| 摘要 |
Disclosed are a wearable robot and a control method thereof capable of highly reducing total weight and manufacturing costs by not requiring a hydraulic driving system and a power source, such as an oil tank, a motor, and the like. The wearable robot comprises an oxygen tank worn on a user in a state where compressed air is stored; a link part for transmitting the weight of the oxygen tank to the ground; and a cylinder part for driving the link part. The cylinder part is driven by the pneumatic pressure of the oxygen tank. The control method of the wearable robot detects the stance and swing phases of soles using sensors. In the stance phase, the flow control valve of a driving part is opened and the flow control valve of a discharge part is closed to transmit the pressure to the cylinder part using the air of the oxygen tank, thereby driving the link part. In the swing phase, the flow control valve of the driving part is closed and the flow control valve of the discharge part is opened to remove the pressure of the cylinder part and to store remained oxygen in an auxiliary tank. Thus, the present invention does not need the additional power source by utilizing the compressed air of the oxygen tank, thereby reducing the total weight and the manufacturing costs. Also, the present invention can reduce the weight of the oxygen tank and can improve work efficiency by driving the cylinder using the pneumatic pressure of the oxygen tank. |
