| 摘要 |
The present invention relates to a muscular strength assisting robot for a knee joint and to a method for controlling the same, wherein only a knee joint rotary part of a swing phase leg is operated through a robot dynamical interpreting mode, and a knee joint rotary part of a stance phase leg is operated based on a corresponding rotary angle leading table of pre-stored plural knee joint rotary parts, so that the muscular strength assisting robot can be operated with simpler calculations than in existing methods in which both are operated by a robot dynamical interpreting mode. To this end, the muscular strength assisting robot for a knee joint of the present invention is formed to be wearable between the waist and the femoral region and has a plurality of knee joint rotary parts for assisting the muscular strength of knee joints. The muscular strength assisting robot comprises a pair of contact sensing means equipped at both soles of a user to sense a swing phase and a stance phase through the contact of the user′s feet with the ground; and a control unit for controlling the rotation of a knee joint rotary part of a swing phase leg based on a robot dynamical interpreting mode and controlling the rotation of a knee joint rotary part of a stance phase leg based on a corresponding rotary angle leading table of pre-stored plural knee joint rotary parts, when it is sensed that one side leg is a swing phase and the other side leg is a stance phase. |
