WEARABLE ROBOT AND METHOD FOR CONTROLLING THE SAME

• US 20150134080A1
• Filed: 09/03/2014
• Published: 05/14/2015
• Est. Priority Date: 11/14/2013
• Status: Active Grant

• Current Assignee: Samsung Electronics Co. Ltd.
• Original Assignee: Samsung Electronics Co. Ltd.
• Inventors: ROH, Chang Hyun
• Granted Patent: US 10,556,335 B2
• Time in Patent Office: Days
• US Class Current: 623/32
• CPC Class Codes: A61B 5/1071 measuring angles, e.g. using goniometers A61B5/1123 takes precedence
• CPC Class Codes: A61B 5/112 Gait analysis
• CPC Class Codes: A61F 2/72 Bioelectric control, e.g. myoelectric
• CPC Class Codes: A61H 1/024 Knee A61H1/0255 takes precedence
• CPC Class Codes: A61H 1/0244 Hip A61H1/0255 takes precedence
• CPC Class Codes: A61H 1/0266 Foot
• CPC Class Codes: A61H 2003/007 secured to the patient, e.g. with belts
• CPC Class Codes: A61H 2201/0107 modular
• CPC Class Codes: A61H 2201/165 Wearable interfaces
• CPC Class Codes: A61H 2201/5058 Sensors or detectors
• CPC Class Codes: A61H 2201/5069 Angle sensors
• CPC Class Codes: A61H 2201/5079 Velocity sensors
• CPC Class Codes: A61H 2201/5084 Acceleration sensors
• CPC Class Codes: A61H 2201/5092 Optical sensor
• CPC Class Codes: A61H 2201/5097 wireless
• CPC Class Codes: A61H 2230/605 used as a control parameter for the apparatus
• CPC Class Codes: A61H 3/00 Appliances for aiding patients or disabled persons to walk about apparatus for helping babies to walk A47D13/04; orthopaedic devices for correcting deformities of, or supporting, limbs A61F5/0102; exercising apparatus for the feet or toes A63B23/10; stairways or ramps E04F11/00
• CPC Class Codes: B25J 9/0006 Exoskeletons, i.e. resembling a human figure
• CPC Class Codes: B25J 9/1694 characterised by use of sensors other than normal servo-feedback from position, speed or acceleration sensors, perception control, multi-sensor controlled systems, sensor fusion
• CPC Class Codes: Y10S 901/01 Mobile robot

Abstract

A wearable robot may include a gear part having an exoskeleton structure to be worn on legs of a user, a sensor part including a first electromyogram (EMG) sensor attached at a first location of at least one leg of the user, and a second EMG sensor attached at a second location, and a controller to detect a walking assist starting point to assist the user with walking, based on a first EMG signal detected by the first EMG sensor and a second EMG signal detected by the second EMG sensor.

Claims

1. A wearable robot comprising:

an assistance device having an exoskeleton structure configured to be worn on legs of a user;

sensors including a first electromyogram (EMG) sensor and a second EMG sensor, the first EMG sensor configured to attach at a first location on at least one leg of the user and to detect a first EMG signal, the second EMG sensor configured to attach at a second location on the at least one leg and to detect a second EMG signal; and

a controller configured to detect a walking assist starting point based on the first EMG signal and the second EMG signal, the walking assist starting point being a point in a walking cycle in which the assistance device assists the user with walking.

2. The wearable robot according to claim 1, wherein

the first location on the at least one leg of the user corresponds to a location of a tibialis anterior muscle of the user, and

the second location of the at least one leg of the user corresponds to a location of a triceps surae muscle of the user.

3. The wearable robot according to claim 1, wherein the second location on the at least one leg of the user corresponds to a location of a soleus muscle of the user.

4. The wearable robot according to claim 1, wherein the controller is configured to determine the walking assist starting point by detecting when the first EMG signal is in an offset state and the second EMG signal is in an onset state, the onset state being a state when a muscle at the first location is activated and the offset state being a state when a muscle at the second location is deactivated.

5. The wearable robot according to claim 4, wherein the controller is configured to determine if an amplitude of each of the first and second EMG signals are above or below a boundary before determining the walking assist starting point.

6. The wearable robot according to claim 4, wherein the controller includes,

a first filter configured to filter each of the first and second EMG signals before determining the walking assist starting point;

and

a second filter configured to filter each of the first and second EMG signals before determining the walking assist starting point, the second filter having a cutoff frequency different from a cutoff frequency associated with the first filter.

7. The wearable robot according to claim 6, wherein

the first filter is a low pass filter (LPF), and

the second filter has a cutoff frequency associated therewith that is lower than the cutoff frequency associated with the first filter.

8. The wearable robot according to claim 1, wherein the sensors further comprise:

at least one of a gyro sensor and an acceleration sensor, the gyro sensor configured to detect inclination of an upper body of the user, and the acceleration sensor configured to detect walking acceleration of the user.

9. The wearable robot according to claim 1, wherein the controller is configured to calculate a torque to apply to a driver such that the driver assists a muscular power of the user.

10. The wearable robot according to claim 9, wherein the controller is configured to calculate the torque such that the torque is proportional to inclination of a body of the user or walking speed of the user.

11. The wearable robot according to claim 9, wherein the controller is configured to apply the torque to a driver associated with the assistance device such that the torque is applied for a walking assist duration, the walking assist duration determined based on the walking assist starting point.

12. The wearable robot according to claim 11, wherein the walking assist duration is a fixed time beginning from the walking assist starting point.

13. The wearable robot according to claim 11, wherein the walking assist duration is from the walking assist starting point until when a foot of a leg different from the at least one leg of the user contacts ground.

14. The wearable robot according to claim 11, wherein the driver comprises:

a first driver in a left hip joint of the assistance device, and

a second driver in a right hip joint of the assistance device.

15. The wearable robot according to claim 14, wherein the controller is configured to,

apply the torque to drivers associated with the at least one leg in a direction opposite to a walking direction of the user, and

apply the torque to drivers associated with a leg different from to the at least one leg in the walking direction of the user.

16. A method for controlling a wearable robot an assistance device having an exoskeleton structure configured to be worn on legs of a user, the method comprising:

receiving a first electromyogram (EMG) signal and a second EMG signal from a first EMG sensor and a second EMG sensor, respectively, the first EMG sensor configured to attach at a first location of at least one leg of the user, the second EMG sensor configured to attach at a second location of the at least one leg;

detecting a walking assist starting point based on the first and second EMG signals, the walking assist starting point being a point in a walking cycle in which the assistance device assists the user with walking;

calculating a torque to assist a muscular power of the user; and

applying the torque to a driver included in the assistance device such that the assistance device assists the muscular power of the user.

17. The method according to claim 16, wherein

the first location on the at least one leg of the user corresponds to a location of a tibialis anterior muscle of the user, and

the second location on the at least one leg of the user corresponds to a location of a soleus muscle of the user.

18. The method according to claim 16, wherein the detecting of the walking assist starting point comprises:

detecting when the first EMG signal is in an offset state and the second EMG signal is in an onset state, the onset state being a state when a muscle at the first location is activated and the offset state being a state when a muscle at the second location is deactivated.

19. The method according to claim 16, wherein the driver comprises:

a first driver in a left hip joint of the assistance device, and

a second driver in a right hip joint of the assistance device.

20. The method according to claim 19, wherein the applying the torque comprises:

applying the torque to the drivers associated with the at least one leg in a direction opposite to a walking direction of the user; and

applying the torque to the driver associated with a leg different from the at least one leg in the walking direction of the user.