KR102397306B1 - Control method and system of wearable apparatus for assisting muscular strength - Google Patents

Abstract

It is composed of a driving unit mounted on the wearer's upper body side, a link mounted on the leg side, and a wire connecting the driving unit and the link. Controls a wearable strength assisting device that assists the wearer's back muscle strength through the tensile force applied to the wire when the driving unit operates. A method comprising: detecting a posture of a wearer; determining whether it is necessary to generate a tensile force in the driving unit based on the detected posture of the wearer; when it is necessary to generate a tensile force in the driving unit, calculating an auxiliary torque required to assist the wearer's back muscle strength while entering the driving mode; and controlling the driving unit to generate a tensile force corresponding to the calculated auxiliary torque.

Description

CONTROL METHOD AND SYSTEM OF WEARABLE APPARATUS FOR ASSISTING MUSCULAR STRENGTH

The present invention relates to a method and system for controlling a wearable strength assisting device, and more particularly, to a method of controlling a wearable strength assisting device that assists a wearer's back muscle strength by detecting a wearer's posture.

Although many types of work equipment have been developed, there is still a task in which a person must work directly or a task in which the efficiency is increased when a person works in various industrial sites.

However, these tasks may sometimes require physical abilities that go beyond a person's physical limits, in which case many people may work together or a small number of people may perform tasks beyond their abilities. As a result, there is always a risk that the efficiency of the work may decrease and the bodily injury of the worker may occur.

In order to solve this problem, wearable robots that can be worn directly by the operator and that add auxiliary power to the movement of the operator have been developed. It consisted of a form in which the robot receives the load received by the operator instead.

That is, it was a method in which the robot wore the robot and the robot drove each joint of the operator, and the robot received the load received by the operator's joints instead of driving it.

However, up to now, most wearable robots are configured in a way that each joint is individually driven, and this structure requires a actuator and a reducer for each joint, limiting the weight reduction of the wearable robot, and high cost is required. In addition, there was a problem in the instability of the control in controlling a plurality of actuators.

Accordingly, a wearable robot that assists the wearer's back muscles through one actuator and a reducer has been developed. However, such a wearable waist strength assisting robot needs to be controlled so that the wearer's back strength is supported when the wearer bends or stretches, and the wearer is not uncomfortable when the wearer walks.

Accordingly, in order to determine whether the control unit is in a driving mode in which the actuator is driven to operate or in a walking mode in which the control unit does not operate the driving unit, it is necessary to detect the wearer's posture. In order to detect the wearer's posture, sensors for measuring the wearer's waist bending angle and hip angle, respectively, were required.

The matters described as the background art above are only for improving the understanding of the background of the present invention, and should not be accepted as acknowledging that they correspond to the prior art already known to those of ordinary skill in the art.

KR 10-1589679 B

The present invention has been proposed to solve this problem, and in a method and system for controlling a wearable strength assisting device, the wearer's posture is detected using a minimum sensor, and an auxiliary torque is calculated according to the detected wearer's posture to thereby calculate the driving unit An object of the present invention is to provide a control method for controlling the tensile force of

The control method of the wearable muscle strength assisting device according to the present invention for achieving the above object is composed of a driving unit mounted on the upper body side of the wearer, a link mounted on the leg side, and a wire connecting the driving unit and the link when the driving unit is operated. A method of controlling a wearable strength assisting device that assists a wearer's back muscle strength through a tensile force applied to a wire, the method comprising: detecting a wearer's posture; determining whether it is necessary to generate a tensile force in the driving unit based on the detected posture of the wearer; when it is necessary to generate a tensile force in the driving unit, calculating an auxiliary torque required to assist the wearer's back muscle strength while entering the driving mode; and controlling the driving unit to generate a tensile force corresponding to the calculated auxiliary torque.

The step of detecting the wearer's posture includes measuring the rotation angle of a rotation sensor provided in the driving unit, and calculating the total bending angle that is the sum of the angle at which the wearer's upper body is bent and the angle at which the lower body is bent based on the measured rotation angle to calculate the wearer's posture can be detected.

The step of detecting the wearer's posture measures the absolute angle of the absolute angle sensor provided on the wearer's upper body, and calculates the upper body bending angle at which the wearer's upper body is bent based on the direction perpendicular to the ground based on the measured absolute angle, The wearer's posture may be detected by calculating the wearer's lower body bending angle based on the total bending angle and the upper body bending angle.

In the step of detecting the wearer's posture, the absolute angle sensor is an IMU (Inertial Measurement Unit) sensor, and the upper body bending angle of the wearer can be calculated based on the value measured by the IMU sensor.

In the step of determining whether the driving unit needs to generate the tensile force, it may be determined that the driving unit needs to generate the tensile force when the detected posture of the wearer is more bent than a preset posture.

In the step of determining whether the driving unit needs to generate the tensile force, it may be determined that the driving unit needs to generate the tensile force when the calculated total bending angle is greater than a predetermined first angle.

The step of determining whether there is a need to generate a tensile force in the driving unit is a case in which the calculated upper body bending angle is greater than the second preset angle or the calculated lower body bending angle is greater than the third preset angle. It can be judged that there is

In the step of calculating the auxiliary torque, the auxiliary torque may be calculated as the sum of the rotation torque compensating for the gravity of the upper body, the supporting torque due to bending of the lower body, and the torque supporting the rotation of the upper body.

In the step of calculating the auxiliary torque, the auxiliary torque is calculated as the sum of the rotation torque that compensates for the gravity of the upper body, the support torque caused by bending of the lower body, and the torque that assists the rotation of the upper body, and the rotation torque that compensates the gravity of the upper body is lowered It can be calculated based on the angle.

In the step of calculating the auxiliary torque, the auxiliary torque is calculated as the sum of the rotation torque compensating for the gravity of the upper body, the supporting torque by bending the lower body, and the torque supporting the rotation of the upper body, and the supporting torque by bending the lower body is a virtual spring model It can be calculated to be proportional to the lower body bending angle by applying .

In the step of calculating the auxiliary torque, the auxiliary torque is calculated as the sum of the rotation torque compensating for the gravity of the upper body, the supporting torque by bending the lower body, and the torque supporting the rotation of the upper body, and the torque supporting the rotation of the upper body is the upper body bending angle When is decreased, it can be added to the auxiliary torque, and when the upper body leaning angle is increased, it can be subtracted from the auxiliary torque.

The torque that assists the rotation of the upper body may be calculated to be proportional to the rate of change of the angle of the upper body leaning.

When the auxiliary torque calculated in the step of calculating the auxiliary torque exceeds the preset upper limit, the auxiliary torque may be set as the preset upper limit.

The method may further include the step of detecting the wearer's posture again after controlling the tensile force of the driving unit.

The method may further include detecting the wearer's posture after controlling the tensile force of the driving unit, and when the calculated total bending angle of the wearer is 0 or less, the driving mode may be terminated.

The control system of the wearable strength assisting device according to the present invention for achieving the above object is composed of a driving unit mounted on the upper body side of the wearer, a link mounted on the leg side, and a wire connecting the driving unit and the link when the driving unit is operated. A system for controlling a wearable strength assisting device that assists a wearer's back muscle strength through a tensile force applied to a wire, comprising: a rotation sensor provided in a driving unit to measure a rotation angle; an absolute angle sensor provided on the wearer's upper body to measure an absolute angle; and detecting the wearer's posture based on the measured values of the rotation sensor and the absolute angle sensor, determining whether it is necessary to generate a tensile force in the driving unit based on the detected wearer's posture, and when it is necessary to generate a tensile force in the driving unit includes; a control unit that calculates an auxiliary torque required to assist the wearer's muscular strength while entering the driving mode, and controls the driving unit to generate a tensile force corresponding to the calculated auxiliary torque.

According to the control method and system of the wearable strength assisting device of the present invention, it is possible to detect a wearer's posture with high reliability through a minimum sensor, thereby reducing the production cost while making the wearable robot light weight. In addition, the wearer's intention can be grasped according to the wearer's posture, and an auxiliary torque suitable for the operation can be calculated to assist the wearer's muscle strength, and the wearer does not feel discomfort while walking. That is, it is possible to control the wearable strength assisting device to conform well to the intention of the wearer.

1 is a view showing a wearable strength assisting device according to an embodiment that is a target of the control method and system of the present invention.
2 is a flowchart illustrating a control method of a wearable strength assisting device according to an embodiment of the present invention.
Figure 3 shows a formula for calculating the auxiliary torque of the wearable strength assisting device according to an embodiment based on the posture of the wearer of the present invention.
4 is a block diagram illustrating a control system of a wearable strength assisting device according to an embodiment of the present invention.
5 is a graph illustrating an auxiliary torque of a wearable strength assisting device according to an embodiment based on a posture of a wearer of the present invention.

Specific structural or functional descriptions of the embodiments of the present invention disclosed in the present specification or application are only exemplified for the purpose of describing the embodiments according to the present invention, and the embodiments according to the present invention may be implemented in various forms. and should not be construed as being limited to the embodiments described in the present specification or application.

Since the embodiment according to the present invention can have various changes and can have various forms, specific embodiments are illustrated in the drawings and described in detail in the present specification or application. However, this is not intended to limit the embodiment according to the concept of the present invention with respect to a specific disclosed form, and should be understood to include all changes, equivalents or substitutes included in the spirit and scope of the present invention.

Terms such as first and/or second may be used to describe various elements, but the elements should not be limited by the terms. The above terms are used only for the purpose of distinguishing one element from another element, for example, without departing from the scope of the present invention, a first element may be called a second element, and similarly The second component may also be referred to as the first component.

When a component is referred to as being “connected” or “connected” to another component, it may be directly connected or connected to the other component, but it is understood that other components may exist in between. it should be On the other hand, when it is said that a certain element is "directly connected" or "directly connected" to another element, it should be understood that the other element does not exist in the middle. Other expressions describing the relationship between elements, such as "between" and "immediately between" or "neighboring to" and "directly adjacent to", etc., should be interpreted similarly.

The terms used herein are used only to describe specific embodiments, and are not intended to limit the present invention. The singular expression includes the plural expression unless the context clearly dictates otherwise. In the present specification, terms such as “comprise” or “have” are intended to designate that the described feature, number, step, operation, component, part, or a combination thereof exists, and includes one or more other features or numbers. , it should be understood that it does not preclude the existence or addition of steps, operations, components, parts, or combinations thereof.

Unless defined otherwise, all terms used herein, including technical and scientific terms, have the same meaning as commonly understood by one of ordinary skill in the art to which this invention belongs. Terms such as those defined in commonly used dictionaries should be interpreted as having meanings consistent with the context of the related art, and unless explicitly defined in the present specification, they are not to be interpreted in an ideal or excessively formal meaning. .

Hereinafter, the present invention will be described in detail by describing preferred embodiments of the present invention with reference to the accompanying drawings. Like reference numerals in each figure indicate like elements.

A wearable muscle strength assisting device, which is the subject of the control method and system of the present invention, is composed of a driving unit mounted on the upper body side of the wearer, a link mounted on the leg side, and a wire connecting the driving unit and the link. Through tensile force, the wearer's back strength can be supported.

1 is a view showing a wearable strength assisting device according to an embodiment that is a target of the control method and system of the present invention.

A wearable strength assisting device mounted on a wearer according to an embodiment includes a main body 100 supporting the upper body of the wearer; A plurality of leg pulleys 200 respectively disposed on both sides of the main body 100; A plurality of links 300 having one end each supporting the wearer's legs and the other end being connected to each of the plurality of leg pulleys 200 and interlocking with each of the leg pulleys 200; a plurality of wire parts 400 respectively connected to a plurality of leg pulleys 200; and a driving unit 500 provided on the main body 100 and connected to the plurality of wire portions 400 to provide tensile force to the plurality of wire portions 400 to rotate each of the plurality of leg pulleys 200; do.

The main body 100 may be connected to fix the wearer's upper body with a shoulder harness or belt to apply a force or torque in a direction in which the wearer's upper body is stretched.

The driving unit 500 is provided on the wearer's upper body, and provides a tensile force to the plurality of wire parts 400 to generate a rotational force for rotating each of the plurality of leg pulleys 200 . That is, rotational force is applied to the plurality of leg pulleys 200 by the tensile force of the wire part 400 by the driving part 500 . Accordingly, the rotational force applied to the leg pulley 200 presses the wearer's leg, and a torque is generated in a direction to raise the wearer's upper body as a reaction force against this, thereby assisting the back muscles.

However, the tensile force of the wire unit 400 by the driving unit 500 should be driven to be generated only when assisting the wearer's back muscle strength, and the tensile force of the wire unit 400 is minimized so as not to interfere with the walking while the wearer walks. it should be That is, since the wire will be pulled in the same direction when the wearer walks, the entire driving unit 500 can be rotated without driving the driving unit 500 .

2 is a flowchart illustrating a control method of a wearable strength assisting device according to an embodiment of the present invention.

Referring to FIG. 2 , the control method of the wearable strength assisting device according to an embodiment of the present invention includes a driving unit mounted on the upper body side of the wearer, a link mounted on the leg side, and a wire connecting the driving unit and the link. A method of controlling a wearable strength assisting device that assists a wearer's back muscle strength through a tensile force applied to a wire during operation of the method, the method comprising: detecting a wearer's posture (S300); determining whether there is a need to generate a tensile force in the driving unit based on the detected posture of the wearer (S400); When it is necessary to generate a tensile force in the driving unit, calculating an auxiliary torque required to assist the wearer's back muscle strength while entering the driving mode (S500) (not shown); and controlling the driving unit to generate a tensile force corresponding to the calculated auxiliary torque (not shown).

First, when power of the robot is applied, the values of the Hall sensor and the IMU sensor provided in the driving unit of the robot may be collected (S100). This is to determine the posture of the robot in the initial state when power is applied.

Next, it may have an initialization step (S200). In this step, the link and the driving unit mounted on the wearer's leg side may be completely in close contact with the wearer while going through the process of winding the wire by operating the driving unit. More preferably, it may be a step of measuring and storing the value of the hall sensor of the driving unit in the wearer's fully unfolded posture by creating a fully unfolded posture without bending the wearer's waist and lower body. That is, the initial value, which is a standard for angle measurement through the Hall sensor, is stored.

Figure 3 shows a formula for calculating the auxiliary torque of the wearable strength assisting device according to an embodiment based on the posture of the wearer of the present invention.

)를 산출할 수 있다.Referring further to FIG. 3 , the step of detecting the wearer's posture ( S300 ) is to detect the degree of bending of the wearer in order to determine whether it is a walking state or a state requiring auxiliary torque. In this step, the rotation angle of the rotation sensor provided in the driving unit is measured, and based on the measured rotation angle, the total bending angle (

) can be calculated.

Here, the rotation sensor may be a Hall sensor provided in the motor of the driving unit. When a BLDC motor is used as the motor of the driving unit, it is essential to include a hall sensor, so that it can be used to detect the posture of the wearer without additionally providing a sensor.

)란 착용자가 지면에 수직으로 서있는 상태를 기준으로 착용자의 상체 숙임 각도(

)와 하체 굽힘 각도(

)를 합한 값을 의미하는 것이다.The total bending angle of the wearer may be calculated by measuring the rotation angle of the hall sensor provided in the driving unit and comparing it with the initialized state. where the total bending angle (

) is the angle of the wearer's upper body leaning (

) and lower body bending angle (

) is the sum of the values.

)를 산출하는 것은 홀 센서의 회전각에 일정 상수를 곱하면 당겨진 착용자가 자세를 굽힘으로 인하여 당겨진 와이어의 길이를 구할 수 있다. 당겨진 와이어의 길이로부터 또 다른 일정 상수를 곱하면 착용자의 굽힘 각도를 구할 수 있다. 착용자의 총 굽힘 각도(

)는 홀 센서의 회전각에 일정 상수를 곱하여 구해질 수 있다.Specifically, based on the rotation angle of the Hall sensor, the wearer's total bending angle (

) is calculated by multiplying the rotation angle of the Hall sensor by a constant constant to obtain the length of the pulled wire due to bending of the pulled wearer's posture. By multiplying the length of the pulled wire by another constant constant, the bending angle of the wearer can be obtained. Total bending angle of the wearer (

) can be obtained by multiplying the rotation angle of the Hall sensor by a constant constant.

This constant constant may be obtained through an experiment, and will vary depending on the distance from the wearer's bending rotational center to the link provided on the leg side and the distance from the wearer's bending rotational center to the driving unit.

)를 산출할 수 있다.The step of detecting the wearer's posture (S300) is to measure the absolute angle of the absolute angle sensor provided on the wearer's upper body, and based on the measured absolute angle, the upper body leaning angle (

) can be calculated.

)는 IMU 센서에서 측정된 값을 기반으로 산출할 수 있다. The absolute angle sensor provided on the wearer's upper body may use an Inertial Measurement Unit (IMU) sensor. Since the IMU sensor is a sensor capable of measuring an angle of inclination, it is possible to measure an angle at which the wearer's upper body is inclined. The wearer's upper body leaning angle (

) can be calculated based on the value measured by the IMU sensor.

) 및 상체 숙임 각도(

)를 기반으로 착용자의 하체 굽힘 각도(

)를 산출하여 착용자의 자세를 검출할 수 있다. 예를 들어, 아래의 공식과 같이 하체 굽힘 각도(

)는 홀 센서를 통해 산출한 총 굽힘 각도(

)에서 IMU 센서를 통해 산출한 상체 숙임 각도(

)를 감산하여 산출할 수 있다.Total bending angle (

) and upper body lean angle (

) based on the wearer's lower body bending angle (

) to detect the wearer's posture. For example, the lower body bending angle (

) is the total bending angle (

), the upper body leaning angle calculated through the IMU sensor (

) can be calculated by subtracting

That is, according to the present invention, it is possible to calculate both the upper body bending angle and the lower body bending angle by adding only the IMU sensor provided on the wearer's upper body.

Referring back to FIG. 2 , the step of determining whether the driving unit needs to generate a tensile force ( S400 ) is when the detected wearer's posture is more bent than a preset posture, it can be determined that it is necessary to generate a tensile force in the driving unit. there is. Here, the preset posture refers to an inclined posture that allows the wearer to move freely to some extent while standing perpendicular to the ground. It can be set in advance.

)가 기설정된 제1 각도보다 큰 경우에 구동부에서 인장력을 발생시킬 필요가 있는 것으로 판단할 수 있다.Specifically, the step of determining whether it is necessary to generate a tensile force in the driving unit (S400) is the calculated total bending angle (

) is greater than the first preset angle, it may be determined that the driving unit needs to generate a tensile force.

)가 기설정된 제2 각도보다 크거나 산출된 하체 굽힘 각도(

)가 기설정된 제3 각도보다 큰 경우에 구동부에서 인장력을 발생시킬 필요가 있는 것으로 판단할 수 있다.Alternatively, the step of determining whether it is necessary to generate a tensile force in the driving unit (S400) is the calculated upper body bending angle (

) is greater than the second preset angle or the calculated lower body bending angle (

) is greater than the third preset angle, it may be determined that the driving unit needs to generate a tensile force.

Here, the first angle, the second angle, and the third angle are values that can be set to a degree capable of grasping the intention of the wearer, and can be stored in advance in the memory of the controller. For example, the second angle may be set when the upper body bending angle is 20 [deg], and the third angle may be set when the lower body bending angle is 40 [deg]. The first angle may be set separately from this, or a value obtained by adding the second angle and the third angle may be set to be, for example, 60 [deg].

When it is determined that there is no need to generate a tensile force in the driving unit, the walking mode may be entered (S600). In the walking mode (S600), the wearer's legs move back and forth while the wire moves, and the wearer's walking may be rather uncomfortable due to the tensile force. Accordingly, when the walking mode is entered, the driving unit may be controlled so that the driving unit releases the wire further to a certain degree. Accordingly, it is possible to have an effect that the wearer does not feel discomfort in the walking mode.

When it is necessary to generate a tensile force in the driving unit, the operation may proceed to a step (S500) of calculating an auxiliary torque required to assist the wearer's back muscle strength while entering the driving mode.

Referring back to FIG. 3 , in the step of calculating the auxiliary torque ( S500 ), the auxiliary torque is a rotation torque (Y) that compensates for the gravity of the upper body, a support torque (Z) by bending the lower body, and a torque that assists the rotation of the upper body It can be calculated as the sum of (X).

)와 상체의 중력(mg)에 의하여 발생하는 회전 토크를 보상해줄 수 있는 것이다.The rotation torque (Y) that compensates for the gravity of the upper body is the angle (

) and the rotational torque generated by the gravity (mg) of the upper body can be compensated.

)의 sin 값을 곱한 값으로 산출될 수 있다. 실제로는 상체의 중력이 집중된 것이 아니므로 더 복잡한 수식에 의해 구해질 것이다.Specifically, the rotation torque Y for compensating for the gravity of the upper body may be proportional to the gravity of the upper body and the angle of bending of the upper body, respectively. For example, if it is simply obtained through assumptions, if it is assumed that the gravity of the upper body is concentrated at the end of the wearer's head, the rotation torque compensating for the gravity of the upper body is the gravity of the upper body (mg) and the length of the upper body from the center of rotation of the wearer (l) and upper body lean angle (

) can be calculated as a value multiplied by the sin value. In reality, the gravity of the upper body is not concentrated, so it will be obtained by a more complex formula.

)에 비례하도록 산출될 수 있다. 가상의 스프링 모델은 도 3에 도시한 것과 같이 착용자 하체의 상부에 있을 수도 있고 하부에 있을 수도 있는 것으로, 착용자의 하체 굽힘 각도(

)에 비례하도록 산출될 수 있다.Support torque (Z) due to lower body bending is calculated by applying a virtual spring model to lower body bending angle (

) can be calculated to be proportional to The virtual spring model may be in the upper or lower portion of the wearer's lower body as shown in FIG. 3, and the bending angle of the wearer's lower body (

) can be calculated to be proportional to

)에 곱해져서 산출될 수 있는 것으로 하체 굽힘 각도(

)가 0인 경우에는 하체 굽힘에 의한 지지 토크도 0이 될 수 있다. 가상의 스프링 모델의 스프링 상수(K)는 착용자의 하중, 반응성 등에 따라 실험적으로 설정될 수 있는 값이다. 스프링 상수(K)가 커질수록 하체 굽힘에 의한 지지 토크가 커지는 것으로 착용자의 하체가 굽혀지는 경우 하체가 펴지는 방향으로 지지하는 토크가 커질 것임은 당업자에게 자명할 것이므로 상세한 설명은 생략한다.Specifically, the spring constant (K) is the lower body bending angle (

) multiplied by the lower body bending angle (

) is 0, the support torque due to bending of the lower body may also be 0. The spring constant (K) of the virtual spring model is a value that can be experimentally set according to the wearer's load, reactivity, and the like. As it will be apparent to those skilled in the art that as the spring constant (K) increases, the supporting torque due to bending of the lower body increases.

)가 감소하는 경우에는 상체를 펴는 과정이므로 보조 토크에 가산하도록 정해질 것이고, 상체 숙임 각도(

)가 증가하는 경우에는 상체를 숙이는 과정이므로 착용자가 상체를 숙이는 동작을 방해하지 않아야 하므로 보조 토크에서 감산되도록 정해질 수 있다.The torque (X) that assists the rotation of the upper body is the upper body leaning angle (

) decreases, since it is a process of straightening the upper body, it will be determined to be added to the auxiliary torque, and the upper body bending angle (

) is increased, since it is a process of lowering the upper body, the wearer should not interfere with the lowering of the upper body, so it may be determined to be subtracted from the auxiliary torque.

)에 비례하도록 산출할 수 있다. 상체 숙임 각도의 변화율(

)은 상체 숙임 각도(

)를 시간에 따라 미분하여 구할 수 있다. 이때, 상체 숙임 각도의 변화율(

)이 양수인 경우에는 보조 토크에서 감산되어야 하고, 상체 숙임 각도의 변화율(

)이 음수인 경우에는 보조 토크에서 가산되어야 한다. 따라서 상체의 회전을 보조하는 토크는 (-) 부호를 붙여 보조 토크에 합산될 수 있다.That is, the torque (X) that assists the rotation of the upper body is the rate of change (

) can be calculated to be proportional to Rate of change of upper body lean angle (

) is the upper body leaning angle (

) can be obtained by differentiating with time. At this time, the rate of change of the upper body leaning angle (

) is a positive number, it must be subtracted from the auxiliary torque, and the rate of change (

) is negative, it must be added from the auxiliary torque. Therefore, the torque that assists the rotation of the upper body may be added to the auxiliary torque by adding a (-) sign.

When the auxiliary torque calculated in the step of calculating the auxiliary torque ( S500 ) exceeds the preset upper limit, the auxiliary torque may be set as the preset upper limit. For example, when the upper limit of the auxiliary torque is set to 45 (Nm) and the upper limit is calculated to be greater than or equal to the upper limit, the auxiliary torque may be set as the upper limit.

This is to set an upper limit in terms of stability because, when the auxiliary torque is too large, a dangerous situation may occur due to the wearer feeling awkward or even the wearer moving rapidly. The upper limit value may be set to an appropriate value in consideration of the wearer's physical state, responsiveness to intention, and the like, and may be pre-stored in the memory of the controller.

The step of controlling the driving unit to generate a tensile force corresponding to the calculated auxiliary torque (not shown) may be performed by driving the driving unit to wind the wire so that a tensile force corresponding to the calculated auxiliary torque is generated. That is, the driving unit may generate a tensile force by winding the wire so as to apply the calculated auxiliary torque to the wearer.

Specifically, the degree to which the driving unit winds the wire so that the calculated auxiliary torque can be applied to the wearer will vary depending on the distance at which the force is applied by supporting the upper and lower body from the center of rotation where the upper and lower body of the wearer are bent. Such data may be obtained by experimentation, and map data may be stored in the memory of the control unit and used.

는 구동부에 마련된 홀 센서의 값(

)과 같은 의미로 착용자의 총 굽힘 각도(

)가 0 이하가 되는 경우로 착용자가 지면에 수직하게 서있는 상태를 이상으로 몸을 편 경우에는 구동모드를 종료할 수 있다.Referring back to FIG. 2 , the method further includes a step (S700) of detecting the wearer's posture again after the step (not shown) of controlling the tensile force of the driving unit, wherein the detected posture of the wearer is a state in which both the upper and lower body are stretched. In case (S800), the driving mode may be ended. Specifically, when the calculated total bending angle of the wearer becomes 0 or less (S800), the driving mode is terminated. here

is the value of the Hall sensor provided in the driving unit (

) with the same meaning as the wearer's total bending angle (

) becomes 0 or less, and when the wearer stretches beyond the state of standing perpendicular to the ground, the driving mode can be terminated.

When the driving mode is terminated, the process proceeds to the step (S300) of detecting the posture of the wearer again, and may return to the process (S400) of determining whether to proceed to the driving mode or the walking mode.

4 is a block diagram illustrating a control system of a wearable strength assisting device according to an embodiment of the present invention.

4 , the control system of the wearable strength assisting device according to an embodiment of the present invention is composed of a driving unit mounted on the upper body side of the wearer, a link mounted on the leg side, and a wire connecting the driving unit and the link, and the driving unit A system for controlling a wearable muscle strength assisting device that assists a wearer's back muscle strength through a tensile force applied to a wire during operation of a system comprising: a rotation sensor 40 provided in a driving unit 30 to measure a rotation angle; an absolute angle sensor 10 provided on the wearer's upper body to measure an absolute angle; and detecting the wearer's posture based on the measured values of the rotation sensor 40 and the absolute angle sensor 10, and determining whether it is necessary to generate a tensile force in the driving unit 30 based on the detected wearer's posture, and the driving unit When it is necessary to generate a tensile force in ( 30 ), a control unit that calculates an auxiliary torque required to assist the wearer's muscle strength while entering the driving mode, and controls the driving unit 30 to generate a tensile force corresponding to the calculated auxiliary torque (20); includes.

The absolute angle sensor 10 is provided on the wearer's upper body and is, for example, an angle sensor that can be used as an IMU sensor, and the rotation sensor 40 is provided in the driving unit 30 to measure the rotation angle of the motor, for example. It can be used as a Hall sensor.

Specific control contents are the same as those of the above-described control method, and thus a description thereof will be omitted.

5 is a graph illustrating an auxiliary torque of a wearable strength assisting device according to an embodiment based on a posture of a wearer of the present invention.

의 움직임을 최소화할 수 있다. 이 구간에서는 보조토크가 0이 될 수 있다.5, in the first walking section, the measurement angles vibrate by the wearer's walking, but in the walking mode, the driving wire is kept loose.

movement can be minimized. In this section, the auxiliary torque may be zero.

)은 양수이고, 이에 따라 상체의 회전을 보조하는 토크는 음수로 산출되고, 이에 따라 상체를 숙이는 회전 운동을 방해하지 않도록 보조 토크가 감소된다.The following is the Waist section, showing the motion of bending and straightening only the upper body. In the flexion of the upper body, the auxiliary torque is calculated as the sum of the rotation torque compensating for the gravity of the upper body and the torque supporting the rotation of the upper body. Here, the rotation of the upper body is in the bending direction, so the rate of change of the upper body bending angle (

) is a positive number, and accordingly, the torque that assists the rotation of the upper body is calculated as a negative number, and accordingly, the auxiliary torque is reduced so as not to interfere with the rotational motion that lowers the upper body.

)은 음수이고, 이에 따라 상체의 회전을 보조하는 토크는 양수가 되어 상체를 펴는 동작을 보조하기 위하여 보조 토크가 증가된다.In a support operation in a state where the upper body is bent, the auxiliary torque is calculated as a rotation torque that compensates for the gravity of the upper body. In the operation of extending the upper body again, the auxiliary torque is calculated as the sum of the rotation torque that compensates for the gravity of the upper body and the torque that assists the rotation of the upper body. Here, the rate of change of the upper body leaning angle (

) is a negative number, and accordingly, the torque supporting the rotation of the upper body becomes positive, and the auxiliary torque is increased to assist the motion of stretching the upper body.

)에 의해 산출되는 것으로, 하체를 굽히고 있는 동작 내내 지지 토크에 더해지는 것이다.Next is the Waist-Hip section, which is almost the same as above, except that the supporting torque by bending the lower body is added to the auxiliary torque calculation. Support torque by lower body bending angle (

), which is added to the support torque throughout the lower body bending motion.

]로 두고 있어, 산출된 지지 토크가 상한치를 넘는 경우에는 지지 토크를 상한치로 유지시킨다.In addition, here, the upper limit is 45 [

], and if the calculated support torque exceeds the upper limit, the support torque is maintained at the upper limit.

Although shown and described with respect to specific embodiments of the present invention, it is within the art that the present invention can be variously improved and changed without departing from the spirit of the present invention provided by the following claims. It will be obvious to those of ordinary skill in the art.

100: main body 200: leg pulley
300: link 400: wire part
500: drive unit
10: angle sensor 20: control unit
30: driving unit 40: hall sensor

Claims (16)

It is composed of a driving unit mounted on the wearer's upper body side, a link mounted on the leg side, and a wire connecting the driving unit and the link. Controls a wearable strength assisting device that assists the wearer's back muscle strength through the tensile force applied to the wire when the driving unit operates. in a way to
detecting a posture of the wearer;
determining whether it is necessary to generate a tensile force in the driving unit based on the detected posture of the wearer;
when it is necessary to generate a tensile force in the driving unit, calculating an auxiliary torque required to assist the wearer's back muscle strength while entering the driving mode; and
Including; controlling the driving unit to generate a tensile force corresponding to the calculated auxiliary torque;
The step of detecting the wearer's posture includes measuring the rotation angle of a rotation sensor provided in the driving unit, and calculating the total bending angle that is the sum of the angle at which the wearer's upper body is bent and the angle at which the lower body is bent based on the measured rotation angle to calculate the wearer's posture A control method of a wearable strength assisting device, characterized in that detecting a. delete The method according to claim 1,
The step of detecting the wearer's posture measures the absolute angle of the absolute angle sensor provided on the wearer's upper body, and calculates the upper body bending angle at which the wearer's upper body is bent based on the direction perpendicular to the ground based on the measured absolute angle, A control method of a wearable strength assisting device, characterized in that the wearer's posture is detected by calculating the wearer's lower body bending angle based on the total bending angle and the upper body bending angle. 4. The method according to claim 3,
In the step of detecting the wearer's posture, the absolute angle sensor is an IMU (Inertial Measurement Unit) sensor, and a control method of a wearable strength assisting device, characterized in that the upper body bending angle of the wearer is calculated based on the value measured by the IMU sensor . The method according to claim 1,
The step of determining whether there is a need to generate a tensile force in the driving unit includes determining that it is necessary to generate a tensile force in the driving unit when the detected posture of the wearer is more bent than a preset posture Control of a wearable strength assisting device Way. The method according to claim 1,
The step of determining whether it is necessary to generate a tensile force in the driving unit is a wearable strength assisting device, characterized in that it is determined that it is necessary to generate a tensile force in the driving unit when the calculated total bending angle is greater than a predetermined first angle control method. 4. The method according to claim 3,
The step of determining whether there is a need to generate a tensile force in the driving unit is a case in which the calculated upper body bending angle is greater than the second preset angle or the calculated lower body bending angle is greater than the third preset angle. A control method of a wearable strength assisting device, characterized in that it is determined that there is. The method according to claim 1,
In the step of calculating the auxiliary torque, the auxiliary torque is calculated as the sum of the rotation torque compensating for the gravity of the upper body, the supporting torque by bending the lower body, and the torque supporting the rotation of the upper body. . 4. The method according to claim 3,
In the step of calculating the auxiliary torque, the auxiliary torque is calculated as the sum of the rotation torque compensating for the gravity of the upper body, the supporting torque by bending the lower body, and the torque supporting the rotation of the upper body,
A control method of a wearable strength assisting device, characterized in that the rotation torque compensating for the gravity of the upper body is calculated based on the angle of the upper body leaning. 4. The method according to claim 3,
In the step of calculating the auxiliary torque, the auxiliary torque is calculated as the sum of the rotation torque compensating for the gravity of the upper body, the supporting torque by bending the lower body, and the torque supporting the rotation of the upper body,
A control method of a wearable strength assisting device, characterized in that the support torque by bending the lower body is calculated to be proportional to the bending angle of the lower body by applying a virtual spring model. 4. The method according to claim 3,
In the step of calculating the auxiliary torque, the auxiliary torque is calculated as the sum of the rotation torque compensating for the gravity of the upper body, the supporting torque by bending the lower body, and the torque supporting the rotation of the upper body,
The torque for assisting the rotation of the upper body is added to the auxiliary torque when the upper body bending angle decreases, and is subtracted from the auxiliary torque when the upper body bending angle increases. 12. The method of claim 11,
A control method of a wearable strength assisting device, characterized in that the torque that assists the rotation of the upper body is calculated to be proportional to the rate of change of the angle of the upper body leaning. The method according to claim 1,
When the auxiliary torque calculated in the step of calculating the auxiliary torque exceeds the preset upper limit, the control method of the wearable strength assisting device, characterized in that the auxiliary torque is set to the preset upper limit. The method according to claim 1,
Further comprising the step of detecting the posture of the wearer again after the step of controlling the tensile force of the driving unit,
A control method of a wearable strength assisting device, characterized in that the driving mode is terminated when the detected posture of the wearer is in a state in which both the upper body and the lower body are stretched. The method according to claim 1,
Further comprising the step of detecting the posture of the wearer after the step of controlling the tensile force of the driving unit,
When the calculated total bending angle of the wearer is 0 or less, the control method of the wearable strength assisting device, characterized in that the end of the driving mode. It is composed of a driving unit mounted on the wearer's upper body side, a link mounted on the leg side, and a wire connecting the driving unit and the link. Controls a wearable strength assisting device that assists the wearer's back muscle strength through the tensile force applied to the wire when the driving unit operates. In a system that
a rotation sensor provided in the driving unit to measure a rotation angle;
an absolute angle sensor provided on the wearer's upper body to measure an absolute angle; and
The wearer's posture is detected based on the measured values of the rotation sensor and the absolute angle sensor, and based on the detected wearer's posture, it is determined whether it is necessary to generate a tensile force in the driving unit. A control unit for calculating an auxiliary torque required to assist the wearer's muscle strength while entering the driving mode, and controlling the driving unit to generate a tensile force corresponding to the calculated auxiliary torque;
The control unit measures the rotation angle of the rotation sensor provided in the driving unit, and based on the measured rotation angle, calculates the total bending angle that is the sum of the angle at which the wearer's upper body is bent and the angle at which the lower body is bent to detect the posture of the wearer. control system for a wearable strength assistive device.

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