The present invention relates to an active-quasi-active control method of a walking speed-based wearable robot that can prevent reverse load even during high-speed walking while performing natural walking by dualizing control during low-speed walking and high-speed walking according to walking speed. The active-semi-active control method of the walking speed-based wearable robot according to the present invention includes a walking speed estimation step (S110) of estimating the walking speed of the wearable robot worn by the wearer, and the walking speed of the wearing robot (1) in advance A walking speed determination step (S120) of comparing with a predetermined control threshold value (δ), and when it is determined that the wearing robot walks at a low speed because the walking speed is smaller than the control threshold value (δ), the wearable robot (1) An active control step (S130) of minimizing and controlling the interaction force between the wearer and the robot in a dynamic dynamic method based on the information of the installed sensor, and the walking speed is greater than the control threshold value (δ), so that the wearable robot When it is determined that the high-speed walking is performed, a semi-active control step (S140) of controlling the wearing robot 1 using the spring stiffness and damping coefficient extracted using the human body motion data is included.
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