Patent ID: 9649533
Date: 2017-05-16
CPC Classifications: A63B,B25J,G16H

Claim:
1. A muscular strength enhancing robot to be driven based on an intention of a user, the robot comprising: an actuator attached to a portion of a body of the user and configured to be actuated by enhancing a muscular strength in a movement direction in which the portion moves; an encoder connected to the actuator and configured to measure an actual velocity v a force or torque sensor configured to measure an intensity of a force f an admittance modeling module configured to calculate a target velocity v a proportional integral derivative (PID) control module configured to control actuation of the actuator in proportion to a velocity difference v an input energy calculating module configured to calculate a current input energy E an output energy calculating module configured to calculate a current output energy E a passivity control module configured to determine stability of a system of the robot by comparing the calculated current input energy E