Device and method for controlling an active upper-limb exercise assist device

Device for Controlling an Active Upper Limb Exercise Assistive Device

This technology calculates the ratio of sensing values from eight 1-axis force sensors (load cells) distributed across the forearm support and handle. By comparing these values against mapped reference ranges, it identifies the user's intended movement (linear or rotational) and generates and transmits control signals to a multi-joint robot.

Conventional upper limb rehabilitation robots for feeding assistance often lack versatility, fail to account for individual user physique, and rely on expensive 6-axis force-torque sensors to detect movement intent, leading to high implementation costs and practical challenges.

This technology utilizes multiple low-cost 1-axis force sensors placed at various points on the upper limb assistive device and implements an algorithm that normalizes and estimates movement intent by combining the ratios of measurements between sensors. Applicable to robotic gripping, precision measurement, and automated equipment, it enhances daily convenience and quality of life by assisting with daily activities and rehabilitation exercises for the elderly, individuals with limited mobility, or patients with muscle weakness.

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Key Features:

• An input unit that receives sensing values for force measured from a plurality of sensors attached to the upper limb exercise assistive device while the user's forearm is positioned on the device during movement.
• A signal generation unit that generates control signals for external force to assist the user's intended movement based on the extracted movement intent information and transmits them to the multi-joint robot connected to the upper limb exercise assistive device.
• A movement intent extraction unit that extracts the user's movement intent information using the ratio of sensing values calculated for each sensor combination.
• A calculation unit that computes the ratio of sensing values between sensors included in pre-matched combinations among the plurality of sensors.

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This invention was developed with support from the Ministry of Science, ICT and Future Planning for the development of an active exercise system based on human-robot collaboration technology to enhance upper limb motor function in the elderly and infirm.