Automation system and method for driving a wearable robot using force and inertial sensors

Wearable robot drive system with automated initial setup

This technology relates to an automated drive system and method for wearable robots using force and inertial sensors, enabling the automatic configuration of the initial drive phase after the device is worn.

Soft wearable robots previously required manual adjustment of wire tension and reference posture every time they were worn, which was not only cumbersome but also led to inconsistent assistive performance due to uncertainty in the settings.

By using signals from force, inertial, and current sensors to automatically determine initial tension and reference states, this technology reduces user inconvenience and uncertainty while shortening the time required to start operation.

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Key Features:

• A unidirectional actuator featuring a motor that generates assistive force for the wearable robot and a wire that transmits this force to the wearer.
• A current sensor that measures the assistive force generated by the motor and a force sensor that measures the assistive force applied to the wearer.
• An inertial sensor that detects the wearer's gait cycle in real time to control motor operation.
• A control unit that manages the motor based on values measured by the current, inertial, and force sensors.

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This invention was developed with support from the Ministry of Science and ICT for the development of a new wire-fabric mechanism-based ankle assist device for improved stability and energy efficiency during walking, and from the Ministry of Trade, Industry and Energy for the development of a human-augmentation hybrid robot suit capable of a safe 7-second 100m sprint and comfortable 12-hour wear.