METHOD OF CONTROLLING ROBOTIC ARTIFICIAL LEG AND APPARATUS FOR CONTROLLING ROBOTIC ARTIFICIAL LEG

摘要

One embodiment of the present invention provides a control method of a robot prosthetic leg which implements a natural walking, and a control device of a robot prosthetic leg. The control method of a robot prosthetic leg comprises: a sole unit; a support unit connected to a leg of a wearer; and an ankle torque unit connecting the sole unit to the support unit and transmitting torque to the sole unit. The control method comprises: a profile generating step of allowing a profile generating unit to generate a profile of output torque output from the ankle torque unit with respect to an ankle angle in walking based on step information of the wearer; a determination step of allowing, when the wearer wears a robot prosthetic leg and walks, a determination unit to determine a walking state based on an output torque value output from the ankle torque unit and whether an ankle angle change rate transition exists or not according to time; and a control step of allowing a control unit to control output torque according to walking states of the wearer based on the walking state determined in the determination step and the profile of the output torque with respect to the ankle angle in walking.