KR101846381B1 - Robot leg apparatus and prosthetic leg apparatus providing sway motions of heel joint - Google Patents

Abstract

The robot leg device includes an upper leg base portion and a calf joint power portion including a calf bone drive member and a calf bone piston member arranged in parallel at the center in a calf to support up and down vertical movement of the calf bone in the heel, A swing motion driving member that supports the calf joint power through the joint belt member and is disposed at a rear end on the upper foot base portion and a swing motion driving member which is coupled to the aft motion belt member, And an ankle joint power section including a motion motor wrapper.

Description

BACKGROUND OF THE INVENTION 1. Field of the Invention [0001] The present invention relates to a robot leg device and a prosthetic device for providing a swing motion of a heel,

BACKGROUND OF THE INVENTION 1. Field of the Invention [0001] The present invention relates to a robot leg technique using an ankle joint, and more particularly, to a robot leg technique using an ankle joint, To a robot leg device and a prosthetic device.

The robot leg device is a device necessary for the walking of the robot, and can be manufactured by imitating human legs. In addition, the robot leg device can be used as a prosthesis and can assist the rehabilitation treatment by assisting the walking motion of the person with limb amputation.

Conventional robotic leg devices require complex mechanisms to control the unnaturalness that occurs during the walking process and the unbalance that occurs during the walking process. In particular, such complicated mechanisms require momentary control of the motor and therefore require a motor with high torque. The robot leg device should be developed to more faithfully reflect the movement of the user and the intention of the user in order to solve such problems occurring in the walking process.

Korean Patent Laid-Open Publication No. 2016-0115395 relates to a lower limb device for changing a passive prosthesis at an ankle angle most suitable for a user according to a ground surface and preventing a footing phenomenon at an angular device, thereby improving a user's usability.

U.S. Patent No. 8,986,397 relates to a prosthetic foot for a user using a control system and describes how to control a leg prosthesis.

Korean Patent Laid-Open Publication No. 2016-0115395 relates to a lower limb device for changing a passive prosthesis at an ankle angle most suitable for a user according to a ground surface and preventing a footing phenomenon at an angular device, thereby improving a user's usability.

U.S. Patent No. 8,986,397 relates to a prosthetic foot for a user using a control system and describes how to control a leg prosthesis.

Korean Patent Laid-Open Publication No. 2016-0115395 (published October 10, 2016) U.S. Patent No. 8,986,397 (registered on March 23, 2015)

An embodiment of the present invention is a robot leg device and a prosthetic device capable of providing a swing motion of a heel to maintain a balance in a tilting posture of a robot or a user so as to facilitate movement in a walking process of the robot or a user .

An embodiment of the present invention is to provide a robot leg device and a prosthetic device capable of providing a vertical degree of freedom of a middle joint through design of the foot base portion, the ankle joint portion, and the body joint power portion.

An embodiment of the present invention is to provide a robot leg device and a prosthetic device capable of supporting a swing motion for eliminating unevenness of the sole caused by nonuniformity of the terrain.

An embodiment of the present invention is to provide a robot leg device capable of instantly detecting a user's movement through a multi-axis motion sensor and accurately predicting a user's next behavior and controlling the entire leg motion.

Among the embodiments, the robot leg device comprises a calf-bearing member which forms an upper foot base and a calf skeleton and is disposed in parallel at the center in the calf to support the vertical vertical movement of the calf bone in the heel and a calf- A swing motion driving member which supports the calf joint power section through the joint power section and the cushion joint belt member and is located at the rear end of the upper foot base section and a sway motion driving member which is engaged with the cushion joint belt member, And an ankle joint power section including a swing motion motor wrapper that moves left and right.

The swing motion motor wrapper may be coupled to one side of the cushion joint belt member at one end and at least a portion of the swing motion motor to transmit the rotational force of the swing motion motor to the calf joint motor power.

The swing motion motor wrapper may contact the ankle joint belt member between the one end and the other end to support the calf joint power.

The upper foot base portion may be divided into an upper toe member and an upper foot member through the middle joint.

The robot leg device includes a lower foot to base member disposed at a lower portion of the upper foot base portion and coupled to the upper toe member and a lower foot base member coupled to the upper foot member and the heel, .

The robot leg device includes a driving member and a piston member disposed in parallel with the stop on the upper foot member and coupled in parallel with the ankle joint power portion through a belt member, and the piston member is engaged with the upper toe member And a cervical joint power unit for performing linear motion through the driving member.

The driving member is realized through a motor and is capable of controlling a linear movement direction of the piston member through a rotation direction of the motor.

The piston member is connected to the upper toe member and can push or pull the upper toe member to rotate the middle joint to simulate movement of a person's middle joint.

The body joint power section detects the inclination of the upper pedestal member, which is changed due to the operation of the calcareous driving member, and can start the operation of the driving member when the inclination is not less than a specific angle.

The robot leg device includes a driving member and a piston member disposed in parallel with the break on the upper foot member and coupled in parallel with the ankle joint power portion through a belt member and the piston member is engaged with the upper toe member And a cervical joint power unit for performing linear motion through the driving member.

The calcareous drive member is realized through a motor and is capable of controlling the linear motion direction of the calcaneus piston member through the rotation direction of the motor.

The calcaneus piston member is connected to the body member of the middle ear and can push or pull the body member to simulate the movement of the ankle joint of a person.

The robot leg device may further include a first control unit for predicting a user's motion through a multi-axis motion sensor coupled to the calf joint power unit and controlling driving of the driving member and the calcareous driving member.

The robot leg device may further include a second controller for detecting the left and right inclination of the upper foot base through a tilt sensor coupled to the upper foot base to control the driving of the swing motion motor so that the calf skeleton can stand upright have.

Among the embodiments, the prosthetic device includes a calf joint drive portion and a calf joint portion including a calf bone drive member and a calcaneus piston member that form a calf skeleton and are arranged in parallel at the center in the calf to support vertical up and down movement of the calf bone in the heel, A swing motion driving member which supports the calf joint power portion through a belt member and is disposed at a rear end of the upper foot base portion and a swing motion driving member which is engaged with the augmentation belt member so as to move the calf skeleton leftward and rightward by the operation of the swing motion driving member, And an ankle joint power section including a motor wrapper.

The disclosed technique may have the following effects. It is to be understood, however, that the scope of the disclosed technology is not to be construed as limited thereby, as it is not meant to imply that a particular embodiment should include all of the following effects or only the following effects.

The robot leg device and the prosthesis device according to the embodiment of the present invention can provide a swing motion of the heel to balance the robot or the user in the tilting posture so that the robot or the user can smoothly move during the walking process have.

The robot leg device and the prosthesis device according to an embodiment of the present invention can provide the vertical degree of freedom of the middle joint through the design of the foot base portion, the ankle joint portion, and the body joint power portion.

The robot leg device and the prosthetic device according to an embodiment of the present invention can support a swing motion for eliminating an unevenness of the sole caused by the nonuniformity of the terrain.

The robot leg apparatus and the prosthesis apparatus according to an embodiment of the present invention can instantaneously detect the movement of the user through the multi-axis motion sensor and accurately predict the user's next behavior, thereby controlling the entire leg motion.

1 is a view showing a robot leg apparatus according to an embodiment of the present invention.
Fig. 2 is a view for explaining a configuration of the robot leg device shown in Fig. 1. Fig.
Fig. 3 is a block diagram illustrating the robot leg device shown in Fig. 1. Fig.
FIG. 4 is a view for explaining another configuration of the robot leg device shown in FIG. 1. FIG.
Fig. 5 is a view for explaining another configuration of the robot leg apparatus shown in Fig. 1. Fig.

The description of the present invention is merely an example for structural or functional explanation, and the scope of the present invention should not be construed as being limited by the embodiments described in the text. That is, the embodiments are to be construed as being variously embodied and having various forms, so that the scope of the present invention should be understood to include equivalents capable of realizing technical ideas. Also, the purpose or effect of the present invention should not be construed as limiting the scope of the present invention, since it does not mean that a specific embodiment should include all or only such effect.

Meanwhile, the meaning of the terms described in the present application should be understood as follows.

The terms "first "," second ", and the like are intended to distinguish one element from another, and the scope of the right should not be limited by these terms. For example, the first component may be referred to as a second component, and similarly, the second component may also be referred to as a first component.

It is to be understood that when an element is referred to as being "connected" to another element, it may be directly connected to the other element, but there may be other elements in between. On the other hand, when an element is referred to as being "directly connected" to another element, it should be understood that there are no other elements in between. On the other hand, other expressions that describe the relationship between components, such as "between" and "between" or "neighboring to" and "directly adjacent to" should be interpreted as well.

It is to be understood that the singular " include " or "have" are to be construed as including the stated feature, number, step, operation, It is to be understood that the combination is intended to specify that it does not preclude the presence or addition of one or more other features, integers, steps, operations, elements, components, or combinations thereof.

In each step, the identification code (e.g., a, b, c, etc.) is used for convenience of explanation, the identification code does not describe the order of each step, Unless otherwise stated, it may occur differently from the stated order. That is, each step may occur in the same order as described, may be performed substantially concurrently, or may be performed in reverse order.

All terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this invention belongs, unless otherwise defined. Commonly used predefined terms should be interpreted to be consistent with the meanings in the context of the related art and can not be interpreted as having ideal or overly formal meaning unless explicitly defined in the present application.

1 is a diagram illustrating a robot leg system according to an embodiment of the present invention.

Referring to FIG. 1, a robot leg system 100 includes a robot leg device 110, a calf skeleton 120, and a leg-fitting portion 130.

The robot leg system 100 is designed to mimic the natural human walking motion and can be utilized as a robot leg or as a prosthesis (i.e., a wearable robot leg). Hereinbelow, the following description has been made on the case of being used as a wearable robot leg or prosthesis.

The robot leg device 110 includes a portion corresponding to a part of a calf, ankle, and toe of a person, and can support the movement of the body during a walking process of the robot leg system 100. [ Hereinafter, the robot leg device 110 will be described in more detail with reference to FIG. 2 and FIG.

The calf frame 120 includes a portion corresponding to the rest of the calf, a part of the knee and the thigh, and may be configured to support the bending of the knee and the weight of the body during the walking process of the robot leg system 100.

The leg-fitting portion 130 includes a portion corresponding to the rest of the human thigh and can be designed to easily wear the robot or the human body. Here, the body may mean an upper structure including a part of the upper thigh.

Fig. 2 is a view for explaining a configuration of the robot leg device shown in Fig. 1. Fig.

2A is an exploded perspective view of a robot leg device. FIGS. 2B and 2C are an exploded perspective view and a disassembled side view of a robot leg device showing a state in which the middle joint is broken during a walking process. FIG. FIGS. 2d and 2e are exploded rear views and exploded side views of a robot leg device showing a process of performing a swing motion in a walking process. FIG.

Referring to FIG. 2, the robot leg device 110 may include a plurality of joint power units 210, 220, and 230 and foot bases 240 and 250.

The plurality of joint power units 210, 220 and 230 include a middle joint power unit 210, an ankle joint power unit 220 and a calf joint power unit 230, and power for supporting ankle joint and ankle joint And is generally implemented through a motor. Hereinafter, for the sake of convenience, the foot base portions 240 and 250 will be described first before the description of the plurality of articulating portions 210, 220, and 230 will be given.

The foot base portions 240 and 250 are composed of a lower foot base portion 240 and an upper foot base portion 250. The lower foot base portion 240 can concavely bend the center similar to the floor of a person's foot. The upper foot base portion 250 may be formed in a flat and planar shape and spaced apart from the lower foot base portion 240 at the heel.

The lower foot base portion 240 includes a lower toe member 242 and a lower foot member 244 and the upper foot base portion 250 includes an upper toe member 252 and an upper foot member 254. The cervical joint 256 corresponds to a joint in which the lower leg base portion 240 and the upper leg base portion 250 are combined. Here, the upper and lower foot bases 250 and 240 are designed to shape the foot of a robot, and the nose joint 256 is designed to support the walking motion of a human robot. Meanwhile, the lower leg base 240 may be made of a material having elasticity so as to absorb an impact generated by the motion of the robot leg device 110

More specifically, the lower toe member 242 and the upper toe member 252 are coupled to each other to form a toe at the front of the middle joint 256. When the middle joint 256 is broken during the walking process, Can support. In the drawings for explaining an embodiment of the present invention, the lower toe member 242 and the upper toe member 252 are shaped like a human toe, but such a shape is not intended to limit the scope of the right, Can be implemented through a form.

The lower footplate member 244 is coupled to the lower toe member 242 through the middle joint 256 to shape the sole of a person and to support the weight of the body during upright or walking. In the drawings for explaining an embodiment of the present invention, the lower pedestal member 244 is shaped like a sole of a human, but such a shape is not intended to limit the scope of the right, and can be implemented in various forms .

The upper footplate member 254 is coupled with the upper toe member 252 through the middle joint 256 and can mount the middle ear power unit 210 and the ankle joint power unit 220. In addition, the upper footplate member 254 may be designed to engage with the lower footplate member 244 at the ankle joint 256 and flare toward the heel. In the drawings for explaining one embodiment of the present invention, the upper footrest member 254 is formed to have the same shape as that of a human sole, but such a shape is not intended to limit the scope of the right and can be implemented in various forms .

The body joint power section 210 includes a driving member 212 and a piston member 214 that are disposed in parallel on the break on the upper foot member 254 and can support the up and down rotation of the body joint 256. The driving member 212 is realized through a motor and is capable of controlling the back and forth linear motion of the piston member 214 through the rotation direction of the motor. Here, the piston member 214 may be connected to the upper toe member 252.

For example, the driving member 212 may rotate the motor in the first direction to linearly move the piston member 214 in the forward direction, and move the lower and upper toe members 242 and 252 to the lower and upper foot members 244, and 254, respectively. For example, the driving member 212 may rotate the motor in the second direction to linearly move the piston member 214 in the backward direction, and move the lower and upper toe members 242 and 252 to the lower and upper step Members 244 and 254, respectively. In one embodiment, the body-arm power unit 210 controls the driving force of the driving member 212 within a specific range so that the balance of the person or the body is maintained in accordance with the gait situation so that the linear motion length of the piston member 214 can be varied .

That is, the piston member 214 is connected to the upper toe member 252 at one end thereof and is connected to the driving member 212 at the other end thereof, so that the upper toe member 252 is connected to the piston member 214 via the power transmitted from the driving member 212, To rotate the cervical joint 256 to simulate the rotation of the cervical joint relative to the robot or person.

The ankle joint power section 220 includes a swing motion driving member 222 and a swing motion motor wrapper 224. [

The ankle joint power section 220 is coupled to the middle ear power section 210 through the belt member 216 at the rear end center of the upper footrest member 254. Here, the belt member 216 is mounted on the upper pedestal member 254 to couple the driving member 212 and the piston member 214 in the middle arm power section 210 on one side thereof, and on the other side, And the joint power section 220 is engaged. In one embodiment, the belt member 216 may be fixedly coupled to the top footplate member 254.

In addition, the ankle joint power unit 220 is coupled to the calf joint power unit 230 via the joint member 226. Wherein the ankle joint belt member 226 is disposed on the ankle joint power section 220 to engage the ankle joint power section 220 through the swing motion motor wrapper 224 on one side thereof, Thereby coupling the power section 230.

The swing motion drive member 222 can be implemented through a cylinder-shaped swage motion motor, and the calf joint power section 230 can be rotated while supporting the weight of the body through the shape of the cylinder.

The swing motion motor wrapper 224 is coupled at one end thereof to one side of the cushion joint member 226 and at its other end to at least a portion of the swing motion drive member 222 (i.e., a swing motion motor). That is, the swing motion motor wrapper 224 can be implemented in a shape similar to a hook. In addition, the swing motion motor wrapper 224 can transmit the rotational force of the swing motion drive member 222 (i.e., the swing motion motor) to the calf joint power section 230.

In one embodiment, the ankle joint power unit 220 controls the driving force of the swing motion driving member 222 within a specific range so that the balance of the human body or the body is maintained in accordance with the balanced state, so that the rotation of the swing motion motor wrapper 224 The movement length can be variably controlled.

More specifically, in the structure of the ankle joint power section 220 and the calf joint power section 230, the swing motion motor wrapper 224 contacts the middle joint belt member 226 between one end and the other end, So that the joint power section 230 can be supported. That is, the swing motion motor wrapper 224 can wrap the swing motion drive member 222 almost one turn or more than one turn, so that the swing motion belt member 226 can be rotated about the swing motion drive member 222, It is possible to prevent the middle articulated belt member 226 from being in contact with or coupled to the other end.

For example, the swing motion drive member 222 may be rotated in a first direction to cause the swing motion motor wrapper 224 to rotate clockwise, and the calf joint power section 230 may rotate in a first direction , The right hand direction) of the swing motion drive member 222 through the swing motion motor wrapper 224. [

In another example, the swing motion drive member 222 may be rotated in a second direction to cause the swing motion motor wrapper 224 to rotate in a counterclockwise direction, and the calf joint power section 230 may rotate in a second direction To move the swing motion of the swing motion driving member 222 through the swing motion motor wrapper 224 so as to move the swing motion driving member 222 in the left direction.

As a result, the ankle joint power unit 220 transmits the rotational force of the swing motion driving member 222 to the calf joint power unit 230 through the swing motion motor wrapper 224, thereby moving the calf joint power unit 230 to the left and right And can be used to correct and balance torsion of the foot base portions 240,

The calf joint power section 230 forms an calf skeleton 120 and is disposed in parallel at the center in the calf and includes an ankle joint power section (not shown) coupled to the upper footrest member 254 in combination with the cuff joint belt member 226 220 to rotate clockwise or counterclockwise.

The calf joint power section 230 includes a calf bone drive member 232 and a calf bone piston member 234 and supports up and down movement of the calf bone 120 to tilt the body forward or to erect the body. The calcareous drive member 232 is implemented through a motor and can control the vertical linear motion of the calyx piston member 234 through the direction of rotation of the motor. In one embodiment, the calf joint power section 230 controls the driving force of the calumannal driving member 232 within a specific range so that the balance of the person or the body is maintained in accordance with the gait situation, Can be variably controlled.

For example, the caliper-bearing member 232 may rotate the motor in the first direction to move the calf-bone piston member 234 in an upward direction, and move the calf frame 120 upright on the upper- As shown in Fig. The calf-bearing member 232 can rotate the motor in the second direction to move the calf-bone piston member 234 in the downward direction and move the calf skeleton 120 tilted to the top footplate member 254 It can be controlled so as to stand up to the rear side. The calf-bone piston member 234 is connected to the hip joint belt member 226 and may push or pull the hip joint belt member 226 to tilt or upright the calf skeleton 120 from the top foot member 254. That is, the calf joint power section 230 can control the inclination of the body during the walking process.

Fig. 3 is a block diagram illustrating the robot leg device shown in Fig. 1. Fig.

3, the robot leg device 110 may further include a control unit 310 including a first control unit 312 and a second control unit 314, and the control unit 310 may include a plurality of joint power units 210, 220, and 230, the multi-axis motion sensor 240, and the tilt sensor 250.

Here, the multi-axis motion sensor 240 may be coupled to the calf joint power unit 230, although not shown in FIG. 2, to sense the fine movement of the calf skeleton 120, Lt; / RTI > In one embodiment, the multi-axis motion sensor 240 may be embedded in the calf joint power section 230.

2, the tilt sensor 250 can be coupled to the upper pedestal member 254 and can detect the left and right inclination of the upper pedestal member 254 and can be used to detect the balance state of the robot or the user . In one embodiment, the tilt sensor 250 may be embedded in the top footplate member 254.

That is, the control unit 310 detects the walking intention of the user and obtains the balanced state through the multi-axis motion sensor 240 and the tilt sensor 250 to control the plurality of joint power units 210, 220, and 230, Can be controlled.

First, a walk control process of the robot or the user by the first control unit 312 will be described.

The first control unit 312 receives detection from the multi-axis motion sensor 240 regarding movement of the calf skeleton 120 generated through the robot or the user's intention to walk. The first controller 312 detects movement of the calf skeleton 120 through the multiaxial motion sensor 240. When it is determined that the robot or the user intends to walk, the first controller 312 detects the movement of the calf joint motor 210, The joint power unit 230 may be controlled to tilt or upright the user or the body of the robot.

More specifically, the first control unit 312 controls the calcareous drive member 232 in the calf joint power unit 230 to push the articulation belt member 226 through the calyx piston member 234, The body can be tilted forward. The first control unit 312 detects the inclination of the upper pedal plate member 254 which is changed due to the operation of the calcar support member 232 and if the inclination is not less than a specific angle, 212 may be started.

More specifically, the first control unit 312 controls the driving member 212 in the body-arm power section 210 to pull the upper toe member 252 through the piston member 214 to rotate the middle joint 256 Thereby simulating the motion of the robot or a person's joint.

Next, the balance control process of the robot or the user by the second control unit 314 will be described.

The second control unit 314 receives detection from the tilt sensor 250 regarding the tilting of the upper pedestal member 254 generated through the balance state disturbance of the robot or the user. The second controller 314 detects the inclination of the upper pedestal member 254 through the tilt sensor 250 and controls the ankle joint power unit 220 when it is determined that there is an imbalance between the robot or the user The user or the body of the robot can be tilted to the left or to the right with respect to the upper pedestal member 254.

More specifically, the second control unit 314 controls the swing motion driving member 222 in the ankle joint power unit 230 so as to guide the swinging motion of the calf skeleton 254 with respect to the upper foot member 254 through the swing motion motor wrapper 224. [ (120) can be tilted to the left and right.

For example, the second control unit 314 rotates the swing motion driving member 222 in the opposite direction when it is detected that the upper pedestal member 254 is tilted inwardly from the outside of the foot floor through the tilt sensor 250 So that the robot or human body can be erected by tilting the calf skeleton 120 in the outward direction of the foot bottom. The second control unit 314 may control the swing motion member 222 in the opposite direction when the upper tread member 254 is detected to be tilted outwardly from the bottom of the foot through the tilt sensor 250 So that the robot or human body can be erected by tilting the calf skeleton 120 inward of the foot bottom.

FIG. 4 is a view for explaining another configuration of the robot leg device shown in FIG. 1. FIG.

In Fig. 4, the robot leg device 400 is substantially similar to the configuration of the robot leg device shown in Fig. 2, so that the difference will be mainly described. Even then, a person skilled in the art will be able to easily invent the robot leg device shown in Fig. 2 to Fig.

The drive member 212 that can be implemented with the motor of Figure 2 has been replaced by a drive member 422 that is implemented as a spring and the piston member 214 that is actuated through the motor of Figure 2 is spring- The piston member 414 has been replaced.

The driving member 422 can be tilted forward through the shrinkage of the middle arm power section 210 and the middle arm power section 210 can be tilted rearward through the extension. In addition, the driving member 422 can support the swing motion by winding or releasing the spring to the ankle joint power unit 220.

It will be apparent to those skilled in the art that various modifications and variations can be made in the present invention without departing from the spirit or scope of the present invention as defined by the following claims It can be understood that

100: Robot leg device system
110: Robot leg device 120: Calf skeleton
130:
210: body joint power section 212: drive member
214: piston member 216: belt member
220: ankle joint power section 222: swing motion drive member
224: Sway motion motor wrapper 226: Neck joint belt member
230: calf joint power unit 232: calf bone drive member
234: a vertical bone member
240: lower foot base portion 242: lower toe member
244: lower foot plate member
250: upper foot base portion 252: upper toe member
254: upper stepping member 310:

Claims (15)

An upper foot base portion;
A calf joint power section including a calf-bearing member and a calcaneus piston member that form a calf skeleton and are disposed in parallel in the middle of the calf to support up-and-down vertical movement of the calf bone in the heel; And
A swing motion driving member that supports the calf joint power portion through the body joint belt member and is disposed at a rear end of the upper foot base portion and a swing motion driving member which is engaged with the body joint belt member and moves the calf skeleton left and right by operation of the swing motion driving member A robot leg device comprising an ankle joint power section including a swing motion motor wrapper.
2. The apparatus of claim 1, wherein the swing motion motor wrapper
Wherein one end is engaged with one side of the cervical joint member and the other end is wrapped with at least a part of the swing motion motor to transmit rotational force of the swing motion motor to the calf joint power unit.
3. The apparatus of claim 2, wherein the swing motion motor wrapper
Wherein the support member is in contact with the cervical joint belt member between the one end and the other end to support the calf joint power.
2. The apparatus of claim 1, wherein the upper foot base
And an upper foot member and an upper foot member through the joint.
5. The method of claim 4,
And a lower foot base portion disposed at a lower portion of the upper foot base portion and composed of a lower toe member coupled with the upper toe member and a lower foot member coupled with the upper foot member and the heel, .
5. The method of claim 4,
And a piston member disposed in parallel with the interruption on the upper foot member and coupled in parallel with the ankle joint power section via a belt member, the piston member being engaged with the upper toe member, And a cervical joint power unit for performing a linear motion through the cervical joint power unit.
The apparatus as claimed in claim 6, wherein the driving member
Wherein the control unit is implemented through a motor and controls a linear motion direction of the piston member through a rotation direction of the motor.
8. A piston according to claim 7, wherein the piston member
Wherein the robot leg device is connected to the upper toe member and pushes or pulls the upper toe member to rotate the ankle joint to simulate movement of a person's ankle joint.
7. The apparatus of claim 6, wherein the body joint power section
Wherein the control unit detects the inclination of the upper pedal member changed due to the operation of the calcareous driving member and starts the operation of the driving member when the inclination is not less than a specific angle.
6. The method of claim 5,
And a piston member disposed in parallel with the break on the upper foot member and coupled in parallel with the ankle joint power unit via a belt member, the piston member being coupled to the upper toe member, Further comprising a cervical joint power section for performing a linear motion through the cervical joint power section.
[2] The apparatus according to claim 1,
Wherein the motor is implemented through a motor and controls the direction of linear motion of the calcaneus piston member through the direction of rotation of the motor.
12. The method of claim 11, wherein the calcareous piston member
Wherein the joint member is connected to the joint member of the crotch member and pushes or pulls the joint member to simulate movement of the ankle joint of the person.
The method according to claim 1,
Further comprising a first control unit for predicting an operation of a user through a multi-axis motion sensor coupled to the calf joint power unit and controlling driving of the driving member and the caliber driving member.
14. The method of claim 13,
Further comprising a second control unit for detecting a left-right inclination of the upper foot base through a tilt sensor coupled to the upper foot base and controlling driving of the swing motion motor so that the calf skeleton can stand upright, Leg device.
An upper foot base portion;
A calf joint power section including a calf-bearing member and a calcaneus piston member that form a calf skeleton and are disposed in parallel in the middle of the calf to support up-and-down vertical movement of the calf bone in the heel; And
A swing motion driving member that supports the calf joint power portion through the body joint belt member and is disposed at a rear end of the upper foot base portion and a swing motion driving member which is engaged with the body joint belt member and moves the calf skeleton left and right by operation of the swing motion driving member And an ankle joint power section including a swing motion motor wrapper.

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