WEARABLE ROBOT AND CONTROL METHOD THEOROF
    1.
    发明申请
    WEARABLE ROBOT AND CONTROL METHOD THEOROF 有权
    可靠的机器人和控制方法理论

    公开(公告)号:US20150158175A1

    公开(公告)日:2015-06-11

    申请号:US14565156

    申请日:2014-12-09

    CPC classification number: B25J9/0006 G05B2219/40305 G05B2219/40413

    Abstract: Disclosed herein is a wearable robot for assisting a wearer's intended motion, including: one or more links configured to support the wearer; one or more joints unit configured to connect the links to each other; a controller configured to determine the wearer's intended motion, and to calculate at least one torque based on the wearer's intended motion; and a driver configured to generate the calculated torque in the joints. According to the wearable robot, a wearer's intended motion may be determined in real time based on a velocity of the wearer's center of gravity. At this time, by using a pressure sensor, reliability of the motion determination may increase. Also, joint movements may be effectively controlled according to the wearer's intended motion.

    Abstract translation: 本文公开了一种用于辅助穿戴者预期运动的可佩戴机器人,包括:一个或多个构造成支撑佩戴者的连杆; 一个或多个接头单元,被配置为将链节彼此连接; 控制器,其被配置为确定穿着者的预期运动,并且基于穿着者的预期运动来计算至少一个扭矩; 以及配置成在关节中产生计算出的转矩的驾驶员。 根据穿戴机器人,可以基于穿戴者重心的速度实时地确定佩戴者的预期运动。 此时,通过使用压力传感器,运动判定的可靠性可能增加。 此外,可以根据佩戴者的预期运动有效地控制关节运动。

    WEARABLE ROBOT AND METHOD OF CONTROLLING THE SAME
    3.
    发明申请
    WEARABLE ROBOT AND METHOD OF CONTROLLING THE SAME 有权
    耐磨机器人及其控制方法

    公开(公告)号:US20150119996A1

    公开(公告)日:2015-04-30

    申请号:US14476342

    申请日:2014-09-03

    Abstract: Provided is a method of controlling a wearable robot, the method including: measuring a ground reaction force (GRF) exerted on a wearer's soles; calculating a time variation rate of the measured GRF; measuring the wearer's knee joint angle; and detecting a time point at which the calculated time variation rate of the GRF and the measured knee joint angle cross each other.

    Abstract translation: 提供一种控制可穿戴机器人的方法,所述方法包括:测量施加在穿着者鞋底上的地面反作用力(GRF); 计算测量的GRF的时间变化率; 测量穿着者的膝关节角度; 并且检测所计算的GRF的时间变化率和所测量的膝关节角度彼此交叉的时间点。

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