A WALK-ASSISTIVE APPARATUS AND A METHOD FOR CONTROLLING THE WALK-ASSISTIVE APPARATUS

摘要

A walk-assistive apparatus may include: at least one joint that corresponds to at least one joint of a wearer, at least one link that rotates in response to rotation of the joint and connects the joint; a spring that is mounted in the link or the joint so that a length of the spring is changed in accordance with rotation of the link or the joint; and a processor that controls the change in the length of the spring to compensate for a weight by gravity when the wearer walks. Accordingly, the walk-assistive apparatus and the method of controlling the same may use a mechanical element such as a spring to reduce energy, and weight compensation having uniform performance may be performed even in an arbitrary posture.