Abstract: An ankle-less walking assistant apparatus includes: a body supporting the back of a wearer; left and right hip joint-drivers extending from both sides of the body; left and right thigh links having first ends connected to the left and right hip joint-drivers, respectively; left and right knee-drivers connected to second ends of the left and right thigh links, respectively; left and right calf links having first ends connected to the left and right knee-drivers, respectively; and ground-contact feet fixed to second ends of the left and right calf links, respectively.

Abstract: A lower body supporting robot system includes a lower body mechanism being worn on a user's lower body, the lower body mechanism including a plurality of joints and links and a drive device, a distance calculator for measuring a first distance that is a vertical distance to an object located therebelow and a second distance that is a vertical distance to a ground surface, a memory for storing a limit distance that is a vertical distance between the distance calculator and the ground surface when the lower body mechanism is in a lowest sitting posture, and a controller for calculating a tolerance distance that is a difference between the second distance and the limit distance, comparing the first distance with the tolerance distance, and controlling the drive device so that the distance calculator moves by the first distance when the first distance is less than the tolerance distance.

Abstract: A wearable walking assist robot is provided that ensures high walking assistance performance without a complex calculation process by detecting a gait phase based on pressure distribution on feet and performing a corresponding control mode that is set in advance. The wearable walking assist robot includes a sensor unit that senses pressure on the soles of the feet of a wearer and a controller that determines gait phases of both a first leg to be operated and a second leg based on the sensed pressure. Additionally, the controller selects one of a plurality of control modes set in advance based on the determined gait phases and operates a joint-driving unit for the first leg to be operated.

Abstract: A method for controlling a wearable robot includes deducing a knee joint angle value of a robot using a joint angle sensor in a control unit, comparing the deduced knee joint angle value with a reference knee joint angle value previously stored in the control unit, deducing a thigh angle value using a thigh angle sensor in the control unit when the deduced knee joint angle value exceeds the reference knee joint angle value, comparing the deduced thigh angle value with a reference thigh angle value previously stored in the control unit, and setting an operation mode of the robot to a lift-up mode in the control unit when the thigh angle value exceeds the reference thigh angle value.