KR101724884B1 - Method and system for controlling walking wearable robot at stairs - Google Patents

Method and system for controlling walking wearable robot at stairs Download PDF

Info

Publication number
KR101724884B1
KR101724884B1 KR1020150111487A KR20150111487A KR101724884B1 KR 101724884 B1 KR101724884 B1 KR 101724884B1 KR 1020150111487 A KR1020150111487 A KR 1020150111487A KR 20150111487 A KR20150111487 A KR 20150111487A KR 101724884 B1 KR101724884 B1 KR 101724884B1
Authority
KR
South Korea
Prior art keywords
robot
leg
knee joint
swing
angular velocity
Prior art date
Application number
KR1020150111487A
Other languages
Korean (ko)
Other versions
KR20170018219A (en
Inventor
홍영대
Original Assignee
현대자동차주식회사
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by 현대자동차주식회사 filed Critical 현대자동차주식회사
Priority to KR1020150111487A priority Critical patent/KR101724884B1/en
Publication of KR20170018219A publication Critical patent/KR20170018219A/en
Application granted granted Critical
Publication of KR101724884B1 publication Critical patent/KR101724884B1/en

Links

Images

Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/16—Programme controls
    • B25J9/1602—Programme controls characterised by the control system, structure, architecture
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/0006—Exoskeletons, i.e. resembling a human figure
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/16—Programme controls
    • B25J9/1628—Programme controls characterised by the control loop
    • B25J9/1633—Programme controls characterised by the control loop compliant, force, torque control, e.g. combined with position control
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/16—Programme controls
    • B25J9/1656—Programme controls characterised by programming, planning systems for manipulators
    • B25J9/1664—Programme controls characterised by programming, planning systems for manipulators characterised by motion, path, trajectory planning

Landscapes

  • Engineering & Computer Science (AREA)
  • Robotics (AREA)
  • Mechanical Engineering (AREA)
  • Automation & Control Theory (AREA)
  • Manipulator (AREA)
  • Rehabilitation Tools (AREA)

Abstract

A step of deriving a hip joint angle and an angular velocity of a knee joint and a swing leg of a robot supporting leg, a comparison step of comparing values of angles and angular velocities of the support legs and the swing legs with preset reference values of angles and angular velocities, Calculating an assist torque value using an angle or an angular velocity derived from the support leg when an angle and an angular velocity of the derived support leg and swing leg satisfy a predetermined reference condition, A method and system for stair walking control of a wearable robot including application steps applied to a knee joint are introduced.

Description

[0001] METHOD AND SYSTEM FOR CONTROLLING WALKING WEARABLE ROBOT AT STAIRS [0002]

The present invention relates to a stair-step walking control method and system for a wearable robot that applies an assist torque to reduce a load felt on a support leg when a wearer of a walking-assist robot climbs a stairway.

Recently, robots are actively used in all industrial fields. Wearable robots that can be worn by human beings as well as robots that operate by themselves with artificial intelligence are also being studied.

The most important technique in such a wearable robot is to understand the operation intention of the wearer and to operate the robot in accordance with the wearer's intention. Therefore, the control method that can calculate the driving torque applied to the robot joint driving part by using the human torque applied to the robot by various control techniques for grasping the wearer's intention and controlling the robot is introduced.

However, these control methods are difficult to apply in special situations such as walking stairs as a control technique applied when walking in a general situation.

Particularly, in the case of a wearable robot, when the user steps up the stairs, the user needs more force than the weight of the robot.

Therefore, when using the conventional wearable robot driving control method, the loads that the wearer receives during the stair walking are larger than when the robots are not worn, and there are problems in the usability and efficiency of the robots.

It should be understood that the foregoing description of the background art is merely for the purpose of promoting an understanding of the background of the present invention and is not to be construed as an admission that the prior art is known to those skilled in the art.

An object of the present invention is to provide a method and system for stair-step walking control of a wearable robot, which can increase the utility and efficiency of the robot by reducing the load applied to the legs when the person is walking by using the wearable robot.

According to another aspect of the present invention, there is provided a method of controlling a stepping walk of a wearable robot, comprising: deriving a hip joint angle and an angular velocity of a knee joint and a swing leg of a robot support leg; A comparison step of comparing values of angles and angular velocities of the derived support legs and swing legs with preset reference angles and angular speeds; A calculating step of calculating an assist torque value by using an angle or an angular velocity derived from the support leg when an angle and an angular velocity of the derived support leg and swing leg satisfy a predetermined reference condition; And applying the calculated assist torque value to the knee joint of the robot supporting leg.

The comparison step compares the derived angles and angular velocity values to satisfy the following conditions,

Figure 112015076664458-pat00001
and
Figure 112015076664458-pat00002
and
Figure 112015076664458-pat00003
and
Figure 112015076664458-pat00004

here,

Figure 112015076664458-pat00005
The knee joint angles of the robot supporting legs, the hinge angles of the robot swing legs, the angular velocity of the knee joints of the robot supporting legs, the angular velocity of the hip joints of the robot swing legs, the reference values of the knee joint angles of the robot supporting legs, Reference value of the knee joint angular velocity of the leg, reference value of the hip joint angular velocity of the robot swing leg

In the above formula

Figure 112015076664458-pat00006
Is the angular value of the knee joint of the robot supporting leg when the swing leg reaches the next step,
Figure 112015076664458-pat00007
Is the value of the hip joint angle of the robot swing leg at the moment when the swing leg is separated from the ground to go up the stairs,
Figure 112015076664458-pat00008
Is the value of the angular velocity of the knee joint of the robot when the knee joint of the support leg starts to expand in order to ascend the stairs,
Figure 112015076664458-pat00009
Is the value of the angular velocity of the swing leg hip when the swing leg is off the ground to climb the stairs.

The calculation step uses the following equation

Figure 112015076664458-pat00010

here,

Figure 112015076664458-pat00011
: Auxiliary torque,
Figure 112015076664458-pat00012
: Auxiliary torque constant, M: wearer mass, g: gravitational acceleration,
Figure 112015076664458-pat00013
: Knee joint angle of support leg,
Figure 112015076664458-pat00014
: Reference value of knee joint angle of supporting leg

In the application step, the sum torque value obtained by adding the torque torque value of the wearer's operation to the assist torque value calculated through the calculation step is applied to the knee joint of the robot supporting leg or the auxiliary torque value calculated through the calculation step is generated Which is a loss torque, is applied to the knee joint of the robot supporting leg.

The step-by-step walking control system of the wearable robot according to the present invention includes a derivation unit for deriving a hip joint angle and an angular velocity of a knee joint and a swing leg of a robot supporting leg; A driving unit for applying the assist torque value to the robot; When the angles and angular velocities of the support legs and the swing legs derived by comparing the values of the angles and angular velocities of the derived support legs and swing legs with the preset reference angles and angular velocity values satisfy the previously set reference conditions, And a controller for calculating the assist torque value using the angle of the support leg or the angular velocity and applying the calculated assist torque value to the knee joint of the robot support leg.

The comparison step of comparing the angles and angular velocities of the support legs and the swing legs derived from the control unit of the stepped walking control system of the present wearing robot with preset reference angles and angular velocity values, Compare whether the condition is satisfied.

Figure 112015076664458-pat00015
and
Figure 112015076664458-pat00016
and
Figure 112015076664458-pat00017
and
Figure 112015076664458-pat00018

here,

Figure 112015076664458-pat00019
The knee joint angles of the robot supporting legs, the hinge angles of the robot swing legs, the angular velocity of the knee joints of the robot supporting legs, the angular velocity of the hip joints of the robot swing legs, the reference values of the knee joint angles of the robot supporting legs, Reference value of the knee joint angular velocity of the leg, reference value of the hip joint angular velocity of the robot swing leg

Also,

Figure 112015076664458-pat00020
Is the angular value of the knee joint of the robot supporting leg when the swing leg reaches the next step,
Figure 112015076664458-pat00021
Is the value of the hip joint angle of the swing leg of the robot when the swing leg is separated from the ground in order to ascend the stairs
Figure 112015076664458-pat00022
Is the value of the angular velocity of the knee joint of the robot when the knee joint of the support leg starts to expand in order to ascend the stairs,
Figure 112015076664458-pat00023
Is the value of the angular velocity of the swing leg hip when the swing leg is off the ground to climb the stairs.

The assist torque value of the step-by-step walking control system of the present wearing robot can be calculated using the following equation.

Figure 112015076664458-pat00024

here,

Figure 112015076664458-pat00025
: Auxiliary torque,
Figure 112015076664458-pat00026
: Auxiliary torque constant, M: wearer mass, g: gravitational acceleration,
Figure 112015076664458-pat00027
: The knee joint angle of the robot supporting leg,
Figure 112015076664458-pat00028
: Reference value of knee joint angle of robot supporting leg

The sum torque value obtained by adding the torque torque value of the wearer's operation to the assist torque value calculated by the control unit can be applied to the knee joint of the robot supporting leg and also the loss torque generated by the robot operation The combined torque value combined with the in-friction compensation torque can be applied to the knee joint of the robot supporting leg.

As described above, the following effects can be obtained by using the stair walking control method and system of the wearable robot.

First, when the wearer uses the robot to climb the stairs, an assist force is applied to the supporting leg to raise the supporting leg so that the load applied to the wearer is reduced.

Second, since a separate device is not required except for adding a sensor that detects the movement of the wearer to the device used in the walking control method of the conventional wearable robot, the present invention is implemented using the existing wearable walking robot There is an advantage to be able to do.

1 is a flowchart of a stair-step walking control method of a wearable robot according to an embodiment of the present invention
FIG. 2 is a graph showing angular and angular velocity changes of a knee joint and a hip joint according to an embodiment of the present invention
FIG. 3 is a graph showing the relationship between the hip joint angle and angular velocity reference value of the knee joint and swing leg of the support leg according to the embodiment of the present invention
4 is a block diagram of a stair-based walking control system of a wearable robot according to an embodiment of the present invention

Hereinafter, preferred embodiments of the present invention will be described with reference to the accompanying drawings.

As shown in FIG. 1, the present invention includes a derivation step (S100) of deriving a hip joint angle and an angular velocity of a knee joint and a swing leg of a robot supporting leg; A comparison step (S200) of comparing values of angles and angular velocities of the derived support legs and swing legs with preset reference angles and angular velocities; A calculating step (S300) of calculating an assist torque value by using an angle or an angular velocity derived from the support leg when an angle and an angular velocity of the derived support leg and swing leg satisfy a predetermined reference condition; And applying the calculated assist torque value to the knee joint of the robot supporting leg (S400).

In the deriving step S100, the angles and angular velocities of the knee joints of the robot supporting legs and the hinge angles and angular velocities of the swing legs are derived because the knee joint angles and angular velocities of the supporting legs and the hip joint angles and angular velocities of the swing legs It is possible to accurately grasp whether or not the situation is walking on the stairs.

The angles and angular velocities of the hip joints of the knee joints and swing legs of the supporting legs are constantly changed by one step during the stair walking. Thus, if the angles of the knee joints of the support legs and the hinges of the swing legs can be accurately grasped, the robot can sense that the wearer is about to walk the stairs, and control can be performed accordingly.

The method of detecting the intention to walk on the stairs is not necessary if the joints of the support legs and the swing legs are measured and only the pattern for one cycle can be known. However, in the present invention, a method of measuring angles and angular velocities of the hip joints of the knee joint and the swing leg of the robot support leg is selected.

The reason for this is that it is easy and clear to set the reference value that is the reference of the stair walking determination, since the angular and angular velocity values of the knee joints of the robot supporting legs and the swing legs have the greatest change rate.

When the robot ascends the stairs, the angle of the knee joint of the robot supporting leg sharply decreases, and the angular velocity maintains a minus value. Also, the hip joint angle of the robot swing leg increases rapidly and the angular velocity maintains a positive value. Therefore, if this condition is used, the robot controller can easily know that the wearer is currently walking on the stairs. This can be seen in FIG.

In general, the angles and angular velocities of the joints can be measured by an encoder capable of measuring the rotational angle or a gyro sensor capable of tracking the rotational trajectory of the joint. In the case of the present invention, it is most preferable to measure the angle of the knee joint and angular velocity of the robot supporting leg through the encoder, and measure the hinge angle and angular velocity of the robot swing leg by attaching a gyro sensor to the swing leg. This is because, unlike the knee joint, the angle of the rotation angle of the hip joint can be changed in various directions, not in one direction. Therefore, a gyro sensor capable of flexibly responding to various changes is more suitable for measurement of hip joint angle and angular velocity.

If the hip joint angles and angular velocities of the knee and swing legs of the robot supporting leg are derived in this manner, the comparison step S200 is performed as shown in FIG. The comparison step compares the hip joint angle and angular velocity of the knee joint and the swing leg of the robot support leg with the reference value of the angle and angular velocity in the case of raising the step described above. The equation is expressed as follows.

Figure 112015076664458-pat00029
and
Figure 112015076664458-pat00030
and
Figure 112015076664458-pat00031
and
Figure 112015076664458-pat00032

here,

Figure 112015076664458-pat00033
The knee joint angles of the robot supporting legs, the hinge angles of the robot swing legs, the angular velocity of the knee joints of the robot supporting legs, the angular velocity of the hip joints of the robot swing legs, the reference values of the knee joint angles of the robot supporting legs, Reference value of the knee joint angular velocity of the leg, reference value of the hip joint angular velocity of the robot swing leg

As can be seen from the above equation, in order to implement the present invention, a clear reference value is required for the robot to sense the intention of the stepping of the stairs of the wearer. Therefore, it is necessary to review again the graph of the change in the hip joint angle and the angular velocity of the knee joint and swing leg of the robot supporting leg shown in FIG.

As shown in FIG. 2, the state where the robot is climbing the stairs is the part where the shaded part is in the graph. Therefore, the 2-second and 4-second intervals are climbing up the stairs, but since the same cycle is repeated, only the 2-second interval can be checked.

Therefore, the knee joint angles and angular velocities of the knee and swing legs of the robot supporting leg in the 2-sec interval are continuously decreased until the stairs are fully elevated. Therefore, if the angle of the knee joint angle of the support leg is larger than the angle of the knee joint angle of the support leg after the step up, it can be judged that the current stair is being walked. Thus, in the present invention

Figure 112015076664458-pat00034
Was set to the value of the knee joint angle of the robot supporting leg when the swing leg reached the next step.

Next, as shown in FIG. 2, when the hinge angle value of the swing leg is viewed, it can be seen that the angle value continuously increases from the moment when the staircase starts to rise. Therefore,

Figure 112015076664458-pat00035
Was set as the value of the hip joint angle of the robot swing leg at the moment when the swing leg was separated from the ground to ascend the stairs.

In FIG. 2, it can be seen that the angular velocity of the knee joint of the support leg is the largest value at the start of the step. Therefore,

Figure 112015076664458-pat00036
Was set as the value of the angular velocity of the knee joint of the robot when the knee joint of the support leg starts to expand to climb the stairs.

Finally, in FIG. 2, the angular velocity values of the hip joints of the swing legs have the smallest value at the start of the step. therefore

Figure 112015076664458-pat00037
Was set to the value of the angular velocity of the swing leg hips at the moment when the swing leg was separated from the ground to ascend the stairs.

Considering the condition of the robot walking on the stairs based on the reference value set as above,

Figure 112015076664458-pat00038
,
Figure 112015076664458-pat00039
,
Figure 112015076664458-pat00040
,
Figure 112015076664458-pat00041
Shall satisfy all the conditions simultaneously. Accordingly, in the comparison step S200 of the present invention, it is determined whether or not the robot is currently in a stair-stepping state using the above conditions. The hip joint angle and angular velocity reference values of the knee joint and the swing leg of the robot supporting leg when walking on the stairs described above are collectively shown in Fig.

As shown in FIG. 1, if the conditional reference value provided in the comparison step S200 is satisfied, the calculation step S300 for calculating the stair-stepping assist torque value is performed. The stair-stepping assist torque value can be calculated in various ways.

In the present invention, a method of using the knee joint angle value of the support leg derived in the derivation step (S100) to determine whether or not the robot goes up the stairs is presented.

Figure 112015076664458-pat00042

here,

Figure 112015076664458-pat00043
: Auxiliary torque,
Figure 112015076664458-pat00044
: Auxiliary torque constant, M: wearer mass, g: gravitational acceleration,
Figure 112015076664458-pat00045
: The knee joint angle of the robot supporting leg,
Figure 112015076664458-pat00046
: Reference value of knee joint angle of robot supporting leg

The M value means the mass of the wearer, which is not necessarily the mass of the wearer of the robot. The M value should include not only the mass of the wearer but also the mass of the robot. This is because the force received by the gravitational acceleration when the wearer steps on the stairs can be accurately obtained by multiplying the weight of the person wearing the robot by the weight of the robot and multiplying it by the gravitational acceleration.

In the above equation, the knee joint angle value of the robot support leg is used in obtaining the assist torque value because the calculated assist torque value is applied to the knee joint of the support leg. Therefore, it is preferable to use the angle of the knee joint and angular velocity of the support leg rather than the hinge angle and the angular velocity value of the swing leg.

However, in this equation, a formula is obtained by using an angle value and an angular value among the angular velocity values. The reason for this is that as shown in FIG. 2, the angular value of the knee joint of the robot supporting leg is continuously decreasing in the stair walking region, but the angular velocity value is continuously decreased and then increased again. Therefore, when the assist torque value is obtained by using the angular velocity value, the complexity of the diaphragm becomes lower and the accuracy becomes lower than that of the assist torque calculation using the angular value having one direction. Therefore, the present invention proposes a method of calculating the stair-stepping assist torque using the angle value of the knee joint of the robot supporting leg.

Finally,

Figure 112015076664458-pat00047
The value is an auxiliary torque constant and can have various values depending on the robot type or the stair walking control method.

If the stair-stepping assist torque value is calculated using the above equation, as shown in FIG. 1, it is subjected to an application step (S400) of applying it to the robot. This step is intended to reduce the burden on the knee joint when the wearer steps on the stairs by applying the stair-stepping assist torque value calculated in the calculation step (S300) to the knee joint of the robot supporting leg.

In this step, even if only the stair-stepping assistance torque value is applied, the objective that was originally pursued may be achieved. However, the stair-stepping-assisting torque value according to the present invention is a method of calculating a torque value using an equation. Therefore, it can be regarded as an auxiliary torque value in an ideal state. Therefore, if there is a compensation torque value that can reduce the gap between the ideal situation and the actual situation, the performance of the control method of the stair walking robot can be further improved. The compensation torque may exist in various ways depending on the type of the robot control method, but what is considered to be the first priority is the torque torque of the wearer's operation.

The torque value of the operation basically means the torque value generated by the movement of the wearer. The present invention relates to a control method for calculating a torque value for reducing an additional load on a knee joint when a wearer steps on a stairs. Therefore, it is necessary to calculate the torque value applied to the robot when walking in a general state, not during the stair walking, and add up to the stair-assisted walking torque value according to the present invention. Can be obtained.

The torque value of the wearer's motion may be calculated in various ways. As an example, the most common method would be to measure the angle of rotation of the joint using the encoder provided in the joint of the robot and calculate the torque value based on the angle of rotation. In addition to this, a method of mounting a torque cell capable of measuring the torque value to the joint can be considered.

In addition to the operating torque, the possible compensation torque value will be the friction compensation torque. Basically, when the robot moves according to the movement of the wearer, frictional force can not be generated. Friction force may be generated at the joint part of the robot, and frictional force may be generated between the wearer and the robot. In addition, the present invention relates to a method of controlling a robot when walking, and a large frictional force will be generated between the legs and the ground. Therefore, it is necessary to compensate for such frictional forces. The calculation of the compensation torque value by the frictional force can also be calculated in a manner similar to the torque torque value of the wearer's operation described above. However, a step of deriving the friction coefficient between the leg and the ground or between the robot and the wearer and applying it to the torque value will be added.

Therefore, the torque value obtained by the above method and the step-assisted torque value derived by the calculation step S300 are summed and applied to the knee joint of the robot supporting leg in the application step (S400).

On the other hand, in the comparison step S200 of FIG. 1, when it is determined that the robot is not walking on the stairs, the control compensation torque application step S500 is performed. Here, the control compensation torque value is a sum of the torque torque value and the friction compensation torque value of the wearer's operation described above. Therefore, this can be regarded as a torque value generated when the robot is walking in a general case, not a stair-step walking.

As shown in FIG. 4, the step-by-step walking control system of the wearable robot according to the present invention includes a derivation unit 600 for deriving the hip joint angle and angular velocity of the knee joint and swing leg of the robot support leg. A driving unit 700 for applying the assist torque value to the robot; When the angles and angular velocities of the support legs and the swing legs derived by comparing the values of the angles and angular velocities of the derived support legs and swing legs with the preset reference angles and angular velocity values satisfy the previously set reference conditions, And a control unit 800 for calculating the assist torque value using the angle of the support leg or the angular velocity and applying the calculated assist torque value to the knee joint of the robot support leg.

The deriving unit 600 may include an encoder or a sensor capable of sensing a hip joint angle and an angular velocity of a knee joint and a swing leg of the robot supporting leg and the driving unit 700 may include an auxiliary torque value calculated by the control unit 800 Is applied to the robot and is generally placed in the joint of the robot in the form of a rotatable actuator.

The control unit 800 of the stepped walking control system of the present wearing robot compares the values of angles and angular velocities of the obtained support legs and swing legs with predetermined angles and reference values of angular velocities, It is possible to compare whether or not the following condition is satisfied.

Figure 112015076664458-pat00048
and
Figure 112015076664458-pat00049
and
Figure 112015076664458-pat00050
and
Figure 112015076664458-pat00051

here,

Figure 112015076664458-pat00052
The knee joint angles of the robot supporting legs, the hinge angles of the robot swing legs, the angular velocity of the knee joints of the robot supporting legs, the angular velocity of the hip joints of the robot swing legs, the reference values of the knee joint angles of the robot supporting legs, Reference value of the knee joint angular velocity of the leg, reference value of the hip joint angular velocity of the robot swing leg

In this equation

Figure 112015076664458-pat00053
Is the angular value of the knee joint of the robot supporting leg when the swing leg reaches the next step,
Figure 112015076664458-pat00054
Is the value of the hip joint angle of the swing leg of the robot when the swing leg is separated from the ground in order to ascend the stairs
Figure 112015076664458-pat00055
Is the value of the angular velocity of the knee joint of the robot when the knee joint of the support leg starts to expand in order to ascend the stairs,
Figure 112015076664458-pat00056
Is the value of the angular velocity of the swing leg hip when the swing leg is off the ground to climb the stairs. A detailed description of this is given above and is omitted in this paragraph.

The auxiliary torque value calculated by the control unit 800 of the step-stair walking control system of the present wearing robot is calculated using the following equation.

Figure 112015076664458-pat00057

here,

Figure 112015076664458-pat00058
: Auxiliary torque,
Figure 112015076664458-pat00059
: Auxiliary torque constant, M: wearer mass, g: gravitational acceleration,
Figure 112015076664458-pat00060
: The knee joint angle of the robot supporting leg,
Figure 112015076664458-pat00061
: Reference value of knee joint angle of robot supporting leg

Further, the sum torque value obtained by adding the torque value of the wearer's operation to the assist torque value calculated by the control unit 800 can be applied to the knee joint of the robot supporting leg, or the assist torque value generated by the robot operation The sum torque value summed with the friction compensation torque, which is the loss torque, can be applied to the knee joint of the robot supporting leg.

While the present invention has been particularly shown and described with reference to specific embodiments thereof, it will be understood by those skilled in the art that various changes in form and details may be made therein without departing from the spirit and scope of the invention as defined by the following claims It will be apparent to those of ordinary skill in the art.

S100: deriving step S200: comparison step
S300: Calculation step S400: Application step
S500: Applying the control compensation torque 600:
700: driving unit 800:

Claims (14)

A derivation step of deriving a hip joint angle and an angular velocity of the knee joint and swing leg of the robot supporting leg;
A comparison step of comparing values of angles and angular velocities of the derived support legs and swing legs with preset reference angles and angular speeds;
A calculating step of calculating an assist torque value by using an angle or an angular velocity derived from the support leg when an angle and an angular velocity of the derived support leg and swing leg satisfy a predetermined reference condition; And
And applying the calculated assist torque value to the knee joint of the robot supporting leg,
Wherein the calculation step calculates the assist torque value using the following formula: < EMI ID = 14.0 >
Figure 112016125026120-pat00094

here,
Figure 112016125026120-pat00095
: Auxiliary torque,
Figure 112016125026120-pat00096
: Auxiliary torque constant, M: wearer mass, g: gravitational acceleration,
Figure 112016125026120-pat00097
: The knee joint angle of the robot supporting leg,
Figure 112016125026120-pat00098
: Reference value of knee joint angle of robot supporting leg The method of claim 1,
Wherein the comparison step compares the derived angles and angular velocities with each other to determine whether the values satisfy the following conditions.
Figure 112015076664458-pat00062
and
Figure 112015076664458-pat00063
and
Figure 112015076664458-pat00064
and
Figure 112015076664458-pat00065

here,
Figure 112015076664458-pat00066
The knee joint angles of the robot supporting legs, the hinge angles of the robot swing legs, the angular velocity of the knee joints of the robot supporting legs, the angular velocity of the hip joints of the robot swing legs, the reference values of the knee joint angles of the robot supporting legs, Reference value of the knee joint angular velocity of the leg, reference value of the hip joint angular velocity of the robot swing leg The method of claim 2,
Figure 112015076664458-pat00067
Is the angular value of the knee joint of the robot supporting leg when the swing leg reaches the next step,
Figure 112015076664458-pat00068
Is a value of the hip joint angle of the robot swing leg at a moment when the swing leg is separated from the ground to ascend the stairs. The method of claim 2,
Figure 112015076664458-pat00069
Is the value of the angular velocity of the knee joint of the robot when the knee joint of the support leg starts to expand in order to ascend the stairs,
Figure 112015076664458-pat00070
Wherein the value of the angular velocity of the swing leg hip joint is a value of the swing leg hip joint moment when the swing leg is separated from the ground to go up the stairs. delete The method according to claim 1,
Wherein the application step includes applying to the knee joint of the robot supporting leg a summation torque value obtained by adding the assist torque value of the wearer's operation to the assist torque value calculated through the calculating step. The method according to claim 1,
Wherein the applying step applies the sum torque value, which is the sum of the assist torque value calculated through the calculating step, and the friction compensation torque, which is the loss torque generated according to the robot operation, to the knee joint of the robot supporting leg Walking control method. A derivation unit for deriving a hip joint angle and an angular velocity of a knee joint and a swing leg of the robot supporting leg;
A driving unit for applying the assist torque value to the robot;
When the angles and angular velocities of the support legs and the swing legs derived by comparing the values of the angles and angular velocities of the derived support legs and swing legs with preset reference angles and angular velocities satisfy the previously set reference conditions, And a controller for calculating an assist torque value using the angle of the support leg or the angular velocity and applying the calculated assist torque value to the knee joint of the robot support leg,
Wherein the assist torque value is calculated using the following equation.
Figure 112016125026120-pat00099

here,
Figure 112016125026120-pat00100
: Auxiliary torque,
Figure 112016125026120-pat00101
: Auxiliary torque constant, M: wearer mass, g: gravitational acceleration,
Figure 112016125026120-pat00102
: The knee joint angle of the robot supporting leg,
Figure 112016125026120-pat00103
: Reference value of knee joint angle of robot supporting leg The method of claim 8,
The comparison step of comparing the angles and angular velocities of the support legs and the swing legs derived from the control section with preset reference angles and angular velocity values compares the derived angles and angular velocity values with each other to determine whether the values satisfy the following conditions Walking control system for stairs of wearable robots.
Figure 112015076664458-pat00076
and
Figure 112015076664458-pat00077
and
Figure 112015076664458-pat00078
and
Figure 112015076664458-pat00079

here,
Figure 112015076664458-pat00080
The knee joint angles of the robot supporting legs, the hinge angles of the robot swing legs, the angular velocity of the knee joints of the robot supporting legs, the angular velocity of the hip joints of the robot swing legs, the reference values of the knee joint angles of the robot supporting legs, Reference value of the knee joint angular velocity of the leg, reference value of the hip joint angular velocity of the robot swing leg The method of claim 9,
Figure 112015076664458-pat00081
Is the angular value of the knee joint of the robot supporting leg when the swing leg reaches the next step,
Figure 112015076664458-pat00082
Is a value of the hip joint angle of the robot swing leg at a moment when the swing leg is separated from the ground to ascend the stairs. The method of claim 9,
Figure 112015076664458-pat00083
Is the value of the angular velocity of the knee joint of the robot when the knee joint of the support leg starts to expand in order to ascend the stairs,
Figure 112015076664458-pat00084
Is a value of an angular velocity of the swing leg hip joint when the swing leg is separated from the ground to raise the stairs. delete The method of claim 8,
And a summation torque value obtained by adding the assist torque value of the wearer's operation to the assist torque value calculated by the control section is applied to the knee joint of the robot support leg. The method of claim 8,
And a summation torque value, which is a sum of the assist torque value and the friction compensation torque, which is a loss torque generated in accordance with the robot operation, is applied to the knee joint of the robot support leg.
KR1020150111487A 2015-08-07 2015-08-07 Method and system for controlling walking wearable robot at stairs KR101724884B1 (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
KR1020150111487A KR101724884B1 (en) 2015-08-07 2015-08-07 Method and system for controlling walking wearable robot at stairs

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
KR1020150111487A KR101724884B1 (en) 2015-08-07 2015-08-07 Method and system for controlling walking wearable robot at stairs

Publications (2)

Publication Number Publication Date
KR20170018219A KR20170018219A (en) 2017-02-16
KR101724884B1 true KR101724884B1 (en) 2017-04-10

Family

ID=58264812

Family Applications (1)

Application Number Title Priority Date Filing Date
KR1020150111487A KR101724884B1 (en) 2015-08-07 2015-08-07 Method and system for controlling walking wearable robot at stairs

Country Status (1)

Country Link
KR (1) KR101724884B1 (en)

Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
EP4321772A1 (en) 2022-08-10 2024-02-14 Able Human Motion, S.L. Backdrivable actuator for exoskeleton

Families Citing this family (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
EP4011347A1 (en) * 2020-12-14 2022-06-15 Able Human Motion, S.L. Powered-knee exoskeleton system
WO2024043656A1 (en) * 2022-08-24 2024-02-29 삼성전자주식회사 Device for controlling walking aid and method therefor
KR20240036769A (en) * 2022-09-13 2024-03-21 삼성전자주식회사 Wearable apparatus and operating method thereof
CN115741637A (en) * 2022-10-31 2023-03-07 北京精密机电控制设备研究所 Hip joint exoskeleton carrying and walking assisting hybrid control method

Family Cites Families (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
KR102115950B1 (en) * 2013-11-07 2020-06-05 삼성전자주식회사 A walk-assistive robot and a method for controlling the walk-assistive robot
KR102073001B1 (en) * 2013-11-29 2020-02-04 삼성전자주식회사 Wearable robot and method for controlling the same

Cited By (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
EP4321772A1 (en) 2022-08-10 2024-02-14 Able Human Motion, S.L. Backdrivable actuator for exoskeleton
WO2024033712A1 (en) 2022-08-10 2024-02-15 Able Human Motion, S.L. Backdrivable actuator for exoskeleton

Also Published As

Publication number Publication date
KR20170018219A (en) 2017-02-16

Similar Documents

Publication Publication Date Title
KR101724884B1 (en) Method and system for controlling walking wearable robot at stairs
US9950428B2 (en) Method and system for controlling wearable robot
US9539162B2 (en) Wearing type behavior help device, wearing type behavior help device calibration device, and calibration program
US9622884B2 (en) Control systems and methods for gait devices
KR102503910B1 (en) Method and apparatus of standing assistance
US9120513B2 (en) Method of controlling gait of robot
KR101730909B1 (en) Wearing robot and variable impedance controlling method thereof
KR20140085700A (en) Method for controlling walking of robot
US20210259374A1 (en) Walking assistance method and apparatuses
KR101476889B1 (en) Walking assistance device and drive method
KR102397306B1 (en) Control method and system of wearable apparatus for assisting muscular strength
Wu et al. Development of a lower limb multi-joint assistance soft exosuit
KR101438968B1 (en) Method and system for controlling walking of robot
CN106335567B (en) Method and system for controlling walking of wearable robot
CN110308727A (en) A kind of control method for eliminating biped robot's upper body posture shaking
EP4026523A1 (en) Power consumption calculation system for prosthetic leg, state estimation system for prosthetic limb, and physical condition estimation system for user of prosthetic limb
KR102288884B1 (en) Method and system of controlling wearable robot
KR101795139B1 (en) Method and system for controlling walking of wearable robot
KR101940901B1 (en) Stabilization control method for exoskeleton robot of legs
JP6697817B2 (en) Power assist suit control device and power assist suit
KR101786104B1 (en) Method and system for controlling walk of robot
JP6263107B2 (en) Work auxiliary control device and power assist suit
KR102288885B1 (en) Method and system for controlling walking wearble robot at stairs
Quan et al. An IMU Based Real-Time Monitoring System for Powered Robotic Knee Exoskeleton
Kim et al. Walking assistance system for walking stability by using human motion information

Legal Events

Date Code Title Description
E701 Decision to grant or registration of patent right
GRNT Written decision to grant