WEARABLE ROBOT AND METHOD OF CONTROLLING THE SAME

摘要

Provided is a method of controlling a wearable robot, the method including: measuring a ground reaction force (GRF) exerted on a wearer's soles; calculating a time variation rate of the measured GRF; measuring the wearer's knee joint angle; and detecting a time point at which the calculated time variation rate of the GRF and the measured knee joint angle cross each other.

主权项

1. A method of controlling a wearable robot configured to be worn by a user, the method comprising:
measuring a ground reaction force (GRF) and a knee joint angle, the GRF being a force exerted on at least one sole of the user and the knee joint angle being an angle of one or more knee joints of the user; detecting a point in time at which a time variation rate of the GRF and the knee joint angle cross each other; and determining whether the user has begun standing based on the detecting, and applying an auxiliary torque to the wearable robot, if the user has begun standing.