公开(公告)号：KR1020140078494A

公开(公告)日：2014-06-25

申请号：KR1020120147914

申请日：2012-12-17

Applicant: 현대자동차주식회사

Inventor： 유수정 ,  양우성

IPC: B25J19/02 ,  G01L3/24 ,  B25J9/16

CPC classification number: B25J9/1633

Abstract: Provided is a method for extracting intended torque for a wearable robot using an angle or angular velocity of rotation of a motor driving a joint and an angle or angular velocity of rotation of a link connected to the joint. The method includes a friction outputting process of outputting an estimated value of friction torque from the angle of rotation of the motor, a motor torque calculating process of calculating motor torque from the angular velocity of rotation of the motor, a link rotation calculating process of calculating the angular velocity of rotation of the link, and an intended torque calculating process of substituting the motor torque and the angular velocity of rotation of the link into a disturbance observer, and calculating an estimated value of the intended torque applied by a wearer.

Abstract translation: 提供了一种用于使用驱动接头的马达的旋转角度或角速度以及连接到接头的连杆的旋转角度或角速度来提取可佩戴机器人的预期扭矩的方法。 该方法包括从马达的旋转角度输出摩擦转矩的估计值的摩擦输出处理，从电动机的旋转角度计算马达转矩的马达转矩计算处理，计算马达的转速计算处理 所述连杆的旋转角速度以及将所述马达转矩和所述连杆的旋转角速度代入干扰观测器的预定扭矩计算处理，以及计算由穿着者施加的预期扭矩的估计值。

公开(公告)号：KR1020130073104A

公开(公告)日：2013-07-03

申请号：KR1020110140779

申请日：2011-12-23

Applicant: 현대자동차주식회사

Inventor： 유수정 ,  양우성

IPC: B25J9/16 ,  B25J19/02 ,  B25J13/08

Abstract: PURPOSE: A method for extracting an operating force of a wearable robot is provided to rapidly extract the operating force of a user adding the operating force by holding a steering wheel using a power sensor and an accelerating sensor installed between a gripper and a steering wheel. CONSTITUTION: A method for extracting an operating force of a wearable robot comprises the steps of: calculating the mass of a load using the sensing power and the measured acceleration when the load moves (S20); multiplying the mass of the load by the acceleration from an accelerating sensor and outputting an external force added to a gripper by the load (S30); and subtracting the external force from the sensing power and outputting an operating force of a user (S40). [Reference numerals] (AA) Start; (BB) Complete to install a power sensor and an accelerating sensor & gripper load holding state; (CC) Apprvoe an operating force of a user; (DD) Drive a robot to measure sensing power of the power sensor : robot driving force = sensing power × amplification rate; (EE) Amplification rate increase; (FF) Load move?; (GG) Calculate torque (τ-h=J^Tf_h,τ_e=J^Tf_e); (S20) Calculate the mass of the load[ (sensing power / acceleration) - gripper mass]; (S30) Calculate an external force by the load (fe) (mass of the load × acceleration); (S40) Calculate the operating force (fn) of the user (sensing power - the external force by the load)

Abstract translation: 目的：提供一种用于提取可穿戴机器人的操作力的方法，以通过使用安装在夹持器和方向盘之间的功率传感器和加速传感器来保持方向盘来快速提取添加操作力的用户的操作力。 构成：用于提取可穿戴机器人的操作力的方法包括以下步骤：使用感测功率计算负载的质量和当负载移动时测量的加速度（S20）; 将负载的质量乘以加速度传感器的加速度，并通过负载输出添加到夹持器的外力（S30）; 以及从感测功率减去外力并输出用户的操作力（S40）。 （附图标记）（AA）开始; （BB）完成安装功率传感器和加速传感器和夹持器负载保持状态; （CC）允许用户的操作力; （DD）驱动机器人测量功率传感器的感应功率：机器人驱动力=感应功率×放大率; （EE）放大率增加; （FF）负载移动 （GG）计算扭矩（τ-h = J ^ Tf_h，τ_e= J ^ Tf_e​​）; （S20）计算负载质量[（感应功率/加速度） - 夹具质量]; （S30）通过负载（fe）（负载质量×加速度）计算外力; （S40）计算用户的操作力（fn）（感应功率 - 负载的外力）