Abstract: Provided are a system and method for estimating the center of gravity of a walking rehabilitation robot, the system being provided with: a sensor module for estimating the point of the center of gravity, and provided with: a sensor unit mounted on a footplate to sense the pressure when a person walks; output means for outputting a voltage value corresponding to preset conditions according to a pressure signal sensed by the sensor module; and estimating means for calculating an angle value corresponding to the voltage value outputted by the output means, and estimating the center of gravity, wherein a body center can be estimated by obtaining an accurate detection using a small-sized system that has a relatively low-cost sensor module installed therein.

Abstract: The present invention relates to a system and a method for controlling a joint angle of a knee-joint type walking training robot which estimates a walking stage of a person receiving rehabilitation for walking and actively responds to the walking stage on the basis thereof. The present invention can easily control the joint angle of the knee-joint type walking training robot by providing a configuration comprising: a pressure measuring device for measuring the pressure on the sole of a walker's foot by using a pressure sensor; and a joint angle estimating device for estimating the joint angle of a knee-joint by extracting movement time of the walk and the length of the part of the sole contacting the ground on the basis of the sole's pressure measured by the pressure measuring device.

Abstract: Provided are a system and method for estimating the center of gravity of a walking rehabilitation robot, the system being provided with: a sensor module for estimating the point of the center of gravity, and provided with: a sensor unit mounted on a footplate to sense the pressure when a person walks; output means for outputting a voltage value corresponding to preset conditions according to a pressure signal sensed by the sensor module; and estimating means for calculating an angle value corresponding to the voltage value outputted by the output means, and estimating the center of gravity, wherein a body center can be estimated by obtaining an accurate detection using a small-sized system that has a relatively low-cost sensor module installed therein.

Abstract: A muscular strength enhancing robot to be driven by an intention of a user and a method of driving the robot are disclosed. The robot includes an actuator attached to a portion of a body of the user and configured to be actuated by enhancing a muscular strength, an encoder connected to the actuator and configured to measure an actual velocity at which the actuator moves, a force or torque sensor configured to measure an intensity of a force to be applied, an admittance modeling module configured to calculate a target velocity using the intensity of the force, and a proportional integral derivative (PID) control module configured to control actuation of the actuator in proportion to a velocity difference between the target velocity and the actual velocity, control the actuation by a cumulative value of the velocity difference, and control the actuation by a difference between a previous and a current velocity difference.

Abstract: The present invention relates to a system and a method for controlling a joint angle of a knee-joint type walking training robot which estimates a walking stage of a person receiving rehabilitation for walking and actively responds to the walking stage on the basis thereof. The present invention can easily control the joint angle of the knee-joint type walking training robot by providing a configuration comprising: a pressure measuring device for measuring the pressure on the sole of a walker's foot by using a pressure sensor; and a joint angle estimating device for estimating the joint angle of a knee-joint by extracting movement time of the walk and the length of the part of the sole contacting the ground on the basis of the sole's pressure measured by the pressure measuring device.

Abstract: A muscular strength enhancing robot to be driven by an intention of a user and a method of driving the robot are disclosed. The robot includes an actuator attached to a portion of a body of the user and configured to be actuated by enhancing a muscular strength, an encoder connected to the actuator and configured to measure an actual velocity at which the actuator moves, a force or torque sensor configured to measure an intensity of a force to be applied, an admittance modeling module configured to calculate a target velocity using the intensity of the force, and a proportional integral derivative (PID) control module configured to control actuation of the actuator in proportion to a velocity difference between the target velocity and the actual velocity, control the actuation by a cumulative value of the velocity difference, and control the actuation by a difference between a previous and a current velocity difference.