Impedance control device for a wheeled weight supporter considering the dynamic characteristics of the human lower limb and method thereof

Impedance Control Device for Wheeled Weight Supporters Considering Dynamic Characteristics of Human Lower Limbs

This technology generates assistive driving force based on impedance control values tailored to specific walking environments (such as mud, water, or zero gravity) by measuring the user's center of gravity displacement and vertical force during gait in real time.

Conventional fixed rehabilitation aids lack mobility, making it difficult to simulate diverse walking environments and limiting the ability to perform gait training on actual ground.

This technology integrates displacement and interaction force sensors into a wheeled mobile platform and applies an optimized impedance calculation algorithm based on the user's state and mode to provide real-time assistive force for walking. Applicable to rehabilitation training, gait assistance, and medical/welfare services, it improves a patient's walking ability by providing impedance control based on their center of mass and vertical force, allowing for personalized gait training in various walking scenarios.

‍

‍

Key Features:

• A center-of-gravity extraction unit that determines the position of the user's center of gravity using a displacement measuring device mounted on the wheeled weight supporter.
• A vertical force measuring unit that measures vertical force using an interaction force measuring device mounted on the wheeled weight supporter.
• A drive unit that generates and transmits force to the wheeled weight supporter corresponding to the calculated driving force.
• A calculation unit that computes the driving force using the measured vertical force and impedance values.

‍

This invention was developed with support from the Ministry of Education's research project on ultra-high-efficiency mobility mechanisms based on natural dynamics for extreme environment exploration systems.