KR102067124B1 - Reaction force adjusting device and method using variable stiffness actuator of exoskeleton system - Google Patents

Abstract

Reaction force control device using a variable elastic actuator of the exoskeleton system according to the present invention, the first link body and the second link body connected to each other to enable joint movement; A joint axis connected between the first link body and the second link body, the joint shaft being constrained to be connected to the second link body without being constrained with the first link body; Joint drive means for rotating a second link member relative to the first link member about the joint axis; A variable elastic body connected to the joint axis to provide an elastic force between the first link body and the second link body; By including a control actuator installed on the side of the first link body to adjust the reaction force of the variable elastic body, it can increase the therapeutic effect and wearing performance by allowing the user to move more comfortable by setting the desired level of force.

Description

Reaction force adjusting device and method using variable stiffness actuator of exoskeleton system

The present invention relates to a wearable exoskeleton system used as a medical walking device.

In general, wearable exoskeleton systems have been developed and used for medical, commercial, and military applications.

The medical exoskeleton device is configured to assist or replace the strength of the wearer's leg, and is used to restore the user's mobility or assist the wearer's walking for rehabilitation treatment. In addition, commercial and military exoskeleton devices are used to prevent injury and increase the user's power.

Most of these wearable exoskeleton systems are installed so that the driving device is installed in the joint portion, such as the knee to drive the joint and walking and walking assistance.

However, the wearable exoskeleton system of the prior art has a problem of implementing a more comfortable and excellent exoskeleton system because it is not configured to adjust the reaction force of the user's desired level, that is, the reaction force.

Korean Patent Publication No. 10-2017-0052374 Korea Patent Registration No. 10-1368817 Korea Patent Registration No. 10-0890430

The present invention has been made to solve the above problems, it is configured to properly adjust the reaction force provided to the joint portion by setting the desired level of force to the user to move more comfortable to the therapeutic effect and wearing performance An object of the present invention is to provide a reaction force control device and method using a variable elastic actuator of an exoskeleton system that can be increased.

Reaction force control device using a variable elastic actuator of the exoskeleton system according to the present invention for realizing the above object, the first link body and the second link body connected to each other to enable joint movement; A joint axis connected between the first link body and the second link body, the joint shaft being constrained to be connected to the second link body without being constrained with the first link body; Joint drive means for rotating a second link member relative to the first link member about the joint axis; A variable elastic body connected to the joint axis to provide an elastic force between the first link body and the second link body; It is provided on the side of the first link body, characterized in that it comprises a control actuator for adjusting the reaction force of the variable elastic body.

A reaction force measuring means connected to the first link member and the joint shaft to measure reaction force, and a control unit configured to receive a measurement signal of the reaction force measurement means and output a control signal to an adjustment actuator according to the reaction force setting of the user; It is preferred to be configured.

The joint driving means is disposed inside a joint portion to which the first link body and the second link body are connected, the variable elastic body and the adjustment actuator are disposed at one side of the outer side of the joint portion, and the reaction force measuring means is located at the outside of the joint portion. It is preferably arranged in.

The reaction force measuring means may be composed of a torque sensor.

Any one of the first link member and the second link member may be configured to be connected to the joint axis in a state of being inserted into the other link member.

Preferably, the joint drive means is configured such that a joint actuator supported on the first link member rotates the drive gear provided on the joint shaft.

The variable elastic body is provided between an inner rotor connected to the joint shaft, an outer rotor positioned outside the inner rotor, and rotated by the adjustment actuator, and provided between the inner rotor and the outer rotor to provide elastic force. It is preferable to comprise the elastic member to provide.

The inner rotating body is formed in a cross-shaped structure may be connected to the joint axis in the central portion.

Four elastic members may be provided between each side of the cross-shaped structure of the inner rotor and the outer rotor.

Preferably, the elastic member is connected to the inner rotating body by a hinge structure.

Reaction force adjustment method using the variable elastic actuator of the exoskeleton system according to the present invention for realizing the above object, by using a reaction force control device using the variable elastic actuator of the exoskeleton system, the user desired target spring reaction force A first step of setting; A second step of adjusting the reaction force of the variable elastic body by driving the adjustment actuator according to the reaction force setting of the first step; A third step of determining whether the measured spring reaction force is equal to the target spring reaction force by measuring the reaction force adjusted in the second step by using the reaction force measuring means, and adjusting the reaction force of the variable elastic body again if the measured spring reaction force is not the target spring reaction force; Wow; If the target spring reaction force and the measurement spring reaction force in the third step is the same, and including the fourth step of performing the joint motion by driving the joint drive means to rotate the second link member to the target position relative to the first link member It features.

Means for solving the problems of the present invention as described above, will be described in more detail and clearly through examples such as 'details for the implementation of the invention', or the accompanying 'drawings' to be described below, wherein In addition to the main problem solving means as described above, various problem solving means according to the present invention will be further presented and described.

Reaction force control device and method using a variable elastic actuator of the exoskeleton system according to the present invention, because it is configured to properly adjust the reaction force provided to the skeletal joint portion, the user adjusts the reaction force to the desired level, and set the adverse condition to use conditions It is possible to operate the exoskeleton to fit, there is an effect that can improve the treatment effect and wear performance of the wearer.

1 is a perspective view showing an exoskeleton system equipped with a reaction force control device using a variable elastic actuator according to an embodiment of the present invention.
2 is a perspective view of an essential part of a reaction force control device using a variable elastic actuator according to an embodiment of the present invention.
3 is a partially exploded perspective view showing a reaction force control device using a variable elastic actuator according to an embodiment of the present invention.
4 and 5 are views showing the state before the joint movement in one embodiment of the present invention,
4 is a side view of the reaction force control device;
5 is a perspective view of a variable elastic actuator.
6 and 7 are views showing a state when the joint motion in one embodiment of the present invention,
6 is a side view of the reaction force adjusting device;
7 is a perspective view of a variable elastic actuator.
8 and 9 are side views of the reaction force control device in a state in which the reaction force is adjusted by operating the variable elastic actuator in an embodiment of the present invention,
8 is a state diagram before joint movement;
9 is a state diagram at the time of joint movement.
10 is a flow chart illustrating a reaction force control method of the exoskeleton system according to an embodiment of the present invention.

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

1 to 3 is a view showing a reaction force control device using a variable elastic actuator of the exoskeleton system according to an embodiment of the present invention, Figure 1 is a perspective view of the reaction force control device, Figure 2 is a perspective view of the main portion of the reaction force control device, 3 is a partial exploded perspective view of the reaction force control device.

Referring to these drawings, the exoskeleton system is composed of two exoskeletons 20 in the shape of a human leg on both lower sides of the main frame 10.

As described above, the exoskeleton system composed of the main frame 10 and the two exoskeletons 20 may be configured to be worn on a human body, and thus the human body wear structure may be variously implemented based on a known wearing technology. In the example, the description thereof will be omitted, and the description will be given based on the reaction force adjusting device, which is a main component of the present invention.

Reaction force control apparatus using a variable elastic actuator of the exoskeleton system according to an embodiment of the present invention, the first link body 22 and the second link body 24 are connected to each other to enable joint movement, and the first link A joint shaft 30 (FIG. 3) connected between the sieve 22 and the second link member 24, and a second link member 24 with respect to the first link member 22 about the joint shaft 30. Joint drive means 40 for rotating the variable elastic body 50, which is connected to the joint shaft 30 and provides an elastic force for the joint motion between the first link member 22 and the second link member 24 And a control actuator 60 installed on the side of the first link member 22 to adjust the reaction force of the variable elastic body 50, and a reaction force connected to the first link member 22 and the joint shaft 30 to measure the reaction force. The measuring means 70 and the measuring signal of the reaction force measuring means 70 are input and output a control signal to the adjustment actuator 60 according to the reaction force setting of the user. The control unit 100 and the reaction force setting unit 110 may be configured to include a reaction force or force of a desired level.

When described in detail with respect to the main components of the reaction force control device according to an embodiment of the present invention configured as described above.

First, the first link body 22 and the second link body 24 are formed in a straight rod-shaped structure, the inside is preferably formed to have a space.

The first link member 22 may be configured to allow relative rotation to the main frame 10.

The second link member 24 is connected to the first link member 22 by the articulation shaft 30. As shown in FIG. 3, the joint linking portion 24a of the second link member 24 is connected to the first link member 22. It may be configured to be connected in a manner that the joint shaft 30 penetrates in the state inserted into the joint connecting portion 22a of the). Of course, on the contrary, it is also possible to configure the joint connecting portion of the first link member 22 to be connected in the inserted state inside the joint connecting portion of the second link member 24.

Meanwhile, referring to FIG. 1, the second link member 24 may be configured to be connected to the foot link member 26 through the joint driving device 25 at the lower end thereof.

Next, referring to FIG. 3, the joint shaft 30 is installed through the first link body 22 and the second link body 24 coupled to each other, and rotates relative to the first link body 22. It is preferable that the bearing and the like are interposed so as to be able to rotate freely, and the second link member 24 is constrained to be connected to each other through a key groove.

Next, the joint driving means 40 is disposed inside the joint portion where the first link body 22 and the second link body 24 are coupled to each other so that the second link body 24 with respect to the first link body 22. It is configured to move by rotating.

The joint driving means 40 includes a joint actuator 42 installed inside the first link member 22 and a driving gear 45 provided on the joint shaft 30 to rotate by the joint actuator 42. Can be configured.

Therefore, before the joint driving means 40 is operated, the first link body 22 and the second link body 24 are in the vertical direction as shown in FIGS. 4 and 5, and then the joint driving means 40 is operated. 6 and 7, the joint actuator 42 rotates the joint shaft 30 through the driving gear 45, and the second link body 24 constrained to the joint shaft 30 is also present. The joint movement can be made while rotating together. At this time, the inner rotary body 52 of the variable elastic body 50 to be described below is rotated while compressing the elastic member 56 as the joint axis 30 rotates.

Here, the joint actuator 42 is preferably composed of a step motor or the like for precisely rotating the drive gear 45.

Next, the variable elastic body 50 is configured on the outer side of the joint portion is configured to adjust the reaction force during the joint operation.

The variable elastic body 50 includes an inner rotor 52 installed to be coupled to the joint shaft 30 and an outer rotor positioned outside the inner rotor 52 and rotated by an adjustment actuator 60 ( 54 and an elastic member 56 provided between the inner rotating body 52 and the outer rotating body 54 to provide an elastic force.

Here, the inner rotary body 52 may be formed in a cross-shaped structure, is configured to be coupled to the joint shaft 30 in the center thereof, the inside of the outer rotary body 54 as the joint shaft 30 is rotated It is preferable to be configured to rotate in.

In addition, four elastic members 56 are sequentially installed between each side of the cross-shaped structure of the inner rotor 52 and the outer rotor 54 in a clockwise or counterclockwise direction.

The elastic member 56 may be configured as a compression coil spring, but is not limited thereto and may be variously configured using a known elastic member as long as it provides a means for providing an elastic force.

However, it is preferable that the elastic member 56 is connected to the inner rotating body 52 by a hinge 58 structure. This is because the end of the elastic member 56 is connected to the hinge 58 from the inside of the inner rotor 52 so that the connecting portion of the elastic member 56 is centered on the hinge 58 when the inner rotor 52 rotates. As it rotates to the elastic member 56 is configured to provide an elastic force in the unbent state.

In addition, the spring hole is formed long in the longitudinal direction of each side of the inner rotor 52 to minimize the interference when the inner rotor 52 is operated in the portion where the elastic member 56 is inserted into the inner rotor 52. It is preferable that 52a is formed.

The outer rotating body 54 is preferably provided to be supported by the first link member 22 so as to be relatively rotatable. For this purpose, although not illustrated in the drawings, the outer rotating body 54 may be supported and rotated in the elastic housing installed in the first link member 22.

Next, the adjustment actuator 60 is configured to adjust the reaction force of the elastic member 56 by rotating the outer rotor 54 in accordance with the signal of the controller 100 to adjust the relative rotation position with the inner rotor 52. .

If the adjustment actuator 60 is a device which can rotate the outer rotor 54, a well-known rotation drive mechanism can be selected and comprised suitably. For example, it may be configured as a step motor to rotate the outer rotor 54 to the desired degree through a gear transmission structure.

Next, the reaction force measuring means 70 is disposed on the other side of the outer side of the joint portion to which the first link body 22 and the second link body 24 are connected, that is, opposite to the variable elastic body 50 and thus of the variable elastic body 50. It is configured to measure the reaction force or the adverse reaction force during joint operation.

The reaction force measuring means 70 is preferably composed of a torque sensor 72, the sensor housing is fixed to the first link member 22, the rotating body formed inside the sensor housing is connected to the joint shaft 30 It is preferable to be configured to be coupled to measure the torque and the like according to the relative rotation.

Next, the control unit 100 receives the measurement signal from the reaction force measuring means 70 and simultaneously adjusts the reaction force by outputting a control signal to the adjustment actuator 60 according to the reaction force setting of the user input through the reaction force setting unit 110. It is configured to be.

That is, the control unit 100 receives a signal from the reaction force setting unit 110 and the reaction force measuring means 70, and generates a target reaction force (inverse) generation algorithm according to the input signal based on the reaction force generation algorithm already input. It is preferable to be configured to output to the adjustment actuator 60 to follow the target reaction force.

The control unit 100 may be configured to control all parts of the reaction force control device of the wearable exoskeleton system including the joint driving means 40, is installed in the main frame 10 as shown in FIG. Can be configured.

Next, the reaction force setting unit 110 may be configured to input a reaction force or force of a level desired by the user to the controller 100.

The reaction force setting unit 110 may be configured in various input methods according to the implementation conditions, such as a button type, dial type, touch type.

In the present exemplary embodiment, the reaction force setting unit 110 is illustrated in the main frame 10. However, the reaction force setting unit 110 is not limited thereto.

Now, with reference to Figure 10, the reaction force control method using the reaction force control device of the wearable exoskeleton system of the present invention as described above will be described.

10 is a flow chart illustrating a reaction force control method of the wearable exoskeleton system according to an embodiment of the present invention.

When the user sets the target spring reaction force to a desired level through the reaction force setting unit 110, the control unit 100 executes a preset reaction force generation algorithm according to the reaction force setting of the user to drive the adjustment actuator 60. . In this case, as shown in FIG. 8, the outer rotating body 54 is rotated by the adjustment actuator 60 to increase the spring reaction force of the elastic member 56.

In this way, when the reaction force of the variable elastic body 50 increases, the reaction force of the spring is measured by the reaction force measuring means 70 located on the opposite side. When the measurement spring reaction force is greater than the target spring reaction force, the outer rotor 54 is rotated in reverse to reduce the reaction force. Let's do it. Of course, if the measuring spring reaction force is less than the target spring reaction force, the outer rotor 54 is further rotated to increase the spring reaction force.

By adjusting the spring reaction force of the variable elastic body 50 according to the target spring reaction force in this way, when the measurement spring reaction force and the target spring reaction force are the same, the control unit 100 controls the joint actuator 42 of the joint drive means 40. It drives and rotates the 2nd link body 24 to the target position with respect to the 1st link body 22 as shown in FIG. At this time, the target spring reaction force acts as the inner rotating body 52 of the variable elastic body 50 is also rotated while simultaneously compressing the elastic member 56.

Although the embodiment of the present invention described above focuses on the exoskeletal structure of the knee joint, it is not necessarily limited thereto, and of course, the present invention may be similarly applied to other exoskeleton structures such as elbows.

In addition, the present invention may be applied to a wearable system of a virtual reality device and may be applied to a robot having an exoskeleton structure.

As described above, the technical idea described in the embodiments of the present invention may be implemented independently, or may be implemented in combination with each other. In addition, the present invention has been described through the embodiments described in the drawings and the detailed description of the invention, which is merely exemplary, and those skilled in the art to which the present invention pertains various modifications and equivalent other embodiments therefrom It is possible. Therefore, the technical protection scope of the present invention will be defined by the appended claims.

10: main frame 20: exoskeleton
22: first link member 24: second link member
26: foot linkage 30: joint axis
40: joint drive means 42: joint actuator
45 drive gear 50 variable elastic body
52: inner rotor 54: outer rotor
56: elastic member 58: hinge
60: adjustment actuator 70: reaction force measuring means
100: control unit 110: reaction force setting unit

Claims (11)

A first link body and a second link body connected to each other to allow joint motion;
A joint axis connected between the first link member and the second link member, the joint shaft being connected to the second link member but not to the first link member;
Joint driving means for rotating a second link member with respect to the first link member about the joint axis;
An inner rotor connected to the joint axis and rotating together, an outer rotor positioned outside the inner rotor and fixed to the first link member, and an angled side of the cross-shaped structure of the inner rotor and the outer rotor; A variable elastic body having four elastic members disposed therebetween and having elastic members sequentially formed in a clockwise or counterclockwise direction;
An adjustment actuator installed at the side of the first link member to adjust the reaction force of the elastic member by rotating the outer rotor;
When the measured reaction force value is smaller than the target reaction force value by comparing the measured reaction force value measured by the reaction force measuring means and the user's target reaction force input through the reaction force setting unit, increase the rotation speed or the rotation speed of the outer rotor. A control unit for outputting a control signal to the adjustment actuator in a manner of increasing reaction force and reducing the reaction force when the measured reaction force value is greater than the target reaction force value by rotating the outer rotor in reverse; Including,
Reactive force control device using a variable elastic actuator of the exoskeleton system, characterized in that the end of the elastic member is hinged from the inside of the inner rotor. The method according to claim 1,
The joint drive means,
The first link member and the second link member are disposed inside the joint portion,
Reaction force control device using a variable elastic actuator of the exoskeleton system, characterized in that the joint actuator supported on the first link body is configured to rotate the drive gear provided on the joint shaft. The method according to claim 1,
The inner rotor is connected to the joint axis in the central portion of the cross-shaped structure,
Reaction force control apparatus using a variable elastic actuator of the exoskeleton system, characterized in that the spring hole formed in the longitudinal direction of each side of the inner rotation body is formed in the portion in which the elastic member is inserted into the inner rotation body. The method according to claim 1,
The reaction force measuring means is a reaction force control device using a variable elastic actuator of the exoskeleton system, characterized in that consisting of a torque sensor. delete delete delete delete delete delete By using the reaction force control device using the variable elastic actuator of the exoskeleton system according to any one of claims 1 to 4,
A first step of setting a target reaction force value of a level desired by a user;
A second step of adjusting the reaction force of the variable elastic body by driving the adjustment actuator according to the reaction force value setting of the first step;
A third method for determining whether the measured reaction force value is equal to the target reaction force value by measuring the reaction force adjusted in the second step by using the reaction force measuring means, and adjusting the reaction force of the variable elastic body again if the measured reaction force value is not the target reaction force value; Steps;
And a fourth step of performing joint motion by driving the joint driving means to rotate the second link member to a target position with respect to the first link member when the target reaction force value and the measured reaction force value are the same in the third step. Reaction force control method using a variable elastic actuator of the exoskeleton system.

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