SYSTEM AND METHOD FOR ESTIMATING CENTER OF GRAVITY OF WALKING REHABILITATION ROBOT

Abstract

Provided are a system and method for estimating the center of gravity of a walking rehabilitation robot, the system being provided with: a sensor module for estimating the point of the center of gravity, and provided with: a sensor unit mounted on a footplate to sense the pressure when a person walks; output means for outputting a voltage value corresponding to preset conditions according to a pressure signal sensed by the sensor module; and estimating means for calculating an angle value corresponding to the voltage value outputted by the output means, and estimating the center of gravity, wherein a body center can be estimated by obtaining an accurate detection using a small-sized system that has a relatively low-cost sensor module installed therein.

Claims

1. A system for estimating a position of a center of gravity of a walking rehabilitation robot, the system comprising: a sensor module including a sensor unit mounted on a footplate to sense a ground reaction force when a person walks; an output unit for outputting a voltage value corresponding to a preset condition according to a pressure signal sensed by the sensor module; and an estimating unit for estimating the center of gravity by calculating an angle value corresponding to the voltage value outputted from the output unit.

2. The system of claim 1, wherein the sensor unit includes a variable resistance sensor mounted on a rear portion or a front portion of the footplate and formed in a circular shape.

3. The system of claim 2, wherein the sensor module further includes: a sensor mounting part having a circular groove for mounting the variable resistance sensor; and a cover member mounted on the sensor mounting part and provided with a plurality of protruding parts making contact with the variable resistance sensor to apply pressure of the person to the variable resistance sensor.

4. The system of claim 3, wherein the variable resistance sensor has a resistance value increased when the protruding parts make contact with the variable resistance sensor in a counterclockwise direction.

5. The system of claim 3, wherein the protruding parts include first to sixth protruding parts provided in a counterclockwise direction, and the first to sixth protruding parts are formed of a silicon material and separated from each other.

6. The system of claim 5, wherein the first to sixth protruding parts are provided at angular intervals of 45 degrees.

7. The system of claim 5, wherein the output unit outputs the voltage value corresponding to the preset condition when one of the first to sixth protruding parts makes contact with the variable resistance sensor or when a plurality of the first to sixth protruding parts make contact with the variable resistance sensor.

8. A method for estimating a position of a center of gravity of a walking rehabilitation robot, the method comprising: (a) sensing pressure of a person by a variable resistance sensor mounted on a footplate; (b) outputting a voltage value corresponding to a preset condition according to a pressure signal sensed by the variable resistance sensor; and (c) estimating the center of gravity by calculating an angle value corresponding to the voltage value outputted in step (b).

9. The method of claim 8, wherein, in step (b), the voltage value corresponding to the preset condition is outputted when one of first to sixth protruding parts makes contact with the variable resistance sensor, or when a plurality of the first to sixth protruding parts make contact with the variable resistance sensor.

10. The method of claim 9, wherein, in step (b), an increased resistance value is outputted when the protruding parts make contact with the variable resistance sensor in a counterclockwise direction.

Description

DESCRIPTION OF DRAWINGS

[0034] FIG. 1 is an exploded perspective view showing an example of a sole pressure sensor of an intelligent muscle force and walking assistive robot according to the related art.

[0035] FIG. 2 is a block diagram showing a system for estimating a center of gravity of a walking rehabilitation robot according to the present invention.

[0036] FIG. 3 is a sectional view showing a variable resistance sensor mounted on a sensor module shown in FIG. 2.

[0037] FIG. 4 is an external perspective view showing a sensor mounting part and a cover member mounted on the sensor module shown in FIG. 2.

[0038] FIG. 5 is a view showing a divided sensing region of the variable resistance sensor shown in FIG. 3.

[0039] FIG. 6 is a view showing the sensor module shown in FIG. 2 in an assembled state.

[0040] FIG. 7 is a photograph showing a state that the sensor module shown in FIG. 2 is mounted on a footplate.

[0041] FIG. 8 is a photograph showing implementation of the system for estimating the center of gravity of the walking rehabilitation robot according to the present invention.

[0042] FIG. 9 is a view for explaining an operation process of the system for estimating the center of gravity of the walking rehabilitation robot according to the present invention.

[0043] FIG. 10 is a graph showing experimental results in a flat section by applying the system for estimating the center of gravity of the walking rehabilitation robot according to the present invention.

[0044] FIG. 11 is a graph showing experimental results in a side surface slope section inclined from left to right by applying the system for estimating the center of gravity of the walking rehabilitation robot according to the present invention.

[0045] FIG. 12 is a graph showing experimental results in a side surface slope section inclined from right to left by applying the system for estimating the center of gravity of the walking rehabilitation robot according to the present invention.

BEST MODE

Mode for Invention

[0046] The above-described and other objects and novel features of the present invention will become more apparent from the description of the present specification and the accompanying drawings.

[0047] First, the outline of the present invention will be described.

[0048] In the present invention, a position-dependent variable resistance sensor is used to supplement the disadvantages of the FSR method, in which the FSR is a low-priced sensor for measuring the center of pressure.

[0049] In other words, the variable resistance sensor is disposed on a footplate, for example, on a rear portion or a front portion of a shoe, and a position according to body weight bias is detected to estimate an approximate center of pressure (CoP). However, if the sensor is simply placed, the reliability of data is decreased because many points are simultaneously detected due to the sole area. Therefore, the present invention provides a device for applying pressure to the sensor by dividing the area of the sole and modularizes the same.

[0050] In addition, in order to verify the system according to the present invention, a comparative experiment is conducted with a pressure measurement sensor having a conventional FSR array structure, which results in 95% of a matching ratio in directionality.

[0051] Therefore, the present invention may be manufactured at a lower cost than the conventional system for estimating the center of gravity, and the estimation may be performed more stably.

[0052] Hereinafter, the configuration of the present invention will be described with reference to the drawings.

[0053] FIG. 2 is a block diagram showing a system for estimating a center of gravity of a walking rehabilitation robot according to the present invention, FIG. 3 is a sectional view showing a variable resistance sensor mounted on a sensor module shown in FIG. 2, and FIG. 4 is an external perspective view showing a sensor mounting part and a cover member mounted on the sensor module shown in FIG. 2.

[0054] As shown in FIG. 2, according to the present invention, a system for estimating a position of a center of gravity of a walking rehabilitation robot includes: a sensor module 100 including a sensor unit mounted on a footplate provided on a shoe and the like to sense a ground reaction force when a person walks; output means 200 for outputting a voltage value corresponding to a preset condition according to a pressure signal sensed by the sensor module 100; and estimating means 300 for estimating the center of gravity by calculating an angle value corresponding to the voltage value outputted from the output means 200.

[0055] As shown in FIG. 3, the sensor module 100 includes: a sensor unit 110 including a variable resistance sensor mounted on a rear portion or a front portion of the footplate and formed in a circular shape; a sensor mounting part 120 having a circular groove for mounting the variable resistance sensor; and a cover member 130 mounted on the sensor mounting part 120 and provided with a plurality of protruding parts 131 making contact with the variable resistance sensor to apply pressure of the person to the variable resistance sensor.

[0056] The variable resistance sensor has been used in various industrial devices, for instance, the variable resistance sensor includes a frequency slider of an equalizer which is an acoustic device. The sensor for detecting a position applied in the present invention has a circular shape as shown in FIG. 3, other than a straight-line shape used in the existing frequency slider. As described above, since the structure of the sensor unit 110 has a substantially circular shape, it is possible to detect the direction of the side where the weight of the body is biased by locating the sensor unit 110 at the front portion or the rear portion of the sole of the person. However, since the sole is relatively flat, the sensor receives an input over a large area. In the present invention, the variable resistance sensor for detecting the position as described above has a problem in that resolution is greatly reduced when the input is applied over a large area, and accuracy is lowered when pressing with the sole of the person having a large area, so a mechanical structure as shown in FIG. 4 is provided.

[0057] In other words, there is provided a structure that the sole having a large area is divided in six directions as shown in FIG. 4, and the input is applied to the sensor with a narrow area. To this end, a substantially circular-shaped groove is formed in an inner peripheral circumference portion of the sensor mounting part 120 so as to be inserted with the sensor unit 110 for measuring the weight, and a lead wiring is provided at a central portion of the circular shape to hold the sensor unit 110 and measure the ground reaction force when walking.

[0058] The output means 200 is provided with a memory unit for storing a preset data value to output a voltage value corresponding to a sensed value corresponding to a preset condition, that is, each position of the variable resistance sensor, according to a pressure signal sensed by the variable resistance sensor.

[0059] The voltage value corresponding to the position sensed by the variable resistance sensor is stored in the memory unit, and the output means 200 is provided with a microprocessor for calculating the value stored in the memory unit and the sensed value so as to output the voltage value corresponding to the sensed position.

[0060] The estimating means 300 calculate an angle value according to the data stored in the memory unit corresponding to the voltage value outputted from the output means 200, and estimate the center of gravity of the person based on the angle value and transmit the estimated center of gravity to a personal computer or a smart phone.

[0061] For the transmission, the estimating means 300 are provided with a typical transmission unit for data transmission, and a transmission medium such as Bluetooth is used.

[0062] In addition, the output means 200 and the estimating means 300 are separately described in the above description, but the present invention is not limited thereto, and the output means 200 and the estimating means 300 may be integrally provided on one microprocessor.

[0063] Next, the structure of the sensor module according to the present invention will be described in detail with reference to FIGS. 5 to 7.

[0064] FIG. 5 is a view showing a divided sensing region of the variable resistance sensor shown in FIG. 3, FIG. 6 is a view showing the sensor module shown in FIG. 2 in an assembled state, and FIG. 7 is a photograph showing a state that the sensor module shown in FIG. 2 is mounted on a footplate.

[0065] As shown in FIG. 5, in the sensor module according to the present invention, the variable resistance sensor, which is the sensor unit 110, performs detection at angular intervals of 45 degrees. In other words, the sensor unit 110 is partitioned at 45°, 90°, 135°, 180°, 225°, 270°, and 315° in the counterclockwise direction about the central portion as shown in FIG. 5. The first to sixth protruding parts {circle around (1)} to {circle around (6)} make contact with the sensor unit 110 divided into six sections as described above.

[0066] In addition, the first to sixth protruding parts {circle around (1)} to {circle around (6)} have a resistance value increased when making contact with the variable resistance sensor in the counterclockwise direction, and are formed of a silicon material and separated from each other to improve the durability of the sensor.

[0067] Therefore, the output means 200 output the voltage value corresponding to the condition preset in the memory unit when one of the first to sixth protruding parts {circle around (1)} to {circle around (6)} makes contact with the variable resistance sensor or when a plurality of the first to sixth protruding parts {circle around (1)} to {circle around (6)} make contact with the variable resistance sensor.

[0068] The variable resistance sensor applied to the present invention measures a resistance change amount by outputting the resistance change amount in a voltage value based on a voltage distribution law as shown in Equation 1 as follows.

V.sub.out=(R.sub.ref/R.sub.sensor)×V.sub.in  [Equation 1]

[0069] In Equation 1, V.sub.in denotes an input voltage, R.sub.ref denotes a reference resistance, R.sub.sensor denotes a resistance value according to the pressure in the sensor, and V.sub.out denotes an output voltage.

[0070] Since the sensor applied to the present invention is the variable resistance sensor, the output value is acquired in the same manner. In addition, the sensor used in the present invention has a resistance value increased when the pressing point is moved in the counterclockwise direction. Therefore, the center of pressure (CoP) is estimated as an angle value as shown in Equation 2 as follows, based on the output values at both left and right end points.

Angle=(360/R.sub.Max)×R.sub.measure.sub._.sub.value  [Equation 2]

[0071] The maximum value of the angle in Equation 2 is not 360 degrees because the characteristics of the sensor are considered.

[0072] Accordingly, the voltage values detected in the first to sixth protruding parts {circle around (1)} to {circle around (6)} and the corresponding angle values are defined as shown in Table 1 as follows and stored in the memory unit. Table 1 shows the detection values and the angle values obtained in six sections dedicated for the first to sixth protruding parts {circle around (1)} to {circle around (6)}, respectively.

TABLE-US-00001 TABLE 1 Measure value of Sensor Volt value of Position Degree value of Position 0.92 V (Position 1)  66° 1.52 V (Position 2) 110° 2.20 V (Position 3) 159° 2.80 V (Position 4) 202° 3.41 V (Position 5) 247° 4.05 V (Position 6) 393°

[0073] However, the set values as shown in Table 1 are specified values for explaining the present invention, but the present invention is not limited thereto, and the set values can be modified in a predetermined range.

[0074] The sensor module 100 assembled corresponding to the first to sixth protruding parts {circle around (1)} to {circle around (6)} defined as described above is as shown in FIG. 6.

[0075] In the present invention, in order to perform the performance test of the sensor unit 110 in the sensor module manufactured as shown in FIG. 6, the sensor unit 110 is mounted on the lower rear portion of the running shoes as shown in FIG. 7 and the position detection experiment is performed with six divided sections. The results are obtained as shown in Table 1.

[0076] The experiment will be described with reference to FIGS. 8 to 11.

[0077] FIG. 8 is a photograph showing implementation of the system for estimating the center of gravity of the walking rehabilitation robot according to the present invention, FIG. 9 is a view for explaining an operation process of the system for estimating the center of gravity of the walking rehabilitation robot according to the present invention, FIG. 10 is a graph showing experimental results in a flat section by applying the system for estimating the center of gravity of the walking rehabilitation robot according to the present invention, FIG. 11 is a graph showing experimental results in a side surface slope section inclined from left to right by applying the system for estimating the center of gravity of the walking rehabilitation robot according to the present invention, and FIG. 10 is a graph showing experimental results in a side surface slope section inclined from right to left by applying the system for estimating the center of gravity of the walking rehabilitation robot according to the present invention.

[0078] In addition, in the present invention, data is acquired when the pressure is applied simultaneously to at least two sections due to the sole area of the person other than the respective sections as shown in Table 1 in the first to sixth protruding parts {circle around (1)} to {circle around (6)} shown in FIG. 6. The acquisition results are shown in Table 2 and Table 3. Table 2 shows the detection values and the angle values acquired in the two sections of the first to sixth protruding parts {circle around (1)} to {circle around (6)}, and Table 3 shows the detection values and the angle values acquired in more than two sections of the first to sixth protruding parts {circle around (1)} to {circle around (6)}.

TABLE-US-00002 TABLE 2 Measure value of Sensor Positions 1 and 2 2 and 3 3 and 4 4 and 5 5 and 6 V 0.68 V 1.03 V 1.45 V 1.73 V 2.11 V Deg  83° 125° 175° 207° 255° Positions 1 and 3 2 and 4 3 and 5 4 and 6 V 0.72 V 1.20 V 1.70 V 2.10 V Deg  86° 145° 205° 252° Positions 1 and 4 2 and 5 3 and 6 V 0.86 V 1.46 V 2.06 V Deg 103° 175° 250° Positions 1 and 5 2 and 6 V 1.07 V 1.86 V Deg 130° 223° Positions 1 and 6 V 1.48 V Deg 178°

TABLE-US-00003 TABLE 3 Measure value of Sensor Positions 1~6 2~6 3~6 4~6 V 1.48 V 1.83 V 2.02 V 2.08 V Deg 178° 220° 245° 250° Positions 1~5 2~5 3~5 V 1.09 V 1.45 V 1.70 V Deg 130° 175° 204° Positions 1~4 2~4 V 0.88 V 1.20 V Deg 106° 145° Positions 1~3 V 0.73 V Deg  88°

[0079] From Table 1 and Table 2, it can be seen that the proposed position detection is accurately detected in the single input. However, referring to Table 3, in more than two sections, the accuracy of the data is lowered in the section within a range of less than 30° to more than 330°. In addition, in a section with more than 330°, and an error of outputting data to a section with 330° or more is generated when the pressure is applied thereto simultaneously with other sections. Therefore, in the present invention, in order to prevent the pressure from being detected in a central upper portion, the section is excluded to prevent the pressure from being applied, as shown in FIGS. 5 and 6. In addition, the set values as shown in Tables 2 and 3 are also specified values for explaining the present invention, but the present invention is not limited thereto, and the set values can be modified in a predetermined range.

[0080] In the present invention, as shown in FIG. 8, the center of gravity of the person is estimated by mounting the sensor module 100 to perform the method for estimating the center of gravity.

[0081] First, the variable resistance sensor mounted on the footplate provided in the shoe detects the pressure of the person.

[0082] A voltage value corresponding to a preset condition according to a pressure signal sensed by the variable resistance sensor is outputted, an angle value is calculated and the center of gravity is estimated according to the outputted voltage value with reference to Tables 1 to 3, and an observer may acquire the walking information of the person by transmitting the walking information to a personal computer or a smart phone as shown in FIG. 9. The transmission may be implemented through Bluetooth, which is a close-range communication network.

[0083] In addition, walking sections are divided into a flat section, an ascent section and a lateral section for experiment to verify the reliability of the sensor module in the present invention. In other words, walking experiment is performed in the flat/slope/lateral sections, and the experiment result shows that the center of gravity may be estimated in all the three sections.

[0084] The graphs for the experiment results are shown in FIGS. 10 to 12.

[0085] As seen from FIG. 10, the weight shift is detected in the left/right direction when moving from the stance phase to the swing phase during walking on a flat land as a result of the experiment. It is confirmed that the sensor module according to the present invention is effective for estimating the center of pressure (CoP) due to the characteristics expressed in the walking pattern.

[0086] In addition, the weight biases in the direction of the slope are detected as in the sections B and C in FIGS. 11 and 12 in the slope and the lateral sections. For the accuracy of the experiment, the directionality comparison experiment is performed by disposing the FSR in an array on the sole and measuring the pressure distribution. As a result of the comparison, the pressure bias directionality in the sensor module according to the present invention and the FSR array sensor has shown 95% of a matching ratio. Therefore, according to the present invention, it has been proved that a low-price sensor may be used to estimate the center of pressure (CoP) during the walking.

[0087] Based on the above results, it has been determined that the system and method for estimating the center of gravity of the walking rehabilitation robot according to the present invention may be useful for estimating the center of pressure (CoP) in a low-priced walking rehabilitation robot.

[0088] Although the present invention invented by the present inventor has been described in detail with reference to the embodiments, the present invention is not limited to the above embodiments, and various modifications are possible without departing from the scope and spirit of the present invention.

[0089] In other words, the system and method for estimating the center of gravity of the walking rehabilitation robot, which is a wearable robot for recovering the walking function of the senior citizens, are described in the above embodiments, but the present invention is not limited thereto. The present invention may also be used as a system for checking a walking condition to prevent diseases caused by a walking habit of an ordinary person, and may be applied to a system for checking a walking condition of a person with physical impairment in a specially produced shoe for assisting the person with physical impairment and the like.

INDUSTRIAL APPLICABILITY

[0090] By using the system and method for estimating the center of gravity of the walking rehabilitation robot according to the present invention, even when a relatively inexpensive sensor module is mounted, it is possible to extract the center of pressure by achieving the precise detection, and the system may be operated stably.