SYSTEM AND METHOD FOR CONTROLLING JOINT ANGLE OF KNEE-JOINT TYPE WALKING TRAINING ROBOT

摘要

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.

主权项

1. A system for controlling a joint angle of a knee-joint type walking training robot, the system comprising:
a pressure measuring apparatus configured to measure a pressure of a sole of a foot of a walker by using a pressure sensor; and a joint angle estimating apparatus configured to estimate a joint angle of a knee-joint by extracting a movement time period for walking and a length by which the foot sole makes contact with a ground surface based on the pressure of the foot sole measured by the pressure measuring apparatus.