Wearable walking assist robot and method for controlling the same

A method for controlling a wearable walking assist robot, comprising:

• sensing, by a pressure sensing unit, pressure on the soles of the feet of a user;
• and
• determining, by a controller, gait phases of both a first leg to be operated and a second leg based on the pressure sensed by the pressure sensor unit;
• and
• selecting, by the controller, one of a plurality of control modes set in advance based on the determined gait phases and operating a joint-driving unit of the first leg to be operated,
• wherein the operating of a joint-driving unit includes determining one selected from the group including a ground impact absorbing mode as a control mode for the first leg to be operated based on the gait phases of both the first leg to be operated and the second leg, and
• wherein the mode of the first leg to be operated is determined as the ground impact absorbing mode, a virtual spring-damper is generated in a longitudinal direction of a line connecting a hip joint and an end of the first leg to each other of the walking assist robot and the joint-driving unit is operated using impedance control to make the first leg of the robot absorb shock from the outside.