Wearable robot determinable intention of user and method for controlling of the same

摘要

The present invention relates to a wearable robot based on walking intention assumption and a controlling method thereof, which can accurately sense the intention of a walker (user) in order to control a joint actuator by reducing errors through convergence between an inverse dynamic method and an HRI sensing method. The wearable robot based on walking intention assumption comprises: a back pack unit (100) which is worn by a user (1); a hydraulic pressure supply unit (200) which is installed in the back pack unit (100) in order to supply hydraulic pressure; robot legs (300R, 300L) which are installed at both sides on the bottom of the back pack unit (100); and a controller which calculates torque requirement necessary for the operation of individual operating parts according to the intention of the walker, and can control the operation of the hydraulic pressure supply unit (200). The controlling method for the wearable robot based on walking intention assumption comprises: a walking estimating step (S110) which assumes a walking mode by sensing whether or not the right or left sole of a user is in contact with the ground; a gradient measuring step (S120) which measures a gradient of the ground where the user is positioned; a command generating step (S130) which assumes walking intention of the user using a sensor installed in the wearable robot (2), and generates commands for controlling individual operating parts by calculating torque requirement (T_req) necessary for operating the parts of the wearable robot according to the intention of the walker; and a command performing step (S140) which actuates an actuator of the wearable robot (2) according to the generated command.