Wearable Robot Center of Gravity Velocity Motion Control
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Solution Overview
Problem
Current wearable robots lack effective methods to determine and assist a wearer's intended motion, particularly for lower extremity movements like standing and sitting, which are crucial for daily activities, and often rely on incomplete data for motion recognition.
Innovation Solution
A wearable robot system that calculates the velocity of the wearer's center of gravity and uses pressure sensors to determine the intended motion, comparing velocity and pressure data to reference values to accurately identify standing or sitting states, and generates torque in joints to assist the wearer's motion through a controller and driver system.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Device complexity
If wearable robots use incomplete data for motion recognition, then the device complexity is reduced, but the reliability of motion determination deteriorates
Solution Approach 1:
The patent combines multiple data sources (pressure sensor data, velocity information from center of gravity calculation) into a unified motion recognition system. By merging these different types of data, the system achieves more reliable motion determination without requiring overly complex individual sensors, thus resolving the contradiction between device complexity and reliability.
Solution Approach 2:
The controller serves multiple functions: it processes pressure sensor data, calculates center of gravity velocity, determines motion states, and generates torque commands. This multi-functionality allows the system to achieve high reliability through comprehensive data processing while avoiding the need for separate dedicated devices for each function, thereby managing device complexity.
2Reliability
If wearable robots calculate velocity of center of gravity and use pressure sensors to determine intended motion, then the reliability of motion determination is improved, but the device complexity increases
Solution Approach 1:
The system uses the wearer's own body dynamics (center of gravity movement) as the primary data source for motion recognition. By calculating velocity from center of gravity position rather than requiring external motion capture systems, the robot achieves high reliability while avoiding the complexity of external sensing infrastructure.
3Productivity
If the controller calculates torque based on wearer's intended motion to assist joint movements, then the effectiveness of motion assistance is improved, but the use of energy increases
Solution Approach 1:
The controller calculates torque in advance based on the determined intended motion and wears it through multiple steps (n≥1). By preparing and applying torque proactively rather than reactively, the system improves assistance effectiveness while optimizing energy consumption through planned rather than continuous high-power operation.
Data Source
AI summary
Disclosed herein is a wearable robot for assisting a wearer's intended motion, including: one or more links configured to support the wearer; one or more joints unit configured to connect the links to each other; a controller configured to determine the wearer's intended motion, and to calculate at least one torque based on the wearer's intended motion; and a driver configured to generate the calculated torque in the joints. According to the wearable robot, a wearer's intended motion may be determined in real time based on a velocity of the wearer's center of gravity. At this time, by using a pressure sensor, reliability of the motion determination may increase. Also, joint movements may be effectively controlled according to the wearer's intended motion.