Patent ID: 11944580
Assignee: HYUNDAI MOTOR COMPANY
Field: Medical technology (Instruments)
Classification: CPC A | IPC A

Claim 10:
11. A method for controlling a wearable walking assist robot, comprising:
sensing, by a pressure sensing unit, pressure on the soles of the feet of a user; and
determining, by a controller, gait phases of both a first leg to be operated and a second leg based on the pressure sensed by the pressure sensor unit; and
selecting, by the controller, one of a plurality of control modes set in advance based on the determined gait phases and operating a joint-driving unit of the first leg to be operated,
wherein the plurality of control modes include first control modes selected by the controller based on the gait phase of the first leg to be operated regardless of the gait phase of the second leg, and second control modes selected by the controller based on the gait phases of the first leg to be operated and the second leg,
wherein the operating of a joint driving unit includes determining a pushing ground mode included in the second control modes as a control mode for the first leg to be operated when the first leg to be operated is supported on the toe on the ground and the second leg is in the air, and
wherein in the operating of a joint-driving unit, the mode of the first leg to be operated is determined as the pushing ground mode, the joint-driving unit is operated to push the end of the first leg to be operated in −x and −y directions in a rectangular coordinate system.