KR20200118261A - Robot to support independent activities for the disabled - Google Patents

Abstract

An embodiment of the present invention provides an independent activity support robot for persons with physical disabilities that can help a person who is inconvenient in activity. Here, the robot supporting independent activities for the physically disabled includes a base module and a moving module. The base module has a footrest base and a plurality of lower body joint links that connect the lower body joints and a plurality of lower body joints provided to correspond to the user's lower body joints, and is a pair on the upper part of the footrest base to be coupled to both sides of the user's lower body. It has a lower exoskeleton part provided. The moving module has a driving wheel coupled to the footrest base, and allows the base module to move. The lower exoskeleton is converted into a sitting mode in which the user can sit or a standing mode in which the user can stand.

Description

Robot to support independent activities for people with physical disabilities {ROBOT TO SUPPORT INDEPENDENT ACTIVITIES FOR THE DISABLED}

The present invention relates to a robot for supporting independent activities for persons with physical disabilities, and more particularly, to a robot for supporting independent activities for persons with physical disabilities, which can help people with disabilities.

Robots are automatic machines with a human-like appearance and functions, and can be classified into industrial robots, service robots, and special purpose robots according to their use.

Industrial robots are robots that are in charge of assembling or inspecting products on behalf of humans at industrial sites, and service robots are robots that provide various services to human life such as cleaning, patient assistance, toys, and educational practice, and are for special purposes. Robots are robots that can be used in wars or perform extreme tasks in space, deep sea, and nuclear reactors.

These robots are manually operated robots that are directly manipulated by humans according to the operation method, sequence robots that act according to a preset sequence, playback robots that follow human behavior, numerical control robots that can change programs at any time, and learning. It can be classified as an intelligent robot with ability and judgment.

Among them, an intelligent robot refers to a robot that recognizes the external environment, determines the situation by itself, and operates autonomously. What differentiates it from existing robots is the addition of a situation determination function and an autonomous operation function, and the situation determination function is divided into an environment recognition function and a location recognition function, and the autonomous operation function can be divided into an operation control function and an autonomous movement function.

A person with a disability is a person with a disability who is severely restricted in his or her professional life over a long period of time, including physical and mental disabilities, and is restricted from daily activities for various reasons. It can be divided into a congenital disabled person who has a disability from birth and an acquired disabled person who later has a disability due to an accident or aging.

Among the disabled, physical disabilities can be divided into internal and external physical disabilities, and externally, there are upper and lower body disabilities such as arms and legs along with five sense disabilities such as sight and hearing. Unlike mental disorders, among physical disorders, upper and lower body disabilities are uncomfortable, and their intellectual abilities to think and speak are the same as those of normal people, but have problems of low education and unstable employment due to discrimination in admission and employment.

As an application and utilization plan of intelligent robots, the body is uncomfortable, but the intellectual ability to think and speak needs to be provided to support the same labor force of the upper and lower body disabled people as normal people.

For this purpose, firstly, it is difficult to move due to an obstacle in the lower body, so a function that can carry and move the user is required, and secondly, a function that can be controlled by brain waves without separate operation, etc., because precise operation or work is difficult due to an upper body failure. Since various functions are required, there is a need for technology to implement them. This is necessary not only for the disabled, but also for supporting the activities of the elderly.

Republic of Korea Patent Publication No. 2017-0099054 (published on August 31, 2017)

In order to solve the above problems, the technical problem to be achieved by the present invention is to provide a robot supporting independent activities for persons with physical disabilities that can help people with disabilities.

The technical problem to be achieved by the present invention is not limited to the technical problems mentioned above, and other technical problems that are not mentioned can be clearly understood by those of ordinary skill in the technical field to which the present invention belongs from the following description. There will be.

In order to achieve the above technical problem, an embodiment of the present invention has a footrest base, a plurality of lower body joint joints provided to correspond to the user's lower body joints, and a plurality of lower body joint links connecting the lower body joint joints. A base module having a lower exoskeleton part provided in a pair on the upper part of the footrest base so as to be coupled to both sides of the lower body; And a moving module that allows the base module to move, and the lower exoskeleton unit is converted into a sitting mode in which a user can sit or a standing mode in which the user can stand, having driving wheels coupled to the footrest base. It provides robots that support complex activities.

In an embodiment of the present invention, the moving module may have an auxiliary wheel part provided on the scaffolding base and positioned to the rear of the traveling direction of the moving module to selectively contact the ground.

In an embodiment of the present invention, the moving module has an axle provided on the scaffolding base and rotatably provided at both ends of the axle, and has a driving wheel shaft connecting the driving wheel and the axle, and the driving wheel shaft is The axle may be tilted to form an angle with the rotation center axis of the axle, and the ground angle of the driving wheel may be changed to prevent the base module from rolling over.

In an embodiment of the present invention, the base module includes a wire for lower body joints connected from the upper end of the lower exoskeleton to the lower end of the lower exoskeleton so as to contact the outer heel surface of the lower body joint joint whose rotation angle increases when the lower exoskeleton is retracted, and the lower body An active driving unit connected to one end of the joint wire, and a rigidity control unit for controlling the stiffness of the active driving unit to change the tensile force applied to the lower body joint wire so that the lower exoskeleton unit is converted to the sitting mode or the standing mode. It may have a variable rigidity portion having.

In an embodiment of the present invention, the rigidity control unit may control the active driving unit to have a first rigidity in the sitting mode and a second rigidity greater than the first rigidity in the standing mode.

In an embodiment of the present invention, the base module is hinge-connected to the upper part of the lower exoskeleton and has a backrest part supporting the user's back, and the active driving part and the variable rigidity part may be installed on the backrest part.

In an embodiment of the present invention, the variable stiffness portion may further include a clutch provided in the lower body joint joint to unlock or lock the lower body joint joint to rotate.

In an embodiment of the present invention, the base module may further include a support band provided on the lower exoskeleton and surrounding the lower body of the user and fixing the lower body of the user to the lower exoskeleton.

In an embodiment of the present invention, the support band may include a cushioning material to distribute pressure applied to a user.

In an embodiment of the present invention, the base module may be detached from the moving module, and the lower exoskeleton part may be folded to be converted into a transport mode.

In an embodiment of the present invention, a plurality of arm joint joints provided to correspond to the user's arm joints, and an upper limb module having a plurality of arm joint links connecting the arm joints may be further included.

In an embodiment of the present invention, the upper limb module has one end coupled to the arm joint link, an elastic portion to which a spring block movable along the length direction of the arm joint link is coupled to the other end, and one end portion is coupled to the spring block. Combined and the tartan portion of the arm joint wire coupled to the arm joint joint, an idle roller provided on the arm joint link and supporting between both ends of the arm joint wire, and provided on the arm joint link and of the idle roller It may include a self-weight compensation unit having a compensation torque adjustment unit for adjusting the position and the elastic force of the elastic unit.

In an embodiment of the present invention, the upper limb module is coupled to a first hinge shaft provided in the arm joint joint, a first gear rotating in both directions around the first hinge shaft, and coupled to the other end of the first hinge shaft. And a second gear that rotates in both directions independently of the first gear, and one end is coupled to the first hinge shaft and is coupled to the other end of the second hinge shaft extending outward of the arm joint joint, and the first gear and the second gear A third gear coupled to the second gear, and a first driving unit coupled to the first gear to rotate the first gear while being contracted and elongated; In addition, it may include a hand replicating part coupled to the second gear and having a second driving part that rotates the second gear while contracting and extending.

In an embodiment of the present invention, the first driving unit and the second driving unit may be artificial muscles having at least one of a shape memory alloy material, a spring, and a heat reaction material.

In an embodiment of the present invention, it may include a brain-machine interface (BMI) based cognitive module that controls the base module, the movement module, and the upper limb module based on the user's brainwave information.

In an embodiment of the present invention, the rigidity of the driving wheel may be deformed to correspond to a surrounding structure that contacts the driving wheel.

In an embodiment of the present invention, the driving wheel includes a power transmission unit that receives power from an axle provided on the footrest base and rotates, and a flexible support unit that is coupled to the power transmission unit and rotates integrally with the power transmission unit. , A stiffness variable portion that is coupled to the outer circumferential surface of the flexible support portion and rotates integrally with the flexible support portion and is deformed according to an external force by adjusting stiffness, and a flexible support frame portion that is coupled to the outer circumferential surface of the stiffness variable portion to protect the stiffness variable portion. And, it may have a shock sensing unit provided in the power transmission unit for sensing an impact, and a stiffness adjusting unit for controlling the stiffness of the stiffness variable portion to be adjusted based on the magnitude of the impact detected by the shock sensing unit.

On the other hand, in order to achieve the above technical problem, an embodiment of the present invention is a base module in which the user is seated; And a moving module for moving the base module, having a driving wheel coupled to the base module, wherein the stiffness of the driving wheel is deformed to correspond to a surrounding structure contacting the driving wheel. Provide a robot.

In an embodiment of the present invention, the driving wheel includes a power transmission unit that receives power from an axle provided in the base module and rotates, and a flexible support unit that is coupled to the power transmission unit and rotates integrally with the power transmission unit. , A stiffness variable portion that is coupled to the outer circumferential surface of the flexible support portion and rotates integrally with the flexible support portion and is deformed according to an external force by adjusting stiffness, and a flexible support frame portion that is coupled to the outer circumferential surface of the stiffness variable portion to protect the stiffness variable portion. And, it may have a shock sensing unit provided in the power transmission unit for sensing an impact, and a stiffness adjusting unit for controlling the stiffness of the stiffness variable portion to be adjusted based on the magnitude of the impact detected by the shock sensing unit.

In an embodiment of the present invention, the moving module may have an auxiliary wheel part provided in the moving module and selectively positioned to the rear of the traveling direction of the moving module to contact the ground.

In an embodiment of the present invention, the moving module has an axle provided in the base module and rotatably provided at both ends of the axle, and has a driving wheel shaft connecting the driving wheel and the axle, and the driving wheel shaft is The axle may be tilted to form an angle with the rotation center axis of the axle, and the ground angle of the driving wheel may be changed to prevent the base module from rolling over.

In an embodiment of the present invention, a plurality of arm joint joints provided to correspond to the user's arm joints, and an upper limb module having a plurality of arm joint links connecting the arm joints may be further included.

In an embodiment of the present invention, the upper limb module has one end coupled to the arm joint link, an elastic portion to which a spring block movable along the length direction of the arm joint link is coupled to the other end, and one end portion is coupled to the spring block. Combined and the tartan portion of the arm joint wire coupled to the arm joint joint, an idle roller provided on the arm joint link and supporting between both ends of the arm joint wire, and provided on the arm joint link and of the idle roller It may include a self-weight compensation unit having a compensation torque adjustment unit for adjusting the position and the elastic force of the elastic unit.

In an embodiment of the present invention, the upper limb module is coupled to a first hinge shaft provided in the arm joint joint, a first gear rotating in both directions around the first hinge shaft, and coupled to the other end of the first hinge shaft. And a second gear that rotates in both directions independently of the first gear, and one end is coupled to the first hinge shaft and is coupled to the other end of the second hinge shaft extending outward of the arm joint joint, and the first gear and the second gear A third gear coupled to the second gear, and a first driving unit coupled to the first gear to rotate the first gear while being contracted and elongated; In addition, it may include a hand replicating part coupled to the second gear and having a second driving part that rotates the second gear while contracting and extending.

In an embodiment of the present invention, the first driving unit and the second driving unit may be artificial muscles having at least one of a shape memory alloy material, a spring, and a heat reaction material.

In an embodiment of the present invention, it may include a brain-machine interface (BMI) based cognitive module that controls the base module, the movement module, and the upper limb module based on the user's brainwave information.

On the other hand, in order to achieve the above technical problem, one embodiment of the present invention has a plurality of lower body joint joints provided to correspond to the lower body joints of the user and a plurality of lower body joint links connecting the lower body joints, both sides of the user's lower body A lower exoskeleton portion provided in a pair to be coupled to; And a lower body joint wire connected from the upper end to the lower end of the lower exoskeleton so as to contact the outer heel surface of the lower body joint joint when the lower exoskeleton part is retracted, and an active driving part connected to one end of the lower body joint wire. And, it provides a standing activity support robot including a variable stiffness unit having a stiffness control unit for controlling the stiffness of the active drive unit to change the tensile force applied to the lower body joint wire so that the lower exoskeleton unit is operated.

In an embodiment of the present invention, the variable stiffness portion may further include a clutch provided in the lower body joint joint to unlock or lock the lower body joint joint to rotate.

According to an embodiment of the present invention, the base module is converted to a sedentary mode or a standing mode, thereby supporting both sedentary and standing activities.

In addition, according to an embodiment of the present invention, since the driving wheel has a deformable wheel mechanism, it is possible to freely move without being limited by an obstacle.

In addition, according to an embodiment of the present invention, a rollover prevention mechanism is applied to a moving module including a driving wheel, so that the front and rear, left and right rollovers can be effectively prevented.

In addition, according to an embodiment of the present invention, the moving module is configured in a separate type, and the base module is configured in a foldable manner, so that easy disassembly and assembly is possible, so that independent self-boarding and getting on and off can be implemented.

In addition, according to an embodiment of the present invention, an ergonomic wearing mechanism is applied to the support band, so that a fit and a sense of unity may be improved.

In addition, according to an embodiment of the present invention, a load compensation mechanism mechanism is applied to the upper limb module to enable ultra-light driving.

In addition, according to an embodiment of the present invention, a brain-machine interface (BMI)-based cognitive module may be applied so that even a severely handicapped person can easily operate.

The effects of the present invention are not limited to the above effects, and should be understood to include all effects that can be deduced from the configuration of the invention described in the detailed description or claims of the present invention.

1 and 2 show a complex activity support robot according to an embodiment of the present invention.
3 shows an example of operation of the moving module of FIG. 1.
4 is an exemplary view showing a driving wheel of the moving module of FIG. 1.
5 is an exemplary view showing an example of operating the driving wheel of FIG. 4.
6 is an exemplary view showing an operation example when the driving wheel of FIG. 4 climbs stairs.
7 is an exemplary view showing a driving example using the driving wheel of FIG. 4.
8 is an exemplary view showing another application example of the driving wheel of FIG. 4.
9 is an exemplary view showing an auxiliary wheel part in the moving module of FIG. 1 as a center.
10 is an exemplary view showing an example of application of the auxiliary wheel of FIG. 9.
11 is an exemplary view showing the configuration of the lower exoskeleton of FIG. 1.
12 is an exemplary diagram for explaining energy requirements according to a driving mechanism of a variable rigidity unit.
13 is an exemplary view showing an application example of a sitting mode and a standing mode of the base module of FIG. 1.
14 is an exemplary view for explaining a support band of the base module of FIG. 1.
15 is an exemplary view for explaining the disassembly and assembly mechanism of the complex activity support robot of FIG.
16 is an exemplary diagram showing a state in which the complex activity support robot of FIG. 1 includes an upper limb module.
16 is an exemplary diagram showing a state in which the complex activity support robot of FIG. 1 includes an upper limb module.
17 is an exemplary view showing an example of using the upper limb module of FIG. 16.
18 is an exemplary view for explaining a self-weight compensation unit included in the upper limb module of FIG. 16.
19 is an exemplary view showing a hand simulation unit included in the upper limb module of FIG. 16.
20 and 21 are operational exemplary diagrams of FIG. 19.
22 is an exemplary view illustrating a brain machine interface (BMI) based cognitive module included in a complex activity support robot according to an embodiment of the present invention.
23 is an exemplary view showing a mobile activity support robot according to an embodiment of the present invention.

Hereinafter, the present invention will be described with reference to the accompanying drawings. However, the present invention may be implemented in various different forms, and therefore is not limited to the embodiments described herein. In the drawings, parts irrelevant to the description are omitted in order to clearly describe the present invention, and similar reference numerals are assigned to similar parts throughout the specification.

Throughout the specification, when a part is said to be “connected (connected, contacted, bonded)” to another part, it is not only “directly connected”, but also “indirectly connected” with another member in the middle. This includes cases where there are In addition, when a part "includes" a certain component, this means that other components may be further provided, not excluding other components unless otherwise specified.

The terms used in the present specification are only used to describe specific embodiments, and are not intended to limit the present invention. Singular expressions include plural expressions unless the context clearly indicates otherwise. In the present specification, terms such as “comprise” or “have” are intended to designate the presence of features, numbers, steps, actions, components, parts, or a combination thereof described in the specification, but one or more other features It is to be understood that the presence or addition of elements or numbers, steps, actions, components, parts, or combinations thereof, does not preclude in advance.

Hereinafter, embodiments of the present invention will be described in detail with reference to the accompanying drawings.

1 and 2 show a complex activity support robot according to an embodiment of the present invention.

As shown in FIGS. 1 and 2, the complex activity support robot may include a base module 100 and a moving module 200.

The base module 100 may have a scaffolding base 110 and a lower exoskeleton part 120.

The footrest base 110 may be a part on which a user's foot can be seated.

The lower exoskeleton part 120 may be provided in a pair on the upper part of the scaffold base 110 so as to be coupled to both sides of the lower body of the user seated on the scaffold base 110. In the present invention, the lower body may mean including not only the legs but also the waist.

The lower exoskeleton part 120 may have a lower body joint joint 121 and a lower body joint link 125.

The lower body joint joint 121 may be provided in plurality to correspond to the lower body joint of the user. That is, the lower body joint 121 has a first lower body joint 122, a second lower body joint 123 and a third lower body joint 124 corresponding to the ankle joint, knee joint and hip joint of the human body, respectively. And the hinge can be rotated.

Each of the lower body joints 121 may be provided with a torque generating unit (not shown) that outputs a torque therein, and the torque generating unit may adjust the amount of torque of the lower body joint joint.

The footrest base 110 may be provided with a foot step 111 on which the user's foot is placed. In addition, the lower body joint joint 121 corresponding to the ankle joint of the human body may be connected to the foot step 111.

The lower body joint links 125 may be provided in plural, and each lower body joint link 126 and 127 may connect the lower body joint joints 122, 123 and 124. That is, the first lower body joint link 126 of the lower side may connect the first lower body joint joint 122 and the second lower body joint joint 123. In addition, the second lower body joint link 127 of the upper side may connect the second lower body joint joint 123 and the third lower body joint joint 124.

In addition, the base module 100 may have a backrest part 128 that is hingedly connected to the upper part of the lower exoskeleton part 120 and supports the user's back. The back support part 128 may be connected to the third lower body joint joint 124.

The lower exoskeleton unit 120 may be converted to a sedentary mode in which a user can sit (see FIG. 1) or a standing mode in which a user can stand (see FIG. 2).

The sitting mode and the standing mode may be converted by rotating the second lower body joint joint 123 corresponding to the knee joint of the human body and the third lower body joint joint 124 corresponding to the hip joint of the human body. In the sitting mode, the user can maintain a seated state by the lower exoskeleton unit 120, and in the standing mode the user can be supported in a standing state by the lower exoskeleton unit 120.

The moving module 200 may have a driving wheel 230 coupled to the footrest base 110, and may allow the base module 100 to move.

3 shows an example of operation of the moving module of FIG. 1.

1 and 2, as shown further including FIG. 3, the moving module 200 may have an axle 210, a driving wheel axle 220, and a driving wheel 230.

The axle 210 may be provided on the footrest base 110.

The driving wheel shaft 220 may be a rotational central axis of the driving wheel 230. The driving wheel shaft 220 may be rotatably provided at both ends of the axle 210 and may connect the driving wheel 230 and the axle 210.

The driving wheel shaft 220 may be tilted to form an angle with the rotation center axis of the axle 210.

Therefore, when the driving wheel 230 is provided so as to be perpendicular to the ground 10 and driven (refer to FIG. 3 (a)), when a disturbance occurs, the driving wheel shaft 220 is tilted and the ground angle of the driving wheel 230 May be modified (see Fig. 3(b)). In this case, the grounding angle of the driving wheel 230 may be modified so that the gap at the lower side of the driving wheel 230 is greater than the gap at the upper side. Through this, it is possible to effectively prevent the left and right rollover of the base module 100 when disturbance occurs. Here, the disturbance means that a force that causes the complex activity support robot to tilt is applied, such as the user's body tilting or external force applied from the outside.

The complex activity support robot may include a sensor (not shown) for implementing a highly sensitive balance control technology. In addition, a position prediction algorithm capable of preventing the left and right rollover of the complex activity support robot may be installed using information detected by the sensor.

FIG. 4 is an exemplary view showing a driving wheel of the moving module of FIG. 1, FIG. 5 is an exemplary view showing an example of operating the driving wheel of FIG. 4, and FIG. 6 is an example of operation when the driving wheel of FIG. 4 climbs stairs It is an exemplary diagram showing.

As shown in Figs. 4 to 6, the driving wheel 230 is a power transmission unit 231, a flexible support unit 232, a stiffness variable unit 233, a flexible support frame unit 234, an impact sensing unit 235 And it may have a stiffness control unit 236.

The power transmission unit 231 may rotate by receiving power from the axle 210 (see FIG. 3). The impact sensing unit 235 is provided in the power transmission unit 231 to detect an impact. The impact sensing unit 235 may be formed integrally with the power transmission unit 231. The shock sensing unit 235 may detect when the driving wheel 230 collides with an obstacle or when a certain or more vibration is continuously applied to the driving wheel 230.

The flexible support 232 may be coupled to the power transmission unit 231 to rotate integrally with the power transmission unit 231. The flexible support 232 may absorb an external shock when the driving wheel 230 is running.

The stiffness variable part 233 is coupled to the outer circumferential surface of the flexible support part 232 and rotates integrally with the flexible support part 232, and the stiffness is adjusted to be deformed according to an external force. The stiffness variable part 233 may have a structure capable of variable stiffness based on jamming.

The stiffness variable part 233 may be deformed so as to correspond to the surrounding structures contacting the driving wheel 230 by changing the stiffness. The stiffness variable portion 233 may have a small rigidity when deformed, and may maintain its shape by increasing rigidity after deformation.

The flexible support frame portion 234 may be coupled to the outer circumferential surface of the rigid variable portion 233 to protect the rigid variable portion 233.

The stiffness adjusting unit 236 may control the stiffness of the stiffness variable part 233 to be adjusted based on the magnitude of the impact detected by the impact sensing unit 235.

That is, when the impact detection unit 235 detects a collision of an obstacle or a certain or more vibration continuously applied to the driving wheel 230, the stiffness control unit 236 lowers the stiffness of the stiffness variable unit 233 The shape of the variable part 233 may be deformed.

When the driving wheel 230 is pressed by the surrounding structure 11 and the shape is deformed, the stiffness control unit 236 increases the stiffness of the stiffness variable portion 233 (refer to Fig. 5(a)), and the stiffness variable portion The shape 233 may correspond to the surrounding structure 11. In this state, the driving wheel 230 may ride over the surrounding structures 11 without rattle.

Thereafter, even if the driving wheel 230 rides over the surrounding structures 11, the stiffness of the stiffness variable portion 233 may be maintained for a certain time (see FIG. 5(b)). Then, when the external force applied to the stiffness variable part 233 is less than a certain level, the stiffness control part 236 may lower the stiffness of the stiffness variable part 233 (see FIG. 5(c)). And when time elapses in this state, the original original state may be restored (see FIG. 5(d)).

The impact sensing unit 235 may grasp the ground condition in real time, and based on this, the rigidity of the driving wheel 230 may be controlled in real time. This example of operation of the driving wheel 230 can be equally applied when driving on stairs.

That is, when the driving wheel 230 goes up the stairs, the first deformation part DF1 whose shape is deformed while overcoming (climbing) the stairs ST1 in front of the driving wheel 230 is the stairs ST2 behind the driving wheel 230 When you climb, the stiffness may be lowered. In addition, during the process of overcoming the rear staircase ST2, the second deformable portion DF2 has increased rigidity, so that the shape pressed by the staircase may be maintained (see FIG. 6). When overcoming the stairs, the rigidity of the driving wheel 230 may be sequentially changed, and through this, the shape of the driving wheel 230 may be changed to fit the shape of the stairs.

As such, when the driving wheel 230 is deformed in response to the step shape, the postural stability of the complex activity support robot may be improved, rollover may be prevented, and free movement not limited to obstacles may be possible.

7 is an exemplary view showing a driving example using the driving wheel of FIG. 4.

As shown in (a) of FIG. 7, examples of use of the driving wheel 230 are not only when climbing stairs or descending stairs, but also when crossing a pedestrian crossing as shown in FIG. 7 (b). It can also be useful in cases such as coming down a road or going up a sidewalk from a driveway.

8 is an exemplary view showing another application example of the driving wheel of FIG. 4.

As shown in FIG. 8, the rigidity adjustment unit 236 (see FIG. 4) adjusts the rigidity of the stiffness variable portion 233 even when the driving wheel 230 is not running so that the shape of the driving wheel 230 is deformed. can do.

By utilizing this, the occupied area of the driving wheel 230 in contact with the ground 10 is increased by changing the shape of the lower part of the driving wheel 230 in the same case as when the user 20 boards the lower exoskeleton part 120 By doing so, it can help the user 20 to ride stably.

The lower exoskeleton part 120 rotates the second lower body joint joint 123 corresponding to the knee joint of the human body so that the second lower body joint link 127 and the backrest part 128 on the upper side are horizontal, so that the user 20 It can be converted into a boarding mode to help the boarding.

Through the boarding mode, the user 20 can be easily boarded by himself. In addition, in the boarding mode, the moving module 200 may be controlled so that the crack is maintained when the user 20 boards.

9 is an exemplary view showing an auxiliary wheel part in the moving module of FIG. 1 as a center.

As shown in FIG. 9, the moving module 200 may have an auxiliary wheel part 240 that is provided on the scaffolding base 110 and is selectively positioned to the rear of the traveling direction of the moving module 200 to contact the ground. .

The auxiliary wheel part 240 may have a rotating bar 241 and an auxiliary wheel 242.

One end of the rotating bar 241 may be hinged to the footrest base 110. In addition, the auxiliary wheel 242 may be provided at the other end of the rotating bar 241.

The rotation bar 241 may be rotated rearward in the driving direction of the moving module 200 so that the auxiliary wheel 242 contacts the ground.

The auxiliary wheel 242 may support three points of the complex activity support robot together with the driving wheel 230.

The auxiliary wheel unit 240 may be driven when the complex activity support robot is stopped or a disturbance occurs while driving. To this end, the movement module 200 may include a sensor (not shown) for implementing a high-sensitivity balance control technology of the complex activity support robot through the operation of the auxiliary wheel unit 240. In addition, a position prediction algorithm capable of preventing the front and rear rollover of the complex activity support robot may be installed by controlling the operation of the auxiliary wheel unit 240 using information detected by the sensor.

10 is an exemplary view showing an example of application of the auxiliary wheel of FIG. 9.

As shown in FIG. 10, the auxiliary wheel part 240 is operated when the driving wheel 230 goes up the stairs, and is in close contact with the stairs at the rear of the driving wheel 230 to support the complex activity support robot. That is, when the lower exoskeleton unit 120 is in the sedentary mode when climbing stairs, the center of gravity is formed to the rear by the user's load and can be overturned backward. The auxiliary wheel unit 240 is operated to the rear of the complex activity support robot. By supporting it, a balance can be achieved and a rollover to the rear can be prevented.

The operation of the auxiliary wheel unit 240 can be performed in various cases without limitation when climbing the stairs, through which, for example, it can help to enable free access even in places or facilities such as restaurants that do not have convenient facilities for the disabled. have.

Figure 11 is an exemplary view showing the configuration of the lower exoskeleton of Figure 1, Figure 11 (a) shows a state in which the lower exoskeleton is in a sitting mode, and Figure 11 (b) shows a state in which the lower exoskeleton is in a standing mode. will be. 12 is an exemplary diagram for explaining energy requirements according to a driving mechanism of a variable rigidity unit.

1, 2, 11 and 12, the base module 100 may have a variable rigidity 130. The variable stiffness unit 130 may control the operation of the lower exoskeleton unit 120, and through this, the lower exoskeleton unit 120 may be converted to a sitting mode or a standing mode.

The variable stiffness unit 130 may have a wire 131 for lower body joints, an active drive unit 132 and a rigidity control unit 133.

The lower body joint wire 131 may be connected from the upper end to the lower end of the lower exoskeleton part 120 so as to contact the outer heel surface of the lower body joint joint 121, which increases the rotation angle when the lower exoskeleton part 120 is retracted. In other words, the lower body joint wire 131 is the rear external heel surface 122a of the first lower body joint joint 122, the anterior external heel surface 123a of the second lower body joint 123, and the third lower body joint joint It may be connected to be in contact with the rear outer heel surface (124a) of (124). The length of the lower body joint wire 131 may not be variable.

The active driving unit 132 may be connected to one end of the lower body joint wire 131. Specifically, the active driving unit 132 may be installed on the backrest unit 128. The active driving unit 132 is not limited to a specific shape and material as long as the rigidity can be adjusted, and for example, a spring may be used.

The rigidity control unit 133 may control the rigidity of the active driving unit 132 in order to change the tensile force applied to the lower body joint wire 131. When the rigidity control unit 133 increases the rigidity of the active driving unit 132, the active driving unit 132 pulls the lower body joint wire 131 upward. However, since the length of the lower body joint wire 131 does not change, the stiffness of the lower body joint wire 131 is increased due to the tensile force generated in the lower body joint wire 131 and is unfolded in a straight line. Accordingly, the second lower body joint joint 123 and the third lower body joint joint 124 are rotated, and the second lower body joint link 127 can be changed from the sitting mode to the standing mode while standing right. That is, the active driving unit 132 may be controlled by the rigidity control unit 133 to have a first rigidity in the sitting mode and a second rigidity greater than the first rigidity in the standing mode.

Such a joint mechanism can effectively help a user who is difficult to stand on its own with the power of the lower body to easily stand.

When switching from the standing mode to the sitting mode, the stiffness control unit 133 may control the stiffness of the active driving unit 132 from the second stiffness to the first stiffness. Then, the second lower body joint joint 123 and the third lower body joint joint 124 are rotated by the user's load, and the second lower body joint link 127 may be changed to the sitting mode while lying down.

The first lower body joint 122 may be provided with a pair of first auxiliary guides 136a for controlling the contact radius between the first lower body joint 122 and the lower body joint wire 131, and the second lower body The joint joint 123 may be provided with a pair of second auxiliary guides 136b for controlling the contact radius between the second lower body joint 123 and the lower body joint wire 131, and the third lower body joint joint ( A pair of third auxiliary guides 136c for controlling a contact radius between the third lower body joint joint 124 and the lower body joint wire 131 may be provided at 124.

In this way, since the bi-stable structure mechanism is applied to the variable stiffness unit 130, the operation can be implemented using the minimum power (see FIG. 12).

The active driving unit 132 and the variable rigidity unit 130 may be installed on the backrest unit 128.

Meanwhile, the variable rigidity unit 130 may further have a clutch 135.

The clutch 135 may be provided on the lower body joint 121 to release the lock so that the lower body joint 121 rotates or lock it so that it does not rotate. Therefore, if the clutch 135 is locked after the conversion to the sitting mode or the standing mode is completed, the mode can be more stably maintained.

As described above, each of the lower body joints 122, 123, 124 may be provided with a torque generating unit that outputs a torque therein. The torque generating unit can assist the rotational force generated by the lower body joint wire 131 by adjusting the amount of torque of the lower body joint 121, and through this, the rotation of the lower body joint 121 is more natural and stable. You can help it happen

On the other hand, it is possible to implement a standing activity support robot by omitting the scaffolding base 110 (see FIG. 1) of the above-described movement module 200 (see FIG. 1) and the base module 100 (see FIG. 1). That is, the standing activity support robot may include the lower exoskeleton unit 120 and the variable rigidity unit 130 described above. The standing activity support robot is not limited to being operated in a sedentary mode and a standing mode, but may be further operated in a walking mode, and through this, it may help a user to walk.

13 is an exemplary view showing an application example of a sitting mode and a standing mode of the base module of FIG. 1.

As shown in (a) of FIG. 13, in the sedentary mode, since the user 20 is in a low position, it is inconvenient to see or pick up a high object. In this case, when switching from the sitting mode to the standing mode, the user 20 may be relieved of the inconvenience of seeing or holding a tall object, as shown in FIG. 13B.

14 is an exemplary view for explaining a support band of the base module of FIG. 1.

As shown in FIG. 14, the base module 100 may further have a support band 140.

The support band 140 may be provided on the lower exoskeleton unit 120 and wrap around the lower body of the user 20 to fix the lower body of the user 20 to the lower exoskeleton unit 120. In order to effectively fix the lower body of the user 20, a plurality of support bands 140 may be provided.

In addition, the support band 140 may be provided on the backrest part 128 to wrap the user's body and fix the user's body to the backrest part 128.

The support band 140 may form a composite structure capable of dispersing the pressure applied to the support band 140. In addition, the support band 140 may have a configuration having a bending direction such that bending is performed only in a specific direction. In addition, the support band 140 may have a configuration capable of having stiffness directional so that stiffness is weak only in the bending direction.

In addition, the support band 140 may include a buffer material. Through this, the fit can be improved, and since the pressure applied to the user 20 can be dispersed, for example, bedsores and the like can be prevented.

In addition, the support band 140 may include a material with good ventilation and temperature control.

If the support band 140 can implement a sense of unity with the user 20, and if it can firmly fix the user 20 to the lower exoskeleton part 120, it is limited to the shape of a narrow string as shown. No, it is possible to apply a variety of forms, such as a form of a sufficiently wide side or a form that can wrap the entire lower body such as pants.

In addition, the support band 140 may be coupled with various fasteners. For example, various methods such as Velcro, zipper, snap, and button can be applied.

15 is an exemplary view for explaining the disassembly and assembly mechanism of the complex activity support robot of FIG.

As shown in (a) of FIG. 15, the base module 100 may be detachable from the moving module 200. Specifically, when the base module 100 and the moving module 200 (refer to FIG. 1) are separated, the two driving wheels 230 may be separated from the footrest base 110.

And, as shown in (b) of FIG. 15, the lower exoskeleton portion 120 and the backrest portion 128 of the base module 100 separated from the moving module 200 may be folded and converted into a transport mode.

When converting to the transport mode, the first lower body joint link 126 and the second lower body joint link 127 of the lower exoskeleton unit 120 can be folded to overlap each other, and the auxiliary wheel unit 240 is the lower exoskeleton unit 120 ) Can be located inside.

In the transport mode, the height of the lower exoskeleton unit 120 may be lowered to a height corresponding to the height of the first lower body joint link 126, and the width of the lower exoskeleton unit 120 is also reduced to a width corresponding to the footrest base 110. I can.

Even if a user using a conventional wheelchair has to board a vehicle for driving, if there is no guardian to load a bulky and heavy wheelchair in a large space such as the trunk of a vehicle, board the vehicle for driving. It is virtually impossible to do.

However, according to the present invention, the driver does not move from the sedentary mode to the driver's seat of the vehicle, and then changes to the transport mode to move the separated driving wheel and the base module 100 having a smaller volume and lighter weight directly into the vehicle interior. Because it can be moved, it can be possible to get on and off independently.

16 is an exemplary view showing a state in which the complex activity support robot of FIG. 1 includes an upper limb module, and FIG. 17 is an exemplary view showing an example of using the upper limb module of FIG. 16.

As shown in FIGS. 16 and 17, the complex activity support robot may further include an upper limb module 300.

The upper limb module 300 may be coupled to the user's arm to assist the operation of the user's arm. The upper limb module 300 may be detached from the base module 100.

The upper limb module 300 may have an arm joint 311 and an arm joint link 315.

The arm joint 311 may be provided in plurality to correspond to the user's arm joint. That is, the arm joint 311 includes a first arm joint 312, a second arm joint 313, and a third arm joint 314 respectively corresponding to the wrist joint, elbow joint, and shoulder joint of the human body. Can have, and the hinge can be rotated.

Each arm joint 311 may be provided with a torque generating unit (not shown) that outputs a torque therein, and the torque generating unit may adjust the amount of torque of the arm joint.

The arm joint link 315 may be provided in plural, and each arm joint link (,) may connect the arm joint joint 311. That is, the lower first arm joint link 316 may connect the first arm joint joint 312 and the second lower body joint joint 123. In addition, the second arm joint link 317 on the upper side may connect the second arm joint joint 313 and the third arm joint joint 314.

In addition, a shoulder support part 318 for supporting the user's shoulder may be further connected to the third arm joint 314.

In addition, the upper limb module 300 may have an arm fixing band 319. The arm fixing band 319 may be provided on the arm joint link 315 to fix the user's arm to the arm joint link 315. The arm fixing band 319 may be the same as the support band 140 described above.

18 is an exemplary view for explaining a self-weight compensation unit included in the upper limb module of FIG. 16.

As shown in FIG. 18, the upper limb module may include a self-weight compensation unit 320.

In addition, the self-weight compensation unit 320 may have an elastic unit 321, a wire 323 for an arm joint, an idle roller 324, and a compensation torque adjustment unit 325.

The arm joint link 315 may be provided with a spring block 322 that is movable along the longitudinal direction, and the elastic part 321 has one end coupled to the arm joint link 315 and the other end coupled to the spring block 322 Can be.

The arm joint wire 323 may have one end coupled to the spring block 322 and the tartan portion coupled to the arm joint 311. The idle roller 324 is provided on the arm joint link 315 and may support between both ends of the arm joint wire 323.

The compensation torque adjustment unit 325 is provided on the arm joint link 315 and may adjust the position of the idle roller 324 and the elastic force of the elastic unit 321.

The elastic part 321 may be a coil spring disposed along the longitudinal direction of the arm joint link 315, and the elastic force may be adjusted according to the initial compression distance.

The arm joint wire 323 serves to connect the elastic portion 321 and the arm joint joint 311, and the other side of the arm joint wire 323 is coupled to the reference point 326 of the arm joint joint 311 Can be.

The compensation torque adjustment unit 325 may be coupled to the arm joint link 315 to be moved and fixed in the longitudinal direction of the arm joint link 315, and may support one end of the elastic part 321.

The idle roller 324 may be coupled to the arm joint link 315 and may be formed to be movable and fixed along the length direction of the arm joint link 315.

The arm joint link 315 is rotated with the center of the arm joint joint as a rotation center 327, and the center of gravity 328 is disposed to be spaced apart from the rotation center 327.

The elastic portion 321 may vary in size of the elastic force in proportion to the distance compressed in the longitudinal direction, and the compensation torque adjusting portion 325 increases the weight of the elastic portion 321 when the weight applied to the arm joint link 315 increases. Compensation torque can be increased by increasing the initial compression distance so that the elastic force increases, and when the weight applied on the contrary decreases, the initial compression distance of the elastic unit 321 is reduced so that the elastic force decreases, thereby reducing the compensation torque. have.

In this way, the compensation torque adjustment unit 325 implements a large compensation torque required even with a minimum power by adjusting the compression and elongation of the elastic unit 321 in response to a change in weight applied to the arm joint link, It is possible to easily change the size of the compensation torque, and through this, it is possible to generate an appropriate compensation torque for the applied load.

This self-weight compensation unit 320 can generate an appropriate compensation torque even when the weight applied to the upper limb module 300 changes or the distance from the arm joint 311 to the center of gravity changes, so that smooth self-weight compensation is possible. There is an advantage that can be achieved.

19 is an exemplary view showing a hand replicating unit included in the upper limb module of FIG. 16, and FIGS. 20 and 21 are exemplary operation diagrams of FIG. 19.

Along with FIG. 16, as shown in FIGS. 19 to 21, the upper limb module 300 may include a hand simulation unit 330. The hand simulation unit 330 may be used when the handicapped person who has lost a hand is a user.

The hand replicating part 330 may have a first gear 332, a second gear 333, a third gear 335, a first driving part 336 and a second driving part 337.

The first gear 332 is coupled to the first hinge shaft 331 provided in the arm joint joint and can rotate in both directions around the first hinge shaft 331. Specifically, the first hinge shaft 331 may be provided on the first arm joint 312 corresponding to the wrist joint of the human body.

The second gear 333 is coupled to the other end of the first hinge shaft 331 and can rotate in both directions independently from the first gear 332.

The third gear 335 has one end coupled to the first hinge shaft 331 and coupled to the other end of the second hinge shaft 334 extending outward of the arm joint 311, and the first gear 332 and The second gear 333 may be gear-coupled.

The first driving part 336 may rotate the first gear 332 while being coupled to the first gear 332 and contracting and extending. In addition, the second driving part 337 may be coupled to the second gear 333, and may rotate the second gear 333 while contracting and extending.

Therefore, as shown in (a) of FIG. 20, in order to rotate the handle 339 in the rearward direction (BD) in the hand simulation unit 330, the 1-2 driving unit 336b located relatively rearward And when the 2-2 driving part 337b contracts at the same time, and the 1-1 driving part 336a and the 2-1 driving part 337a which are located in the front relatively extend at the same time, the first gear 332 and the first gear The two gears 333 rotate in the rearward direction at the same time, and the third gear 335 can rotate in the rearward direction together with the second hinge shaft 334. Accordingly, the handle 339 is also rotated in the rear direction (BD), and this operation may correspond to an operation of tilting the hand backward.

Next, as shown in (b) of FIG. 20, in order to rotate the third gear 335 in the forward direction (FD), that is, in order to rotate the handle 339 in the forward direction (FD), The 1-1 driving part 336a and the 2-1 driving part 337a, which are located relatively in the front, are simultaneously contracted, and the 1-2 driving part 336b and the 2-2 driving part 337b located relatively rearward. ) Is simultaneously elongated, the first gear 332 and the second gear 333 rotate in the forward direction at the same time, and the third gear 335 can rotate in the forward direction together with the second hinge shaft 334 There will be. Accordingly, the handle 339 is also rotated in the forward direction (FD), and this operation may correspond to an operation of bowing the hand forward.

Next, as shown in (a) of FIG. 21, in order to rotate the third gear 335 in the first rotation direction RD1, which is a horizontal counterclockwise direction, that is, the handle 339 is the first rotation direction. In order to rotate to the (RD1), the 1-1 driving part 336a located in the front and the 2-2 driving part 337b located in the rear contract at the same time, and the 1-2 driving part 336b located in the rear. ) And the 2-1 driving part 337a located in the front extend at the same time, the first gear 332 rotates in the forward direction and the second gear 333 rotates in the rear direction, and the third gear 335 ) Is able to rotate in the first rotation direction RD1 around the second hinge shaft 334. Accordingly, the handle 339 is also rotated in the first rotation direction RD1, and this operation may correspond to an operation of turning the hand to the right.

Next, as shown in (b) of FIG. 21, in order to rotate the third gear 335 in the second rotation direction RD2, which is opposite to the first rotation direction, that is, the handle 339 is In order to rotate in the second rotation direction RD2, the 1-1 driving part 336a located in the front and the 2-2 driving part 337b located in the rear extend at the same time, and the 1-2 located in the rear. When the driving part 336b and the 2-1 driving part 337a located in the front contract at the same time, the first gear 332 rotates in the rearward direction and the second gear 333 rotates in the forward direction, and the third The gear 335 is able to rotate in a second rotation direction RD2 that is a horizontal clockwise direction around the second hinge shaft 334. Accordingly, the handle 339 is also rotated in the second rotation direction RD2, and this operation may correspond to an operation of turning the hand to the left.

The first driving unit 336 and the second driving unit 337 may be artificial muscles having one or more of a shape memory alloy material, a spring, and a heat-reactive material, through which an ultra-light driving mechanism can be implemented.

22 is an exemplary diagram illustrating a brain machine interface (BMI) based cognitive module included in a complex activity support robot according to an embodiment of the present invention.

As shown in FIG. 22, the complex activity support robot may include a brain-machine interface (BMI) based cognitive module 400.

The brain-machine interface (BMI) based cognitive module 400 may control the base module 100, the movement module 200, and the upper limb module 300 based on the user's brain wave information.

The brain-machine interface (BMI)-based cognitive module 400 may be provided to be covered on the user's head, and since this method is non-invasive, it can be easily attached and detached.

The user can control the movement module 200 to move, stop, and steer through the brain-machine interface (BMI) based cognitive module 400. In addition, the user can implement operations such as the sitting mode, standing mode, boarding mode, and transport mode of the base module 100 through the brain-machine interface (BMI)-based recognition module 400, and the operation of the lower exoskeleton unit 120. Can be controlled. In addition, the user may control the upper limb module 300 to perform operations such as lifting, grabbing, and releasing through the brain-machine interface (BMI)-based cognitive module 400.

The brain-machine interface (BMI) based cognitive module 400 may integrate and control the power transmission and signal systems of the base module 100, the movement module 200, and the upper limb module 300.

23 is an exemplary view showing a mobile activity support robot according to an embodiment of the present invention.

As shown in FIG. 23, the mobile activity support robot may include a base module 1100 and a movement module 1200.

The base module 1100 is a part where the user is seated and may be formed so that the user can sit.

The movement module 1200 may have a driving wheel 1230 coupled to the base module 1100 and allow the base module 1100 to move. The moving module 1200 may be substantially the same as the moving module 200 (see FIG. 1) described above.

That is, the mobility activity support robot may be a wheelchair having a movement module 1200 having the same function as the movement module 200 described above.

Further, although not shown, the moving module 1200 may have an auxiliary wheel part selectively positioned to the rear of the traveling direction of the moving module 1200 to contact the ground. The auxiliary wheel unit may be substantially the same as the auxiliary wheel unit 240 (see FIG. 9) described above.

In addition, although not shown, the mobile activity support robot may further include an upper limb module. The upper limb module may be substantially the same as the upper limb module 300 (see FIG. 16) described above.

The above description of the present invention is for illustrative purposes only, and those of ordinary skill in the art to which the present invention pertains will be able to understand that it can be easily modified into other specific forms without changing the technical spirit or essential features of the present invention. will be. Therefore, it should be understood that the embodiments described above are illustrative in all respects and not limiting. For example, each component described as a single type may be implemented in a distributed manner, and similarly, components described as being distributed may also be implemented in a combined form.

The scope of the present invention is indicated by the claims to be described later, and all changes or modified forms derived from the meaning and scope of the claims and the concept of equivalents thereof should be construed as being included in the scope of the present invention.

100,1100: base module
110: scaffolding base
120: lower exoskeleton
121: lower body joint joint
125: lower body joint link
130: variable rigidity part
140: support band
200, 1200: moving module
230,1230: driving wheel
240: auxiliary wheel part
300: upper limb module
311: arm joint joint
315: arm joint link
320: self-weight compensation unit
330: hand simulation part
400: Brain-machine interface (BMI) based cognitive module

Claims (28)

It has a footrest base, a plurality of lower body joint joints provided to correspond to the lower body joints of the user, and a plurality of lower body joint links connecting the lower body joint joints, and is provided as a pair on the upper part of the footrest base to be coupled to both sides of the lower body of the user. A base module having a lower exoskeleton portion that becomes; And
It has a driving wheel coupled to the footrest base, and includes a moving module to move the base module,
The lower exoskeleton unit is converted into a sitting mode in which the user can sit or a standing mode in which the user can stand. The method of claim 1,
The moving module
A complex activity support robot, characterized in that it has an auxiliary wheel provided on the scaffolding base and positioned to the rear of the traveling direction of the moving module to selectively contact the ground. The method of claim 1,
The moving module
An axle provided on the scaffolding base,
It is rotatably provided at both ends of the axle and has a driving wheel shaft connecting the driving wheel and the axle,
The driving wheel shaft may be tilted to form an angle with the rotation center axis of the axle, and the ground angle of the driving wheel is changed to prevent the base module from overturning. The method of claim 1,
The base module is
A wire for lower body joints connected from the upper end of the lower exoskeleton to the lower end of the lower exoskeleton so as to contact the outer heel surface of the lower body joint joint, which increases when the lower exoskeleton is retracted,
An active driving part connected to one end of the lower body joint wire,
Complex activity support, characterized in that the lower exoskeleton part has a variable stiffness part having a stiffness control part that controls the stiffness of the active driving part to change the tension applied to the lower body joint wire so that the lower exoskeleton part is converted to the sitting mode or the standing mode robot. The method of claim 4,
Wherein the stiffness control unit controls the active driving unit to have a first stiffness in the sitting mode and a second stiffness greater than the first stiffness in the standing mode. The method of claim 4,
The base module is hingedly connected to the upper part of the lower exoskeleton and has a backrest part supporting the user's back,
The active driving unit and the variable rigidity unit, characterized in that the complex activity support robot is installed on the back. The method of claim 4,
The variable rigidity part
A complex activity support robot, further comprising a clutch provided in the lower body joint joint to release the lock so that the lower body joint joint rotates or to lock the lower body joint joint so that it does not rotate. The method of claim 1,
The base module is
The complex activity support robot, further comprising a support band provided in the lower exoskeleton and surrounding the lower body of the user and fixing the lower body of the user to the lower exoskeleton. The method of claim 8,
The support band is a complex activity support robot, characterized in that it comprises a cushioning material to distribute the pressure applied to the user. The method of claim 1,
The base module is detached from the moving module,
The complex activity support robot, characterized in that the lower exoskeleton is folded and converted into a transport mode. The method of claim 1,
A complex activity support robot, further comprising: an upper limb module having a plurality of arm joints and a plurality of arm joint links connecting the arm joints and a plurality of arm joints provided to correspond to the user's arm joints. The method of claim 11,
The upper limb module
One end is coupled to the arm joint link, an elastic portion to which a spring block movable along the length direction of the arm joint link is coupled to the other end,
One end portion is coupled to the spring block and the tartan portion is an arm joint wire coupled to the arm joint joint,
An idle roller provided on the arm joint link and supporting between both ends of the arm joint wire,
A complex activity support robot comprising a self-weight compensation unit provided on the arm joint link and having a compensation torque adjustment unit for adjusting the position of the idle roller and the elastic force of the elastic unit. The method of claim 11,
The upper limb module
A first gear coupled with a first hinge shaft provided in the arm joint joint and rotating in both directions around the first hinge shaft,
A second gear coupled to the other end of the first hinge shaft and rotating in both directions independently of the first gear,
A third gear having one end coupled to the first hinge shaft and coupled to the other end of the second hinge shaft extending outward of the arm joint joint, and gear-coupled with the first gear and the second gear,
A first driving part coupled to the first gear and rotating the first gear while contracting and extending; And
And a hand simulation unit coupled to the second gear and having a second driving unit configured to rotate the second gear while being contracted and extended. The method of claim 13,
The first driving unit and the second driving unit is an artificial muscle having at least one of a shape memory alloy material, a spring, and a heat reaction material. The method of claim 11,
A complex activity support robot comprising a brain-machine interface (BMI)-based cognitive module that controls the base module, the movement module, and the upper limb module based on the user's brainwave information. The method according to any one of claims 1 to 15,
The complex activity support robot, characterized in that the stiffness of the driving wheel is deformed to correspond to the surrounding structures contacting the driving wheel. The method of claim 16,
The driving wheel is
A power transmission unit that receives power from an axle provided in the scaffolding base and rotates,
A flexible support unit coupled to the power transmission unit and rotating integrally with the power transmission unit,
A stiffness variable portion that is coupled to the outer circumferential surface of the flexible support portion and rotates integrally with the flexible support portion, and the rigidity is adjusted to deform according to an external force;
A flexible support frame part coupled to the outer circumferential surface of the stiffness variable part to protect the stiffness variable part,
A shock sensing unit provided in the power transmission unit to detect an impact,
A complex activity support robot, characterized in that it has a stiffness control unit that controls the stiffness of the stiffness variable part to be adjusted based on the magnitude of the impact detected by the impact sensing unit. A base module on which a user is seated; And
It has a driving wheel coupled to the base module, and includes a moving module to move the base module,
The mobility support robot, characterized in that the stiffness of the driving wheel is deformed to correspond to the surrounding structures contacting the driving wheel. The method of claim 18,
The driving wheel is
A power transmission unit that receives power from an axle provided in the base module and rotates,
A flexible support unit coupled to the power transmission unit and rotating integrally with the power transmission unit,
A stiffness variable portion that is coupled to the outer circumferential surface of the flexible support portion and rotates integrally with the flexible support portion, and the rigidity is adjusted to deform according to an external force;
A flexible support frame part coupled to the outer circumferential surface of the stiffness variable part to protect the stiffness variable part,
A shock sensing unit provided in the power transmission unit to detect an impact,
And a stiffness control unit for controlling the stiffness of the stiffness variable part to be adjusted based on the magnitude of the impact detected by the impact detection unit. The method of claim 18,
The moving module
And an auxiliary wheel part provided in the moving module and selectively positioned to the rear of the traveling direction of the moving module to contact the ground. The method of claim 18,
The moving module
An axle provided in the base module,
It is rotatably provided at both ends of the axle and has a driving wheel shaft connecting the driving wheel and the axle,
The driving wheel shaft may be tilted to form an angle with the rotation center axis of the axle, and the ground angle of the driving wheel is changed to prevent the left and right rollover of the base module. The method of claim 18,
A mobility activity support robot, further comprising: an upper limb module having a plurality of arm joints and a plurality of arm joint links connecting the arm joints and a plurality of arm joints provided to correspond to the user's arm joints. The method of claim 22,
The upper limb module
One end is coupled to the arm joint link, an elastic portion to which a spring block movable along the length direction of the arm joint link is coupled to the other end,
One end portion is coupled to the spring block and the tartan portion is an arm joint wire coupled to the arm joint joint,
An idle roller provided on the arm joint link and supporting between both ends of the arm joint wire,
And a self-weight compensation unit provided on the arm joint link and having a compensation torque adjustment unit for adjusting the position of the idle roller and the elastic force of the elastic unit. The method of claim 22,
The upper limb module
A first gear coupled with a first hinge shaft provided in the arm joint joint and rotating in both directions around the first hinge shaft,
A second gear coupled to the other end of the first hinge shaft and rotating in both directions independently of the first gear,
A third gear having one end coupled to the first hinge shaft and coupled to the other end of the second hinge shaft extending outward of the arm joint joint, and gear-coupled with the first gear and the second gear,
A first driving part coupled to the first gear and rotating the first gear while contracting and extending; And
And a hand simulation unit coupled to the second gear and having a second driving unit configured to rotate the second gear while being contracted and extended. The method of claim 24,
The first driving unit and the second driving unit are artificial muscles having at least one of a shape memory alloy material, a spring, and a heat reaction material. The method of claim 22,
A mobility activity support robot comprising a brain-machine interface (BMI) based cognitive module that controls the base module, the movement module, and the upper limb module based on the user's brainwave information. A lower exoskeleton portion provided in a pair to be coupled to both sides of the user's lower body with a plurality of lower body joint joints provided to correspond to the lower body joints of the user and a plurality of lower body joint links connecting the lower body joints; And
A wire for lower body joints connected from the upper end of the lower exoskeleton to the lower end of the lower exoskeleton so as to contact the outer heel surface of the lower body joint joint when the lower exoskeleton is retracted, and an active driving part connected to one end of the lower body joint wire , Standing activity support robot comprising a variable rigidity unit having a rigidity control unit for controlling the rigidity of the active driving unit to change the tensile force applied to the lower body joint wire so that the lower exoskeleton unit is operated. The method of claim 27,
The variable rigidity part
A standing activity support robot, further comprising a clutch provided in the lower body joint joint to release the lock so that the lower body joint joint rotates or to lock the lower body joint joint so that it does not rotate.

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