperature sensing unit (1'-1) measures the temperature of the wearable robot may vary depending on the temperature range that the temperature sensing unit (1'-1) intends to measure. Specifically, when the temperature range that the temperature sensing unit (1'-1) intends to measure is high, the amount of change in the measured temperature may not be large. Accordingly, it may be reasonable for the time interval at which the temperature sensing unit (1'-1) measures the temperature of the wearable robot to be 5 to 30 seconds.

[0643] When the temperature control module (1') of a wearable robot according to one embodiment of the present invention has the purpose of preventing low-temperature burns of a wearable robot, it is preferable that the time period during which the temperature sensing unit (1'-1) measures the temperature of the wearable robot is 5 to 30 seconds. For example, the temperature sensing unit (1'-1) can measure the temperature of the wearable robot every 5 seconds. In addition, the temperature sensing unit (1'-1) can transmit information about the measured temperature of the wearable robot to the temperature memory unit (1'-2). Specifically, the temperature sensing unit (1'-1) can transmit information about the temperature to the temperature memory unit (1'-2) using wired or wireless communication.

[0644] FIG. 30a is a diagram illustrating a temperature sensing unit, a temperature memory unit, and a temperature memory buffer included in the temperature memory unit according to the present invention. FIG. 30b is a diagram explaining a rule for updating temperature-related information in the temperature memory buffer according to the present invention.

[0645] As illustrated, the temperature memory unit (1'-2) includes a temperature memory buffer (1'-2'). Specifically, the temperature memory buffer (1'-2') can store information regarding the temperature of the wearable robot measured by the temperature sensing unit (1'-1).

[0646] The temperature memory unit (1'-2) according to the present invention can receive information about the temperature of the wearable robot transmitted by the temperature sensing unit (1'-1) and store it in the temperature memory buffer (1'-2') built into the temperature memory unit (1'-2).

[0647] As illustrated in FIG. 30b, the temperature memory buffer (1'-2') can sequentially store information about temperature. Specifically, the information about the temperature of the wearable robot transmitted by the temperature sensing unit (1'-1) can be sequentially stored in the temperature memory buffer (1'-2'), and the maximum number of stored pieces of information about the temperature of the wearable robot can have the same value as the number of memory arrays of the temperature memory buffer (1'-2'). For example, when the number of memory arrays of the temperature memory buffer (1'-2') is N, information about up to N pieces of temperature can be stored in the temperature memory buffer (1'-2'). At this time, the information about the temperature stored in the memory array of the first order can be the information about the temperature stored last. Additionally, the information about the temperature stored in the memory array of the last order can be the information about the oldest temperature among the stored pieces of information about the temperature.

[0648] In addition, the temperature memory buffer (1'-2') can sequentially store, delete, and update information about temperature according to the FIFO (First in first out) rule. Specifically, information about temperature that is first stored in the temperature memory buffer (1'-2') can be stored in the first memory array of the temperature memory buffer (1'-2'). At this time, information about temperature that was already stored in the temperature memory buffer (1'-2') can be moved to a memory array that is one step ahead from the existing one. For example, T stored in the i-th memory array i is moved to the (i+1)th memory array T i+1 Meanwhile, the temperature information stored in the last-order memory array may be deleted from the temperature memory buffer (1'-2') as the new temperature information is stored in the first-order memory array.

[0649] According to the present invention, the temperature memory unit (1'-2) can transmit information about the temperature of the wearable robot stored in the temperature memory buffer (1'-2') to the processor (1'-3). Specifically, the temperature memory unit (1'-2) can be connected to the processor (1'-3) wirelessly or by wire, and the temperature memory unit (1'-2) can transmit information about the temperature of the wearable robot to the processor (1'-3) by wire or by wireless. Alternatively, specifically, the temperature memory unit (1'-2) can be formed as an integral part of the processor (1'-3) as a component of the processor (1'-3).

[0650] According to the present invention, the processor (1'-3) can access information about the temperature stored in the temperature memory buffer (1'-2') and use the information about the temperature as input to a risk assessment algorithm (1'-3') to determine measures for temperature control of the wearable robot. More specifically, the processor (1'-3) can transmit a signal about the measures determined for temperature control of the wearable robot to a control unit that controls a drive module of the wearable robot. Alternatively, the processor (1'-3) can directly control the drive module of the wearable robot based on the measures determined for temperature control of the wearable robot.

[0651] FIG. 31A is a diagram showing a processor that can access information about temperature stored in a temperature memory unit according to the present invention.

[0652] As illustrated in FIG. 31a, the processor (1'-3) can access information about the temperature of the wearable robot stored in the temperature memory buffer (1'-2') of the temperature memory unit (1'-2). Specifically, the processor (1'-3) can be connected to the temperature memory unit (1'-2) by wire or wirelessly, and the processor (1'-3) can receive information about the temperature of the wearable robot from the temperature memory unit (1'-2) by wire or wirelessly. Alternatively, the processor (1'-3) may be formed as an integral unit by including the temperature memory unit (1'-2) as a single component.

[0653] FIG. 31B is a diagram showing a process of filtering information about temperature according to the present invention. FIG. 31B (a) is a diagram showing a process in which a processor (1'-3) determines a measure for controlling the temperature of a wearable robot by using information about the temperature of the wearable robot stored in a temperature memory buffer (1'-2') as an input value. FIG. 31B (b) is a diagram showing a process in which a processor (1'-3) according to the present invention filters information about the temperature of the wearable robot stored in a temperature memory buffer (1'-2') and uses it as an input value. FIG. 31B (c) is a diagram showing an embodiment of a process in which a processor (1'-3) according to the present invention filters information about the temperature of the wearable robot stored in a temperature memory buffer (1'-2').

[0654] As illustrated in (a) of FIG. 31b, the processor (1'-3) can determine a measure for temperature control of the wearable robot by directly inputting the information about the temperature of the wearable robot stored in the temperature memory buffer (1'-2'). At this time, the processor (1'-3) can utilize the information about the temperature of the wearable robot stored in the temperature memory buffer (1'-2') as an input value without an additional filtering process. Specifically, the temperature of the wearable robot measured by the temperature sensing unit (1'-1) in the current cycle is T0, which can be stored in the memory array 0 of the temperature memory buffer (1'-2'). When the processor (1'-3) determines a measure for temperature control for the temperature T0 of the wearable robot measured by the temperature sensing unit (1'-1) in the current cycle, T0 can be used as an input value for the risk determination algorithm (1'-3'). Here, T0 can be information about the current cycle temperature.

[0655] As illustrated in (b) of FIG. 31B, the processor (1'-3) can filter the information about the temperature of the wearable robot stored in the temperature memory buffer (1'-2') and use it as an input value. Specifically, the processor (1'-3) can remove noise included in the information about the temperature of the wearable robot stored in the temperature memory buffer (1'-2') through the filtering process. For example, the processor (1'-3) can perform moving average filtering. Moving average filtering is a filtering method commonly used in time-series data or signal processing. The basic principle of this method is to calculate the average value of the element and its surrounding elements for each element in a given data set and to generate a new data set based on this average value. Moving average filtering can help remove unnecessary noise from the original data or clearly identify the general trend of the data.

[0656] As shown in (c) of Fig. 31b, it is assumed that the temperature memory buffer (1'-2') is composed of a total of n+1 memory arrays from 0 to n. Here, the window size of the moving average filtering may be n+1, which is the total number of memory arrays of the temperature memory buffer (1'-2'). The temperature of the wearable robot measured by the temperature sensing unit (1'-1) in the current cycle is T0, which may be stored in the memory array 0 of the temperature memory buffer (1'-2'). When the processor (1'-3) determines a measure for temperature control for the temperature T0 of the wearable robot measured by the temperature sensing unit (1'-1) in the current cycle, the moving average value (T) for T0 avg ) can be used as input to the risk assessment algorithm (1'-3'). The moving average value for T0 (T avg) can be calculated using the following [Formula 6]. T X is information about the temperature of the wearable robot stored in the X memory array of the temperature memory (200), and n+1 is the window size of moving average filtering, i.e., the total number of memory arrays of the temperature memory buffer (1'-2').

[0657] [Formula 6]

[0658]

[0659] Here, the moving average for T0 (T avg ) is the current moving average (T avg, cur ) is defined. When the processor (1'-3) filters the information about the temperature of the wearable robot stored in the temperature memory buffer (1'-2') and uses it as an input value, the current moving average value (T avg, cur ) may be information about the current periodic temperature. On the other hand, if information about the temperature of the wearable robot is not stored in some of the memory arrays of the temperature memory buffer (1'-2'), the current moving average value (T avg, cur ) can be calculated based on the information about the temperature of the wearable robot stored in the temperature memory buffer (1'-2'). For example, if the information about the temperature of the wearable robot is stored only in the memory arrays 0 to k of the temperature memory buffer (1'-2'), the moving average value (T for T0) avg ) can be calculated using the following [Formula 7]. Here, k is a non-negative integer that does not exceed n.

[0660] [Formula 7]

[0661]

[0662] According to one embodiment of the present invention, the processor (1'-3) can determine a measure for temperature control by using the temperature-related information stored in the temperature memory unit (1'-2) as input to a risk determination algorithm. Specifically, the measure for temperature control determined by the processor (1'-3) includes at least one of error setting, error notification, error maintenance, error confirmation and error release, driving torque reduction, driving torque off, and device shutdown.

[0663] According to the present invention, if the input information regarding the temperature of the wearable robot exceeds a specific threshold, the processor (1'-3) may perform an error setting. Specifically, the error setting may be to store information in the wearable robot indicating that the temperature of the wearable robot has reached a level that may cause low-temperature burns to the wearer.

[0664] According to the present invention, if the input information regarding the temperature of the wearable robot exceeds a specific threshold, the processor (1'-3) may perform an error notification. Specifically, the error notification may inform the wearer that the temperature of the wearable robot has reached a level that may cause low-temperature burns to the wearer. For example, when the processor (1'-3) performs the error notification, the wearable robot may generate an alarm sound. Meanwhile, the error notification may be performed together with an error setting.

[0665] As described below, according to the present invention, the processor (1'-3) can perform error maintenance under certain conditions. For example, error maintenance may be maintaining a previously established error setting state. As another example, error maintenance may be maintaining a state in which an error setting has not been previously performed.

[0666] According to the present invention, when the input information regarding the temperature of the wearable robot is below a specific threshold, the processor (1'-3) can perform error checking and error clearing. Specifically, the error checking may be checking whether the wearable robot is in an error setting state. In addition, the error clearing may be storing information in the wearable robot indicating that the temperature of the wearable robot has not reached a level that may cause low-temperature burns to the wearer. When the error clearing is performed, the wearable robot can exit the state in which the error setting is performed. For example, if the wearable robot is not in an error setting state upon error confirmation, the processor (1'-3) can maintain the state. For example, if the wearable robot is in an error setting state upon error confirmation, the processor (1'-3) can perform error clearing.

[0667] According to the present invention, if the input information regarding the temperature of the wearable robot exceeds a specific threshold, the processor (1'-3) can perform a reduction in driving torque. Specifically, the reduction in driving torque may be performed by controlling the wearable robot to reduce the driving force generated by the wearable robot. Meanwhile, the reduction in driving torque may be performed in conjunction with an error setting.

[0668] According to the present invention, when the input value of information regarding the temperature of the wearable robot exceeds a specific threshold value, the processor (1'-3) can perform a driving torque off or a device shutdown. Specifically, the driving torque off may be controlling the wearable robot so that the wearable robot does not generate driving force. Or, specifically, the device shutdown may be turning off the power of the wearable robot so that the wearable robot does not generate driving force. Meanwhile, the threshold value of the input value of information regarding the temperature of the wearable robot for which the processor (1'-3) performs the driving torque off or the device shutdown may be a value greater than the threshold value of the input value of information regarding the temperature of the wearable robot for which the processor (1'-3) performs the driving torque reduction. Meanwhile, the driving torque off or the device shutdown may be performed with an error setting, but is not limited thereto.

[0669] FIG. 32a is a diagram for explaining a process in which a processor according to the present invention determines measures for temperature control by using temperature-related information as input to a risk determination algorithm.

[0670] As illustrated, the processor (1'-3) can access information about the temperature stored in the temperature memory buffer (1'-2') and use the information about the temperature as input to the risk determination algorithm (1'-3') to determine measures for temperature control of the wearable robot.

[0671] FIG. 32b is a diagram showing an example of temperature data by space and temperature data by driving torque in a wearable robot according to the present invention.

[0672] FIG. 32B (a) is a diagram showing an example of data showing temperature changes of a wearable robot over time according to a combination of the intensity of the driving torque of the wearable robot and the space of the wearable robot. Specifically, the intensity of the driving torque may vary from level 1 to level 3, and the intensity of the driving torque may increase as it goes from level 1 to level 3. Alternatively, specifically, the space of the wearable robot may refer to the inside and surface of the wearable robot device. Here, the inside of the wearable robot device may refer to the inside of the wearable robot where the temperature sensing unit (1'-1) according to the present invention can measure the temperature. Alternatively, the inside of the wearable robot device may refer to the internal space of the wearable robot where the temperature sensing unit (1'-1) according to the present invention is located.

[0673] Figure 32b (b) is a diagram showing a method for inferring the device surface temperature of a wearable robot from the device internal temperature of the wearable robot under a specific driving torque intensity, and predicting a change in the temperature of the device surface of the wearable robot according to a decrease in the driving torque.

[0674] According to the present invention, the risk determination algorithm (1'-3') can be configured based on temperature data by space within the wearable robot and / or temperature data by driving torque. Specifically, the risk determination algorithm (1'-3') can set a threshold value for an information input value regarding the temperature of a wearable robot that performs a specific action based on the temperature data by space within the wearable robot and / or the temperature data by driving torque, and / or a type of action to be performed at a specific threshold value as a set value.

[0675] S1 of (b) of Fig. 32b is an example showing that when the wearable robot is driven with a driving torque intensity of level 3, the internal temperature of the wearable robot reaches 50°C at a point 24 minutes after driving. S2 of (b) of Fig. 32b is an example showing that when the wearable robot is driven with a driving torque intensity of level 3, the surface temperature of the wearable robot reaches 46°C at a point 24 minutes after driving. S3 of (b) of Fig. 32b is an example showing that when the driving torque intensity of the wearable robot is lowered to level 1 at a point corresponding to S1 or S2, the surface temperature of the wearable robot drops from 46°C to 42°C at a point 30 minutes after driving.

[0676] That is, the temperature data by space within the wearable robot and / or the temperature data by driving torque can provide information about the internal temperature of the wearable robot at a specific point in time when the wearable robot is driven with a specific driving torque intensity. Alternatively, the temperature data by space within the wearable robot and / or the temperature data by driving torque can provide information about the surface temperature of the wearable robot when the internal temperature of the wearable robot reaches a specific value. Alternatively, the temperature data by space within the wearable robot and / or the temperature data by driving torque can provide information about how the internal temperature or the surface temperature of the wearable robot changes when the driving torque intensity is changed.

[0677] In the risk determination algorithm (1'-3') according to the present invention, a threshold value of an information input value regarding the temperature of a wearable robot that performs a specific action based on the temperature data by space and / or the temperature data by driving torque within the wearable robot and / or a type of action to be performed at a specific threshold value can be set. Specifically, based on the temperature data by space and / or the temperature data by driving torque within the wearable robot, the internal temperature of the device when the wearable robot reaches a device surface temperature that risks causing low-temperature burns to the wearer can be inferred. At this time, the internal temperature of the wearable robot can be set as a threshold value of an information input value regarding the temperature of the wearable robot that performs a specific action in the risk determination algorithm (1'-3'). Alternatively, specifically, based on the temperature data by space and / or the temperature data by driving torque within the wearable robot, an amount of temperature decrease over time due to actions including reducing the driving torque, turning off the driving torque, and shutting down the device when the wearable robot reaches a device surface temperature that risks causing low-temperature burns to the wearer can be inferred. At this time, the corresponding action can be set as an action for temperature control when the device surface temperature of the wearable robot reaches a specific value in the risk determination algorithm (1'-3').

[0678] FIG. 32c is a diagram illustrating a portion of one embodiment of a risk assessment algorithm that may be based on multiple threshold values ​​according to the present invention. FIG. 32d is a diagram illustrating a portion of another embodiment of a risk assessment algorithm that may be based on multiple threshold values ​​according to the present invention.

[0679] As illustrated, the risk determination algorithm (1'-3') can determine risk based on multiple temperature thresholds. In Fig. 32c, T avg, curmay be information about the current cycle temperature, and H1 and H2 may be a first threshold value and a second threshold value, respectively. Here, the first threshold value may be a value greater than the second threshold value. For example, the first threshold value may be a temperature at which the risk of low-temperature burns to a wearer of the wearable robot is very high and thus a driving torque off or device shutdown is required. For another example, the second threshold value may be a temperature at which the risk of low-temperature burns to a wearer of the wearable robot is high and thus a driving torque reduction is required. Specifically, the risk determination algorithm (1'-3') may include a step (E1) of determining whether an input value exceeds a first threshold value, and a step (E2) of determining whether the input value exceeds a second threshold value.

[0680] When information about the current cycle temperature is input into the risk determination algorithm (1'-3') according to the present invention, the processor (1'-3') can determine whether the input value exceeds a first threshold value (E1). If the input value exceeds the first threshold value, the risk determination algorithm (1'-3') can output a driving torque off or device shutdown action. If the input value does not exceed the first threshold value, the processor (1'-3') can determine whether the input value exceeds a second threshold value (E2). Here, if the input value exceeds the second threshold value, the risk determination algorithm (1'-3') can output a driving torque reduction action. That is, the risk determination algorithm (1'-3') can have a step of comparing the input value with a plurality of threshold values, and can output different actions in each case.

[0681] As illustrated in Figure 32d, the risk determination algorithm (1'-3') can determine risk based on multiple temperature thresholds. T avg, curmay be information about the current periodic temperature, and H1, H2, and H3 may be a first threshold, a second threshold, and a third threshold, respectively. Here, the first threshold may be a value greater than the second threshold, and the second threshold may be a value greater than the third threshold. For example, the first threshold may be a temperature at which the risk of low-temperature burns to a wearer of the wearable robot is very high, requiring a driving torque off or a device shutdown. For example, the second threshold may be a temperature at which the risk of low-temperature burns to a wearer of the wearable robot exists, requiring a driving torque reduction. For example, the third threshold may be a temperature at which the risk of low-temperature burns to a wearer of the wearable robot does not currently exist, but is likely to reach the second threshold in the future. Meanwhile, a difference between the second threshold and the third threshold may be smaller than a difference between the first threshold and the third threshold. Specifically, the risk determination algorithm (1'-3') may include a step (E3) of determining whether an input value exceeds a first threshold value, a step (E4) of determining whether the input value exceeds a second threshold value, and a step (E5) of determining whether the input value exceeds a third threshold value.

[0682] When information about the current periodic temperature is input into the risk determination algorithm (1'-3') according to the present invention, the processor (1'-3) can determine whether the input value exceeds a first threshold value (E3). If the input value does not exceed the first threshold value, the processor (1'-3) can determine whether the input value exceeds a second threshold value (E4). Here, if the input value does not exceed the second threshold value, the processor (1'-3) can determine whether the input value exceeds a third threshold value (E5). If the input value exceeds the third threshold value, the risk determination algorithm (1'-3') can output an error maintenance action. If the input value does not exceed the third threshold value, the risk determination algorithm (1'-3') can output an error confirmation and error release action.

[0683] That is, the risk determination algorithm (1'-3') can increase the convenience of the wearer of the wearable robot by preventing unintentional repetitive error notifications and reduction in driving torque near the threshold value through the step (E5) in which the processor (1'-3) determines whether the input value exceeds the third threshold value. If, in the step (E4) in which the processor (1'-3) determines whether the input value exceeds the second threshold value, the error confirmation and error release actions are always output when the input value is determined not to exceed the second threshold value, the risk determination algorithm (1'-3') can repeatedly output the error notification and the error confirmation and error release actions when the temperature of the wearable robot oscillates between the second threshold value and the fluctuation range that includes the second threshold value and has the third threshold value as the lower limit.

[0684] In addition, the risk determination algorithm (1'-3') can repeatedly output a driving torque reduction action or a driving torque off action. However, if the risk determination algorithm (1'-3') additionally includes a step (E5) of determining whether the input value exceeds a third threshold value after the step (E4) of determining whether the input value exceeds a second threshold value, the risk determination algorithm (1'-3') may not change the existing error setting state by outputting an error maintenance action when the temperature of the wearable robot exceeds the third threshold value but does not exceed the second threshold value. With this configuration, in cases where there is a high possibility that the error will be set again in the next cycle immediately after the error is cleared, such as when the temperature of the wearable robot does not exceed the second threshold value but exceeds the third threshold value, which is a temperature that does not present a current low-temperature burn risk to the wearer of the wearable robot but is likely to reach the second threshold value in the future, the risk determination algorithm (1'-3') may not output an error clearing action.

[0685] Meanwhile, the temperature threshold included in the risk determination algorithm (1'-3') and the type of action output by the risk determination algorithm (1'-3') can be set based on the temperature data by space and / or the temperature data by driving torque of the wearable robot.

[0686] FIG. 32e is a diagram illustrating a portion of one embodiment of a risk determination algorithm that can output different measures for temperature control depending on the driving torque of a wearable robot according to the present invention.

[0687] As shown, the risk determination algorithm (1'-3') can output different measures for temperature control depending on the driving torque of the wearable robot. T avg, curmay be information about the current cycle temperature, and H1 and H2 may be a first threshold value and a second threshold value, respectively. Here, the first threshold value may be a value greater than the second threshold value. For example, the first threshold value may be a temperature at which the risk of low-temperature burns to a wearer of the wearable robot is very high, requiring a driving torque off or a device shutdown. For example, the second threshold value may be a temperature at which the risk of low-temperature burns to a wearer of the wearable robot exists, requiring a driving torque reduction. Specifically, the risk determination algorithm (1'-3') may include a step (E6) of determining whether an input value exceeds the first threshold value, a step (E7) of determining whether the input value exceeds the second threshold value, and a step (E8) of determining a current strength of a driving torque of the wearable robot.

[0688] When information about the current periodic temperature is input into the risk determination algorithm (1'-3') according to the present invention, the processor (1'-3) can determine whether the input value exceeds a first threshold value (E6). If the input value does not exceed the first threshold value, the processor (1'-3) can determine whether the input value exceeds a second threshold value (E7). Here, if the input value exceeds the second threshold value, the processor (1'-3) can determine the current strength of the driving torque of the wearable robot (E8). For example, if the current strength of the driving torque of the wearable robot is 2 or greater, the risk determination algorithm (1'-3') can output an action to set the strength of the driving torque of the wearable robot to 1. For example, if the current strength of the driving torque of the wearable robot is 1, the risk determination algorithm (1'-3') can output an action to turn off the driving torque or shut down the device. Meanwhile, the temperature threshold included in the risk determination algorithm (1'-3') and the type of action output by the risk determination algorithm (1'-3') can be set based on the temperature data by space and / or the temperature data by driving torque of the wearable robot.

[0689] FIG. 32f is a diagram illustrating part of one embodiment of a risk determination algorithm that may be based on past input values ​​of temperature information input into the risk determination algorithm according to the present invention.

[0690] As shown, the risk determination algorithm (1'-3') can determine the risk based on the past input values ​​of the information about the temperature input into the risk determination algorithm (1'-3'). T avg, cur can be information about the current cycle temperature, T avg, prv may be information about the previous cycle temperature, H1, H2, and H3 may be a first threshold, a second threshold, and a third threshold, respectively. Here, the first threshold may be a value greater than the second threshold, and the second threshold may be a value greater than the third threshold. For example, the first threshold may be a temperature at which the risk of low-temperature burns to the wearer of the wearable robot is very high, requiring a driving torque off or a device shutdown. For example, the second threshold may be a temperature at which the risk of low-temperature burns to the wearer of the wearable robot is high, requiring a driving torque reduction. For example, the third threshold may be a temperature at which the risk of low-temperature burns to the wearer of the wearable robot is not currently high, but is likely to reach the second threshold in the future. Meanwhile, a difference between the second threshold and the third threshold may be smaller than a difference between the first threshold and the third threshold. Specifically, the risk determination algorithm (1'-3') according to the present invention may include a step (E9) of determining whether an input value exceeds a first threshold value and a step (E10) of determining whether an input value exceeds a second threshold value.

[0691] When information about the current cycle temperature is input to the risk determination algorithm (1'-3'), the processor (1'-3) can determine whether the input value exceeds a first threshold value (E9). If the input value does not exceed the first threshold value, the processor (1'-3) can determine whether the input value exceeds a second threshold value (E10).

[0692] According to one embodiment of the present invention, in the step (E10) of determining whether the input value exceeds the second threshold, if the input value exceeds the second threshold, the processor (1'-3) may determine whether the previous cycle temperature exceeds the second threshold (E11). For example, if the previous cycle temperature exceeds the second threshold, the risk determination algorithm (1'-3') may output an error maintenance action. For example, if the previous cycle temperature does not exceed the second threshold, the risk determination algorithm (1'-3') may output an error notification and a set action.

[0693] That is, the risk determination algorithm (1'-3') can increase the convenience of the wearer of the wearable robot by preventing unintentional repetitive error notifications and reduction in driving torque while the temperature of the wearable robot is maintained exceeding the second threshold through the step (E11) in which the processor (1'-3) determines whether the previous cycle temperature exceeds the second threshold. Specifically, in the step (E10) in which the processor (1'-3) determines whether the input value exceeds the second threshold, if the input value exceeds the second threshold, the risk determination algorithm (1'-3') can output an error notification and setting action only when the previous cycle temperature does not exceed the second threshold in the step (E11) in which the previous cycle temperature exceeds the second threshold. In contrast, in the case in which the previous cycle temperature exceeds the second threshold, the risk determination algorithm (1'-3') can output an error maintenance action that maintains the existing error state without outputting a new error notification setting action.

[0694] According to one embodiment of the present invention, in the step (E10) of determining whether the input value exceeds the second threshold, if the input value does not exceed the second threshold, the processor (1'-3) may determine whether the input value exceeds the third threshold (E12). If the input value exceeds the third threshold, the processor (1'-3) may additionally determine whether the previous cycle temperature exceeds the third threshold (E13). For example, if the previous cycle temperature exceeds the third threshold, the risk determination algorithm (1'-3') may output an error maintenance action. For example, if the previous cycle temperature does not exceed the third threshold, the risk determination algorithm (1'-3') may output an error confirmation and an error release action. If, in the step (E12) of determining whether the input value exceeds the third threshold, the input value does n...

Claims

1. In the walking assistance wearable robot, A first wearable part that can be mounted on a reference body part of the wearer; A second wearable part that can be mounted on the wearer's intended body part; a driving unit that can be connected to the first wearable part; and A plurality of connecting members connected to the driving unit and capable of transmitting rotational output provided from the driving unit to the second wearing unit; Including, The above plurality of connecting members are, A first connecting member capable of connecting one end of the driving part and one end of the second wearing part; and A second connecting member capable of connecting the other end of the driving part and the other end of the second wearing part; Includes, The above driving part, An actuator capable of generating an assistive force capable of assisting the wearer; and An angle sensing unit capable of sensing a specific relative angle between the first connecting member and the second connecting member; Including, The above angle sensing unit, A sensing unit capable of rotating in the same direction as the second connecting member; and A sensing induction member capable of rotating in the same direction as the first connecting member; including, Walking assistance wearable robot.

2. In paragraph 2, The above sensing unit, A detection signal can be generated based on the relative angle between the first connecting member and the second connecting member, The above sensing induction unit is, The above sensing unit can change the detection signal generated, The above sensing induction unit is, The detection signal generated by the sensing unit can be discretely changed, Walking assistance wearable robot.

3. In paragraph 2, The above sensing unit, A detection signal can be generated based on the relative angle between the first connecting member and the second connecting member, The above sensing induction unit is, The above sensing unit can change the detection signal generated, The above sensing induction unit is, The detection signal generated by the sensing unit can be continuously changed. Walking assistance wearable robot.

4. In paragraph 2, The above sensing unit, A detection signal can be generated based on the relative angle between the first connecting member and the second connecting member, The above sensing induction unit is, The above sensing unit can change the detection signal generated, The above driving part, A control unit capable of controlling the above actuator and performing zero point adjustment based on the specific relative angle sensed by the angle sensing unit; including, Walking assistance wearable robot.

5. In the clutch section of the wearable robot module that assists the movement of the wearer's arm, housing; A gear located inside the housing; A plurality of levers connected to one end of the housing by a connecting member, and capable of independently controlling the rotational direction of the gear; a wire pulley capable of being coupled to the above gear; and An elastic member that can be connected to the above wire pulley; Including, The above wire pulley can rotate in the same direction as the rotation direction of the above gear, The above elastic member is, The rigidity can be changed based on the rotation direction of the above gear, A clutch part of a wearable robot module that assists the movement of the wearer's arm.

6. In the clutch section of the wearable robot module that assists the movement of the wearer's arm, housing; A gear located inside the housing; A plurality of levers connected to one end of the housing by a connecting member, each lever capable of controlling the rotational direction of the gear; a wire pulley capable of being coupled to the above gear; and An elastic member that can be connected to the above wire pulley; Including, The above wire is released, Able to rotate in the same direction as the rotation direction of the above gear, A clutch part of a wearable robot module that assists the movement of the wearer's arm.

7. In paragraph 6, The above elastic member is, The rigidity can be changed based on the rotation direction of the above gear, A clutch part of a wearable robot module that assists the movement of the wearer's arm.

8. In a wearable robot module that assists the movement of the wearer's arm, A clutch unit capable of implementing multiple modes including a fixed mode and an elastic mode based on manipulation; A wire that is connected to one end of the clutch portion; and A working part connected to the other end of the above wire; Including, The above clutch part, housing; A gear located inside the housing; A plurality of levers connected to one end of the housing by a connecting member, and capable of independently controlling the rotational direction of the gear; a wire pulley capable of being coupled to the above gear; and An elastic member that can be connected to the above wire pulley; including, A wearable robotic module that assists the wearer's arm movements.

9. In a wearable robot module that assists the movement of the wearer's arm, A clutch unit capable of implementing multiple modes including a fixed mode and an elastic mode based on manipulation; A wire that is connected to one end of the clutch unit; A working part connected to the other end of the above wire; and A support frame to which the above-mentioned working part is connected; Including, The above clutch part, housing; A gear located inside the housing; A plurality of levers connected to one end of the housing by a connecting member, and capable of independently controlling the rotational direction of the gear; a wire pulley capable of being coupled to the above gear; and An elastic member that can be connected to the above wire pulley; Including, The above wire pulley can rotate in the same direction as the rotation direction of the above gear, A wearable robotic module that assists the wearer's arm movements.

10. In paragraph 9, The above elastic member can have a rigidity that changes based on the rotation direction of the gear. A wearable robotic module that assists the wearer's arm movements.

11. In a walking assistance wearable robot controlled in multiple modes according to the purpose of walking, Body housing; A sensor unit disposed within the main body housing and sensing information about the movement of a wearer wearing the wearable robot; A memory that stores information about the sensed movement of the wearer; and including a processor; The above processor, Receive mode information set to the wearable robot among the plurality of modes from the wearable robot, If the above received mode information is walking mode information, information about the wearer's movement stored in the memory is received, The safety control function of the wearable robot is performed based on a risk judgment algorithm based on information about the wearer's movements. The above processor, A wearable robot configured to perform a safety control function of the wearable robot based on information on the wearable robot wearing status of the wearer of the wearable robot. Walking assistance wearable robot.

12. In a walking assistance wearable robot controlled in multiple modes according to the purpose of walking, Body housing; A sensor unit disposed within the main body housing and sensing information about the movement of a wearer wearing the wearable robot; A memory that stores information about the sensed movement of the wearer; and including a processor; The above processor, Receive mode information set to the wearable robot among the plurality of modes from the wearable robot, If the above received mode information is walking mode information, information about the wearer's movement stored in the memory is received, The safety control function of the wearable robot is performed based on a risk judgment algorithm based on information about the wearer's movements. The above processor performs a safety control function of the wearable robot based on the risk judgment algorithm that applies conditions regarding the wearer's walking state, The above conditions regarding the wearer's walking status are whether the number of consecutive steps is 2 or more. Walking assistance wearable robot.

13. In paragraph 12, The above risk judgment algorithm can be set based on conditions regarding the wearer's walking status, The above processor performs a safety control function of the wearable robot based on the risk judgment algorithm that sequentially or in parallel applies at least one critical condition. Walking assistance wearable robot.

14. In a safety control method of a walking assistance wearable robot, A step of receiving mode information set to the wearable robot among the plurality of modes from the wearable robot; If the received mode information is walking mode information, a step of receiving information about the wearer's movement stored in the memory; and A step of performing a safety control function of a wearable robot based on a risk judgment algorithm based on information about the wearer's movements; Including, A step of performing a safety control function of a wearable robot based on information on a wearable robot wearing status of a wearable robot wearer; further comprising; Safety control method.

15. In paragraph 14, The safety control function of the above wearable robot is: Including at least one of error notification and setting, error maintenance, error confirmation and release, rest mode change, driving torque reduction and power off of the wearable robot, The safety control function of the above wearable robot is performed based on the existing error setting status. Safety control method.

16. In paragraph 15, The multiple modes of the above wearable robot include the walking mode and the resting mode, The above walking mode is a mode in which a driving torque is applied to the wearer from the wearable robot, The above rest mode is a mode in which the driving torque is off. Safety control method.

17. In a module for temperature control of a wearable robot, A temperature sensing unit capable of measuring the temperature of the above wearable robot; A temperature memory unit capable of storing information about the measured temperature; and A processor capable of determining measures for temperature control by using the temperature information stored in the temperature memory as input to a risk assessment algorithm; Including, The above risk assessment algorithm is: Configured to determine risk based on temperature data by space and / or temperature data by driving torque within the wearable robot, A module for temperature control of wearable robots.

18. In paragraph 17, The above risk assessment algorithm is: Risk can be determined based on multiple temperature thresholds, The above multiple temperature thresholds are: Configured to be set based on the temperature data for each space and / or the temperature data for each driving torque within the wearable robot, A module for temperature control of wearable robots.

19. In paragraph 18, The above temperature control measures determined by the above processor are: Including at least one of error setting, error notification, error maintenance, error confirmation and error release, driving torque reduction, driving torque off and device shutdown, The above risk assessment algorithm is: Configured to determine risk based on past input values ​​of information about the temperature input into the above risk determination algorithm, A module for temperature control of wearable robots.

20. In the walking assistance wearable robot, A first wearable part that can be mounted on the wearer's waist; A second wearable part that can be mounted on the wearer's thigh; A driving unit that can be connected to the first wearable part and can provide driving force to assist the wearer; and A connecting member that connects the driving unit and the second wearing unit and transmits the driving force provided from the driving unit to the second wearing unit; Including, The above driving unit includes a temperature control module capable of controlling the temperature of the wearable robot, The above temperature control module is, A temperature sensing unit capable of measuring the temperature of the above walking assistance wearable robot; A temperature memory unit capable of storing information about the measured temperature; and A processor capable of determining measures for temperature control by using the temperature information stored in the temperature memory as input to a risk assessment algorithm; Including, The above risk assessment algorithm is: Configured to determine risk based on temperature data by space and / or temperature data by driving torque within the above walking assistance wearable robot. Walking assistance wearable robot.

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