Patent Document ID: 9114524
Application ID: 13529131
Patent Flag: 1

Claim One:
1. A method of obtaining a manipulation torque for a wearable robot, comprising the steps of: providing the wearable robot that includes at least one arm with one or more joints and a gripper, and a control handle; obtaining, by a control unit of the wearable robot, an actuator torque value of the robot; moving, by the gripper of the robot, an object to a predetermined position set by the control unit; calculating, at the control unit, an additional torque value added by the object at the position when the step of moving the object is completed, wherein the additional torque value is calculated using a variation in a current required by each of the one or more joints of the at least one arm of the robot when the step of moving the object is performed, relative to the current required by each of the one or more joints of the at least one arm of the robot in the step of obtaining the actuator torque value of the robot; calculating, by the control unit, a mass of the object using the actuator torque value obtained in the step of obtaining the actuator torque value of the robot, the additional torque calculated in the step of calculating the additional torque value, and a position of the object; computing, by the control unit, an external force value caused by the object based on an acceleration detected by an acceleration sensor when the object is moved by the gripper and the mass calculated in the step of calculating the mass of the object; computing, by the control unit, an external force torque value caused by a change in the position of the object using the external force value computed in the step of computing the external force value; calculating, by the control unit, a total torque value to move the object using the variation of the current required at each joint of the robot when the robot moves with an initial torque value added to the handle by a user while the gripper holds the object; and calculating, by the control unit, an intended torque value by subtracting the actuator torque value of the robot and the external force torque value from the total torque value calculated in the step of calculating the total torque value.