公开(公告)号：US20170268953A1

公开(公告)日：2017-09-21

申请号：US15529860

申请日：2015-10-02

Applicant: KOREA POLYTECHNIC UNIVERSITY INDUSTRY ACADEMIC COOPERATION FOUNDATION

Inventor： Eung Hyuk LEE ,  Su Hong EOM ,  Won Young LEE

IPC: G01M1/12 ,  B25J13/08 ,  G01L1/20

CPC classification number: G01M1/122 ,  A61H3/00 ,  A61H2201/164 ,  A61H2201/165 ,  A61H2201/50 ,  A61H2201/5061 ,  A61H2230/625 ,  B25J13/081 ,  B25J13/085 ,  G01L1/20 ,  G01L1/22

Abstract: Provided are a system and method for estimating the center of gravity of a walking rehabilitation robot, the system being provided with: a sensor module for estimating the point of the center of gravity, and provided with: a sensor unit mounted on a footplate to sense the pressure when a person walks; output means for outputting a voltage value corresponding to preset conditions according to a pressure signal sensed by the sensor module; and estimating means for calculating an angle value corresponding to the voltage value outputted by the output means, and estimating the center of gravity, wherein a body center can be estimated by obtaining an accurate detection using a small-sized system that has a relatively low-cost sensor module installed therein.

公开(公告)号：US20160310342A1

公开(公告)日：2016-10-27

申请号：US15103573

申请日：2014-11-19

Applicant: KOREA POLYTECHNIC UNIVERSITY INDUSTRY ACADEMIC COOPERATION FOUNDATION

Inventor： Eung Hyuk LEE ,  Su Hong EOM ,  Mun Suck JANG ,  Won Young LEE

IPC: A61H3/00 ,  A61H1/02 ,  A61B5/103

CPC classification number: A61H3/00 ,  A61B5/1038 ,  A61B5/1121 ,  A61H1/024 ,  A61H2201/164 ,  A61H2201/1642 ,  A61H2201/165 ,  A61H2201/50 ,  A61H2201/5007 ,  A61H2201/5061 ,  A61H2201/5069 ,  A61H2201/5071 ,  B25J9/16 ,  B25J9/1612 ,  B60W2710/08 ,  G05B2219/40202 ,  G05B2219/40305 ,  G05B2219/45108 ,  G05B2219/45109

Abstract: The present invention relates to a system and a method for controlling a joint angle of a knee-joint type walking training robot which estimates a walking stage of a person receiving rehabilitation for walking and actively responds to the walking stage on the basis thereof. The present invention can easily control the joint angle of the knee-joint type walking training robot by providing a configuration comprising: a pressure measuring device for measuring the pressure on the sole of a walker's foot by using a pressure sensor; and a joint angle estimating device for estimating the joint angle of a knee-joint by extracting movement time of the walk and the length of the part of the sole contacting the ground on the basis of the sole's pressure measured by the pressure measuring device.

Abstract translation: 本发明涉及一种膝关节型步行训练机器人的关节角度的控制系统和方法，该膝关节型步行训练机器人估计步行者康复的步行阶段，并基于此步行主动地响应于步行阶段。 本发明可以通过提供一种构造来容易地控制膝关节型步行训练机器人的关节角度，该构造包括：压力测量装置，用于通过使用压力传感器来测量步行者脚底上的压力; 以及关节角度估计装置，用于基于由压力测量装置测量的鞋底压力来提取步行的移动时间和接触地面的鞋底部分的长度来估计膝关节的关节角度。