Driving system and control method for hybrid gait rehabilitation robot
AssigneesFoundation for Research and Business, Seoul National University of Science and Technology, National Rehabilitation Center
InventorsJung Yup Kim, Jung Joon Kim, Hyeong Sic Kim, Seon Deok Eun, Do Hoon Koo, Hyun Ju Park
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Abstract
A driving system of a hybrid gait rehabilitation robot include: a driving unit that is connected to a footrest of the gait rehabilitation robot and transmits a driving force such that the robot operates at a preset speed; a speed detection unit that detects a gait speed of an occupant; and a control unit that controls a speed of the driving unit by comparing the detected speed of the speed detection unit with a speed applied by the driving unit. The driving unit transmits power toward the occupant, but the driving force of the occupant is not transmitted to the driving unit.
Claims4
A driving system for a hybrid gait rehabilitation robot, the driving system comprising:
- a driving unit that is connected to a footrest of a gait rehabilitation robot and transmits a driving force so that the gait rehabilitation robot operates at a preset speed;
- a speed detection unit that detects a gait speed of an occupant;
- and
- a control unit that controls a speed of the driving unit by comparing the detected speed of the speed detection unit with a speed applied by the driving unit,
- wherein the driving unit transmits power to the occupant in a driving direction, but a driving force of the occupant in the driving direction is not transmitted to the driving unit,
- wherein the driving unit is driven according to a preset gait speed, and a speed of a motor is changed according to an angle of a crank,
- wherein the control unit determines the speed of the motor in consideration of a speed intention and an acceleration intention of the occupant, and
- wherein the control unit adjusts the speed of the motor by:
- applying a motor speed profile function based on a preset reference gait speed (a) corresponding to the angle of the crank (θc), and incorporating the difference between a target gait speed of the occupant (vwalking) and the preset reference gait speed (a) using a proportional constant between the gait speed and the motor speed, further, to reflect the occupant's speed intention, the control unit applies a speed intention gain (kv) to the difference between the crank angle (θc) and a reference angle function (kg(θc)), and to reflect the occupant's acceleration intention, the control unit applies an acceleration intention gain (ka) to the difference between the second derivative of the crank angle (θ″c) and the second derivative of the reference angle function (kg″(θc)), thereby finely adjusting the motor speed.
Dependencies are inferred from the claim text.