Title:
METHOD FOR MONITORING POSTURE OF REHABILITATION EXERCISE ROBOT
Document Type and Number:
WIPO Patent Application WO/2023/096016
Kind Code:
A1
Abstract:
The present invention relates to a method for monitoring the posture of a rehabilitation exercise robot allowing a rehabilitee to perform rehabilitation exercises by moving a robot end, the method comprising the steps of (a) receiving a posture image in which the posture of the rehabilitee has been captured, and (b) detecting whether there is compensatory motion of the rehabilitee on the basis of the posture image, wherein step (b) includes the steps of: (b1) detecting the location of the robot end and the speed of the robot end; (b2) predicting the angular velocity of the elbow joint of the rehabilitee on the basis of the speed of the robot end; (b3) determining whether to be a re-estimation section on the basis of the angular velocity of the elbow joint; (b4) detecting whether there is compensatory motion on the basis of the location of the robot end and a first upper-arm direction vector detected from the posture image of the current step, if it is determined not to be the re-estimation section in step (b3); and (b5) detecting whether to be a compensatory motion on the basis of the location of the robot end and a second upper-arm direction vector detected by reflecting the posture image of the previous step in the posture image of the current step, if it is determined to be the re-estimation section in step (b3).
Inventors:
KOO IG-MO (KR)
KIM JONG-HYUN (KR)
HWANG YE-JI (KR)
KIM JONG-HYUN (KR)
HWANG YE-JI (KR)
Application Number:
PCT/KR2021/019691
Publication Date:
June 01, 2023
Filing Date:
December 23, 2021
Export Citation:
Assignee:
H ROBOTICS INC (KR)
UNIV SUNGKYUNKWAN RES BUSINESS FOUND (KR)
UNIV SUNGKYUNKWAN RES BUSINESS FOUND (KR)
International Classes:
A61H1/02; B25J9/16; B25J19/02; H04N7/18
Foreign References:
| KR20200104025A | 2020-09-03 | |||
| KR20170058208A | 2017-05-26 | |||
| KR20160025416A | 2016-03-08 | |||
| KR20160066083A | 2016-06-10 | |||
| KR101567859B1 | 2015-11-12 |
Attorney, Agent or Firm:
NAMCHON INTERNATIONAL PATENT AND LAW FIRM (KR)
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