Method and system for controlling driving of wearable robot
AssigneeHyundai Motor Company
InventorsSeok Won Lee, Woo Sung Yang
Life of this patent
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Abstract
A system for controlling driving of a wearable robot may include a drive unit for operating a drive joint of the robot, a measurement unit for measuring an actual angle and an actual angular velocity of the drive joint in the robot, a sensing unit for determining a human torque applied by a wearing user to the drive joint, and a control unit for determining a target angular velocity of the robot by applying the determined human torque to an admittance model and for determining a required torque that may be input to the drive unit of the robot by applying an optimal control gain to a difference between the target angular velocity and the actual angular velocity of the robot.
Claims6
A method of controlling driving of a wearable robot, comprising:
- a) determining a human torque of a wearing user that is applied to the robot;
- b) determining a target angular velocity of the robot using the human torque, based on an admittance model;
- and
- c) determining a required torque that is input to a drive unit of the robot by applying an optimal control gain to a difference between the target angular velocity and a current actual angular velocity of the robot.
A system for controlling driving of a wearable robot, comprising:
- a drive unit for operating a drive joint of the robot;
- a measurement unit for measuring an actual angle and an actual angular velocity of the drive joint in the robot;
- a sensing unit for determining a human torque applied by a wearing user to the drive joint;
- and
- a control unit for determining a target angular velocity of the robot by applying the determined human torque to an admittance model and for determining a required torque that is input to the drive unit of the robot by applying an optimal control gain to a difference between the target angular velocity and the actual angular velocity of the robot.
Dependencies are inferred from the claim text.