Human power amplification robot estimating user's intension by detecting joint torque and control method thereof

摘要

The present invention discloses a method for controlling the operation of the robot by estimating the degree of the muscle strength increasing user's operation The . The control method according to the invention , (a) measuring a torque of the rotating joint ; (b) obtaining a torque required for the posture control data to estimate the direction and speed of the operation by the user is using the measured value ; (c) a step of operating the rotary joint using the data . By feeding back the torque of the rotary joint according to the present invention in real time, it is possible to control the robot so that this muscle strength increasing immediately move along the user's operation . Therefore, even if the user is wearing a muscle enhancer robot is minimized limit of operation makes it possible to more natural behavior . ;