KIM, HONG CHULKR,김홍철,WANG, JI HYEUNKR,왕지현,SEO, CHANG HOONKR,서창훈,KIM, HEE YOUNGKR,김희영
申请号：
KR1020130158440
公开号：
KR1014908850000B1
申请日:
2013.12.18
申请国别(地区):
KR
年份:
2015
代理人:
摘要：
The present invention relates to a wearable robot based on walking intention assumption and a controlling method thereof, which can accurately sense the intention of a walker (user) in order to control a joint actuator by reducing errors through convergence between an inverse dynamic method and an HRI sensing method. The wearable robot based on walking intention assumption comprises: a back pack unit (100) which is worn by a user (1) a hydraulic pressure supply unit (200) which is installed in the back pack unit (100) in order to supply hydraulic pressure robot legs (300R, 300L) which are installed at both sides on the bottom of the back pack unit (100) and a controller which calculates torque requirement necessary for the operation of individual operating parts according to the intention of the walker, and can control the operation of the hydraulic pressure supply unit (200). The controlling method for the wearable robot based on walking intention assumption comprises: a walking estimating step (S110) which assumes a walking mode by sensing whether or not the right or left sole of a user is in contact with the ground a gradient measuring step (S120) which measures a gradient of the ground where the user is positioned a command generating step (S130) which assumes walking intention of the user using a sensor installed in the wearable robot (2), and generates commands for controlling individual operating parts by calculating torque requirement (T_req) necessary for operating the parts of the wearable robot according to the intention of the walker and a command performing step (S140) which actuates an actuator of the wearable robot (2) according to the generated command.COPYRIGHT KIPO 2015본 발명은 역동역학적 방법과 HRI 센싱방법을 융합하여 오차를 줄여 착용자의 보행의도를 정확하게 센싱하여 관절구동기를 제어할 수 있도록 하는 보행의도 추정기반 착용로봇 및 그 제어방법에 관한 것이다.본 발명에 따른, 보행의도 추정기반 착용로봇은, 착용자(1)가 메는 백팩부(100)와, 상기 백팩부(100)에 설치되고 유압을 공급하는 유압공급부(200)와, 상기 백팩부(100)의 하단 좌우 양측에 설치되고, 상기 착용자의 다리에 고정되는 로봇다리(300R)(300L)와, 착용자의 보행의도에 따라 각 가동부
