SYSTEM AND METHOD FOR ESTIMATING JOINT ANGLES VALUE OF KNEE JOINT REHABILITATION ROBOT

• Main Authors: LEE, EUNG HYUK, EOM, SU HONG, JANG, MUN SUCK, LEE, WON YOUNG
• Format: Patent
• Language: English; Korean
• Published: 07.07.2015
• Subjects: ARTIFICIAL RESPIRATION; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSESOR SPECIFIC PARTS OF THE BODY; CHAMBERS PROVIDED WITH MANIPULATION DEVICES; CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE ORDIFFERENT FUNCTION; CONTROL OR REGULATING SYSTEMS IN GENERAL; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; CONTROLLING; DIAGNOSIS; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; HAND TOOLS; HUMAN NECESSITIES; HYGIENE; IDENTIFICATION; MANIPULATORS; MASSAGE; MEDICAL OR VETERINARY SCIENCE; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS ORELEMENTS; PERFORMING OPERATIONS; PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING ORSTIMULATING REFLEX POINTS IN THE BODY; PHYSICS; PORTABLE POWER-DRIVEN TOOLS; REGULATING; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TOTHE CONTROL OF A PARTICULAR SUB-UNIT; SURGERY; TRANSPORTING; VEHICLES IN GENERAL

The present invention relates to a method and a system 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 including: a pressure measuring device for measuring the pressure on the sole of foot of a walker with use of a pressure sensor; and a joint angle estimating device for estimating the joint angel of a knee joint by extracting movement time of the walk and the length of the part of the sole contacting the ground based on the pressure of the sole, which is measured by the pressure measuring device. 보행 재활자의 보행 단계를 추정하고 이를 바탕으로 보행 단계에 따라 능동적으로 대응하는 슬관절형 보행훈련로봇의 관절각 제어 시스템 및 제어방법에 관한 것으로, 압력센서를 이용하여 보행자의 발바닥의 압력을 측정하는 압력 측정장치 및 상기 압력 측정장치에서 측정한 발바닥의 압력을 기초로 보행의 이동시간과 발바닥이 지면에 닿는 길이를 추출하여 슬관절의 관절각을 추정하는 관절각 추정장치를 포함하는 구성을 마련하여, 슬관절형 보행훈련로봇의 관절각을 용이하게 제어할 수 있다.