Patent ID: 9098075
Filing Date: 2015-08-04
Classification: B25J,G05B

Abstract:
1. A method of controlling a lifting operation of a wearable robot, comprising: providing the wearable robot, a force sensor unit configured to sense a weight force applied by an object to the robot and an apply force applied by a wearing user to the robot, drive units configured to generate a driving force, and a control unit; deriving, by the control unit, a final force that must be applied by the robot to the object upon conducting a lifting operation, based on a difference between the weight force applied by the object to the robot and the apply force applied by the wearing user to the robot; setting, by the control unit, a target position to which the robot lifts the object; applying, by the control unit, a spring-damper virtual force model to an end of the robot that holds the object and to individual joints of the robot, converting the final force into final torques required by the respective joints of the robot by incorporating the final force into the virtual force model, and then operating the respective joints of the robot based on the final torques; and fixing by the control unit, the final force once the robot has lifted the object up to the target position.