Patent ID: 11944580
Assignee: KIA MOTORS CORPORATION
Field: Medical technology (Instruments)
Classification: CPC A | IPC A

Claim 0:
1. A wearable walking assist robot, comprising:
a sensor unit configured to sense pressure on the soles of the feet of a user; and
a controller configured to determine gait phases of both a first leg to be operated and a second leg based on the pressure sensed by the pressure sensor unit, select one of a plurality of control modes set in advance based on the determined gait phases, and operate a joint-driving unit for 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 grit phases of the first leg to be operated and the second leg,
wherein the controller is configured to determine 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 the pushing ground mode is a mode in which the controller is configured to operate the joint-driving unit to push the end of the first leg to be controlled in −x and −y directions in a rectangular coordinate system.