| 摘要 |
PURPOSE: A wearing robot system and a control method thereof are provided to obtain stability by utilizing a pressure sensor prepared in each port of an actuator and by controlling the actuator. CONSTITUTION: A wearing robot system(100) comprises a wearing footwear unit(110), a lower leg structure(120), an upper leg structure(130), a knee joint actuator unit(140), a first sensor(111), and a second sensor(141). The wearing footwear unit is worn at footwear of a wearer. The lower leg structure is connected to an upper end of the wearing footwear unit. The upper leg structure is rotatably connected to the upper part of the lower leg structure. Both ends of the knee joint actuator unit are individually and rotatably connected to the upper end of the upper leg structure and the upper end of the lower leg structure. The knee joint actuator unit rotates the lower leg structure with a linear motion according to the upper leg structure. The first sensor is located in a lower surface of the wearing footwear unit and senses whether the wearing footwear unit touches the surface or not. The second sensor is located on the upper end of the knee joint actuator unit and senses the working pressure of the knee joint actuator unit.
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