REHABILITATION ROBOT SYSTEM AND CONTROL METHOD OF REHABILITATION ROBOT

Title:

REHABILITATION ROBOT SYSTEM AND CONTROL METHOD OF REHABILITATION ROBOT

Document Type and Number:

WIPO Patent Application WO/2023/128646

Kind Code:

A1

Abstract:

A rehabilitation robot system of the present invention comprises: an exercise device including a joint part for providing a rotation shaft and a link rotating around the rotation shaft; an end effector coupled to the link; a driving motor for rotating the link around the rotation shaft and generating a driving torque limited to a maximum torque τ Μ ; a location measurement part for measuring angular displacement θ of the link and producing an angular displacement measurement value θ m ; an external force measurement part for measuring an external force torque generated from the joint part by external force and producing an external force torque measurement value τ e ; and a control part for producing an angular displacement target value θ d of the link and calculating, as a driving torque calculation value ̂τ, the driving torque required for tracking the angular displacement target value θ d of an angular displacement θ of the the link by using the angular displacement measurement value θ m and the external force torque measurement value τ e , wherein when an absolute value of the driving torque calculation value ̂τ is larger than an absolute value of the maximum torque τΜ , the control part compensates by replacing the external force torque calculation value τ e with [equation] in a procedure for calculating the driving torque calculation value ̂τ.

Inventors:

KANG SANG HOON (KR)
HWANG SEONG IL (KR)
KWON SUN CHEOL (KR)

Application Number:

PCT/KR2022/021587

Publication Date:

July 06, 2023

Filing Date:

December 29, 2022

Export Citation:

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Assignee:

ULSAN NAT INST SCIENCE & TECH UNIST (KR)
NAT REHABILITATION CT (KR)

International Classes:

A61H1/02; A61B5/11; A61B5/22; B25J9/00

Foreign References:

JP2015008776A	2015-01-19
JP2016174975A	2016-10-06
JPH05111889A	1993-05-07
JP2003245881A	2003-09-02
KR20170062578A	2017-06-08

Attorney, Agent or Firm:

JEON, Yong Joon (KR)

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