KR102816903B1 - Ankle exoskeleton device for walking assistance and control method of the same - Google Patents

Abstract

An ankle exoskeleton device for assisting propulsion according to one embodiment of the present invention may include a first frame coupled to a shoe of a pedestrian, a second frame having a rotating support member rotatably coupled to the first frame and a fixed member that comes into contact with the lower leg of the pedestrian, a main elastic body coupled to the first frame and storing a force generated from a change in an angle formed by the foot and the lower leg of the pedestrian, a lever support member including a rotating lever that is fixed to the main elastic body and rotatably coupled to the first frame, an inertial drive member that rotates with respect to the first frame by inertia to control the rotation of the rotating lever, and a bistable control member that is connected to the inertial drive member and pushes or pulls the inertial drive member to perform bistable control.

Description

{ANKLE EXOSKELETON DEVICE FOR WALKING ASSISTANCE AND CONTROL METHOD OF THE SAME}

The present invention relates to an ankle exoskeleton for propulsion assistance and a method for controlling the ankle exoskeleton for propulsion assistance, and more specifically, to an ankle exoskeleton for propulsion assistance that can be installed in shoes or the like to increase propulsion power and a method for controlling the ankle exoskeleton for propulsion assistance.

In general, the human gait cycle can be largely divided into the stance phase and the swing phase. The stance phase refers to the period when the foot is in contact with the ground, from heel strike to toe lift, and accounts for 60% of the entire gait cycle. The swing phase refers to the period when the foot is lifted from the ground and the body moves, from toe lift to heel strike of the same foot, and accounts for 40% of the entire gait cycle.

Conventional propulsion-assisted ankle exoskeletons are mounted on the shoe and calf, and are equipped with springs so that the tensile elastic members contract and relax when the user walks, providing propulsion to the user. These propulsion-assisted ankle exoskeletons store energy in the stance phase and release energy as they transition into the swing phase, and the elastic members return to their original state during the swing phase.

However, these conventional walking assistance devices have a problem in that the spring's length always changes depending on the user's movements, so the spring interferes with the user's movements and causes unnaturalness.

Publication of Patent Publication No. 2022-0142809 (October 24, 2022)

The present invention provides an ankle exoskeleton device that provides a natural walking sensation and can stably maintain an inertial drive unit in an engaged or disengaged position.

An ankle exoskeleton device for assisting propulsion according to one embodiment of the present invention comprises: a first frame coupled to a shoe of a pedestrian; a second frame having a rotating support rotatably coupled to the first frame and a fixed portion that comes into contact with the lower leg of the pedestrian; a main elastic body coupled to the first frame and storing a force generated from a change in an angle formed between the foot and the lower leg of the pedestrian; a lever support unit including a rotating lever that is fixed to the main elastic body and rotatably coupled to the first frame; an inertial drive unit that rotates with respect to the first frame by inertia to control the rotation of the rotating lever; and a bistable control unit that is connected to the inertial drive unit and performs bistable control by pushing or pulling the inertial drive unit, wherein the lever support unit further includes a ratchet gear coupled to the rotating lever and having a plurality of protrusions, and the inertial drive unit includes a control body rotatably coupled to the first frame and a weight coupled to the control body, and when an inertial force due to the weight is greater than a preset reference force, the bistable control unit rotates the control body so that the latch engages the ratchet gear. Can be combined.

According to one embodiment of the present invention, the lever support member may further include a ratchet gear coupled to the rotary lever and having a plurality of projections.

According to one embodiment of the present invention, the inertial drive unit may include a catch that is coupled with the ratchet gear and controls the rotation of the ratchet gear.

According to one embodiment of the present invention, the inertial drive unit may include a control body rotatably coupled to the first frame and a weight coupled to the control body.

According to one embodiment of the present invention, the control body has a rear projection formed therein, and the weight can be fitted into the rear projection.

According to one embodiment of the present invention, the bistable control unit may be formed of an elastic body coupled to the first frame and the control body to pull the control body.

According to one embodiment of the present invention, a lever bracket for supporting the ratchet gear may be installed on the rotary lever, and a pressure rod for pushing the control body may be installed on the lever bracket.

According to one embodiment of the present invention, a tensile elastic body may be installed at the lower portion of the rotary lever to connect the rotary lever and the first frame and pull the rotary lever.

According to one embodiment of the present invention, a stopper protrusion for setting a rotational position of the control body may be formed on the upper portion of the control body.

According to another embodiment of the present invention, a control method for an ankle exoskeleton for propulsion assistance comprises: a first frame coupled to a shoe; a second frame rotatably coupled to the first frame and supported on a lower leg; a main elastic body providing a rotational force of the second frame with respect to the first frame; a lever support connected to the main elastic body; and an inertial drive unit coupled to the lever support unit and controlling the rotation of the lever support unit by inertia, the control method including: an inertial coupling step in which the inertial drive unit is coupled to the lever support unit by inertia upon landing; an elastic body deformation step in which the main elastic body is deformed according to movement of the lower leg; a propulsion force providing step in which propulsion force is transmitted to a pedestrian by restoration of the main elastic body; and an inertial detachment step in which the inertial drive unit is detached from the rotary lever when the foot is raised and then decelerated.

According to another embodiment of the present invention, the inertial coupling step is such that when the foot descends and touches the ground, the inertial drive unit can rotate due to the inertia of the weight installed in the inertial drive unit and be coupled to the lever support unit.

According to another embodiment of the present invention, the inertial coupling step can rotate the inertial drive by pulling the inertial drive using a bistable control unit connected to the inertial drive.

According to another embodiment of the present invention, the lever support includes a rotary lever coupled to the main elastic body and a ratchet gear coupled to the rotary lever, and the inertial coupling step can couple a catch formed on the inertial drive unit to the ratchet gear.

According to another embodiment of the present invention, the inertial detachment step can detach the latch from the rotary lever by utilizing the inertia of the weight when the foot rises and then decelerates.

According to another embodiment of the present invention, the lever support further includes a pressure rod coupled to the rotary lever, and the inertial detachment step can detach the latch from the rotary lever by pushing the inertial drive using the pressure rod.

As described above, according to the present invention, since the rotation of the rotary lever is controlled by the inertial drive unit, the elastic force of the main tensile elastic member can be easily controlled according to the movement of the foot. Accordingly, since the main elastic member is stretched only when necessary, interference with the pedestrian's movement can be minimized and natural movement can be provided.

In addition, since a bistable control unit is installed so that the inertial drive unit is stably fixed in the engagement or disengagement position, the inertial drive unit can control the rotation lever more stably.

FIG. 1 is a perspective view illustrating an ankle exoskeleton device for propulsion assistance according to one embodiment of the present invention.
FIG. 2 is a side view illustrating a portion of an ankle exoskeleton device for propulsion assistance according to one embodiment of the present invention.
FIG. 3 is a perspective view illustrating a portion of an ankle exoskeleton device for propulsion assistance according to one embodiment of the present invention.
FIG. 4 is a perspective view illustrating a control body and a pressure rod according to one embodiment of the present invention.
FIG. 5 is a drawing illustrating a state in which an inertial drive unit and a lever support unit are combined according to one embodiment of the present invention.
FIG. 6 is a drawing illustrating a state in which an inertial drive unit according to one embodiment of the present invention is separated from a lever support unit.
FIG. 7 is a detailed drawing illustrating a state in which a latch is detached from a ratchet gear according to one embodiment of the present invention.
FIG. 8 is a flowchart for explaining a control method of an ankle exoskeleton device for propulsion assistance according to one embodiment of the present invention.

The present invention can be modified in various ways and has various embodiments, and thus specific embodiments will be illustrated and described in detail. However, this is not intended to limit the present invention to specific embodiments, but should be understood to include all modifications, equivalents, or substitutes included in the spirit and technical scope of the present invention.

The terminology used herein is only used to describe specific embodiments and is not intended to limit the present invention. The singular expression includes the plural expression unless the context clearly indicates otherwise. In the present invention, it should be understood that the terms "comprise" or "have" and the like are intended to specify that a feature, number, step, operation, component, part or combination thereof described in the specification is present, but do not exclude in advance the possibility of the presence or addition of one or more other features, numbers, steps, operations, components, parts or combinations thereof.

Hereinafter, preferred embodiments of the present invention will be described in detail with reference to the attached drawings. At this time, it should be noted that the same components in the attached drawings are indicated by the same symbols as much as possible. In addition, detailed descriptions of well-known functions and configurations that may obscure the gist of the present invention will be omitted. For the same reason, some components in the attached drawings are exaggerated, omitted, or schematically illustrated.

Below, an ankle exoskeleton device for propulsion assistance according to one embodiment of the present invention is described.

FIG. 1 is a perspective view illustrating an ankle exoskeleton device for propulsion assistance according to one embodiment of the present invention, FIG. 2 is a side view illustrating a portion of an ankle exoskeleton device for propulsion assistance according to one embodiment of the present invention, FIG. 3 is a perspective view illustrating a portion of an ankle exoskeleton device for propulsion assistance according to one embodiment of the present invention, and FIG. 4 is a perspective view illustrating a control body and a pressure rod according to one embodiment of the present invention.

Referring to FIGS. 1 to 4, the propulsion assistance ankle exoskeleton device (101) according to the present embodiment may include a first frame (110), a second frame (120), a main elastic body (131), a lever support (160), an inertial drive unit (140), and a bistable control unit (150).

The ankle exoskeleton device (101) for propulsion assistance is a device that helps the user walk, and can be connected to a shoe (21) and the lower leg to assist the user's propulsion when walking, running, etc.

The first frame (110) is coupled to the pedestrian's shoe (21) and supports the main elastic body (131) from below. The first frame (110) may include two side supports (112) that are supported on the side of the shoe (21) and a rear support (116) that protrudes rearward from the side supports (112) and connects the two side supports (112).

Two side supports (112) are spaced apart with the shoe (21) in between, and the side supports (112) can be fixed to the shoe. The rear support (116) is connected to the rear ends of the side supports (112) to support the side supports (112). The rear support (116) can also support the main elastic body (131) from below.

The second frame (120) is rotatably connected to the first frame (110) and is connected upwardly to be fixed to the lower leg of the pedestrian. When the pedestrian walks, the second frame (120) can rotate relative to the first frame (110) depending on the change in angle between the shoe (21) and the lower leg.

The second frame (120) is coupled to the first frame (110) and may include two rotating supports (121) extending upwardly, a fixed part (123) coupled to the upper part of the rotating supports (121) and coupled to the lower leg of the pedestrian, and an elastic support (125) protruding rearwardly from the rotating supports (121).

The rotating support (121) is composed of two columns arranged in parallel and can be rotatably connected to the upper part of the side support (112). The fixed part (123) can be composed of a shin pad that protrudes forward from the rotating support (121) and comes into contact with the front of the shin. In addition, a strap (not shown) that wraps around the rear of the lower leg can be installed on the fixed part (123). However, the present invention is not limited thereto, and the fixed part (123) can be composed of various structures such as a band.

The main elastic body (131) is made of a tensile spring, and a plurality of main elastic bodies (131) can be fixed to an elastic support (125). The main elastic body (131) stores energy according to changes in the inclination of the user's legs and feet and then transmits propulsion to the pedestrian.

The lever support (160) connects the main elastic body (131) and the first frame (110), and can be controlled to rotate with respect to the main elastic body (131) or not to rotate with respect to the main elastic body (131). The lever support (160) can include a rotating lever (161), a ratchet gear (163), a lever bracket (165), and a pressure rod (166).

The lever support (160) includes two rotary levers (161), and the rotary levers (161) are each rotatably connected to the first frame (110) and can be fixed to the lower part of the main elastic body (131). The rotary levers (161) can be fixed to the main elastic body (131) via a connecting ring (132).

The rotary lever (161) is formed in a rod shape, and a ring projection (162) protruding upward is formed on one end in the longitudinal direction of the rotary lever (161), and the above-mentioned connecting ring (132) can be coupled to the ring projection (162).

The first frame (110) may include a first rear bracket (117) and a second rear bracket (118), and the rotation lever (161) may be rotatably coupled to the first rear bracket (117).

In addition, a ratchet gear (163) is coupled to the longitudinal end of the rotary lever (161). The ratchet gear (163) rotates together with the rotary lever (161) and is coupled to the first frame (110).

In addition, as illustrated in FIG. 4, two lever brackets (165) may be installed on the outside of the ratchet gear (163), and a pressure rod (166) for pushing the control body (141) of the inertial drive unit (140) may be installed on the upper portion of the lever bracket (165). Accordingly, the pressure rod (166) may push the control body (141) according to a change in the user's ankle angle, thereby auxiliaryly detaching the inertial drive unit (140) from the lever support unit (160).

Meanwhile, as illustrated in FIG. 2, a tensile elastic member (173) that connects the first frame (110) and the rotary lever (161) and pulls the rotary lever (161) may be installed at the bottom of the rotary lever (161). The tensile elastic member (173) is fixed to a first protrusion (171) protruding from the rotary lever (161) and a second protrusion (172) protruding from the first rear bracket (117), and the tensile elastic member (173) may be made of an elastic wire, rope, or the like.

The tensile elastic member (173) pulls the lower portion of the rotary lever (161) to rotate the rotary lever (161) clockwise (based on FIG. 2), and accordingly, when the catch (147) and the racket gear (163) are released, the tensile elastic member (173) pulls the rotary lever (161) so that the pressure rod (166) can push the control body (141).

The inertial drive unit (140) is detachably attached to the ratchet gear (163) to control the rotation of the rotary lever (161) and is rotatably fixed to the first frame (110). More specifically, the inertial drive unit (140) can be rotatably coupled to the first rear bracket (117) of the first frame (110).

The inertial drive unit (140) may include a control body (141), a catch (147), a rear projection (142), and a weight (143). The control body (141) may be rotatably coupled to the second rear bracket (118) of the first frame (110) and may be formed in a rod shape. The catch (147) protrudes from the control body (141) toward the ratchet gear (163) and is coupled with the ratchet gear (163) to control the ratchet gear (163) to rotate in only one direction and prevent it from rotating in another direction. The catch (147) may protrude from the lower portion of the control body (141).

The catch (147) can be engaged with the ratchet gear (163) or disengaged from the ratchet gear (163) depending on the rotation of the control body (141). When the ratchet gear (163) and the catch (147) are engaged, the ratchet gear (163) and the rotary lever (161) can only rotate clockwise in Fig. 3 and cannot rotate counterclockwise. On the other hand, when the catch (147) is disengaged from the ratchet gear (163), the ratchet gear (163) can rotate freely.

A stopper projection (148) for setting the rotational position of the control body (141) may be formed on the upper portion of the control body (141). The stopper projection (148) protrudes forwardly from the upper portion of the control body (141) at an angle, and when the stopper projection (148) and the second rear bracket (118) come into contact, the control body (141) can be supported without further rotation.

The rear protrusion (142) protrudes from the control body (141) to the rear of the shoe (21), and a weight (143) may be installed on the rear protrusion (142). The weight (143) is slidably coupled to the rear protrusion (142) and may be formed in a ring shape. The weight (143) forms an inertial force to rotate the control body (141).

A bistable control unit (150) that is connected to the inertial drive unit (140) and pulls the inertial drive unit (140) to perform bistable control may be connected to the control body (141). The bistable control unit (150) may be formed of a tensile spring, and one longitudinal end of the bistable control unit (150) may be fixed to the first frame (110), and the other end of the bistable control unit (150) may be fixed to the control body (141).

In this embodiment, the bistable control unit (150) is exemplified as pulling the control body (141), but the present invention is not limited thereto, and the bistable control unit (150) may be formed of a compression spring that pushes the control body (141).

The bistable control unit (150) maintains a stable state at two positions having a minimum length, and when a force greater than a preset reference force is applied to the control body (141), the bistable control unit (150) controls the control body (141) to be positioned at the engagement position or the separation position.

To this end, the bistable control unit (150) pulls the control body (141) with a preset force and maintains an unstable state in positions other than the engagement position and the detachment position, and maintains stability only in the engagement position and the detachment position.

The bistable control unit (150) can control the control body (141) and the ratchet gear (163) to be reliably coupled, or the ratchet gear (163) and the control body (141) to be reliably separated. Accordingly, the control body (141) and the ratchet gear (163) can stably maintain a coupled or separated state.

FIG. 5 is a drawing illustrating a state in which an inertial drive unit and a lever support unit are coupled according to one embodiment of the present invention, FIG. 6 is a drawing illustrating a state in which an inertial drive unit according to one embodiment of the present invention is separated from a lever support unit, and FIG. 7 is a drawing illustrating in detail a state in which a latch is separated from a ratchet gear according to one embodiment of the present invention.

As shown in Fig. 5, when the foot descends and the rear end of the shoe (21) touches the ground, the control body (141) rotates counterclockwise by the inertial force of the weight (142) and the pressing force of the bistable control unit (150), and the catch (147) is coupled to the ratchet gear (163). Accordingly, the ratchet gear (163) can be fixed so as not to rotate, or controlled to rotate only in one direction (counterclockwise in Fig. 5).

When the user's lower leg moves forward after the sole of the shoe (21) touches the ground, the main elastic body (131) is extended. At this time, the catch (147) and the ratchet gear (163) are combined so that the lower part of the main elastic body (131) can be extended while being fixed. Meanwhile, when the lower leg moves backward and is lifted, the main elastic body (131) is lifted by pulling the rear of the shoe (21), thereby providing propulsion to the user.

As shown in FIGS. 6 and 7, when the shoe (21) moves upward and reaches a peak and decelerates, the control body (141) rotates clockwise due to the inertial force of the weight (143) and the pressing force of the bistable control unit (150), and the catch (147) is released from the ratchet gear (163).

When the shoe (21) descends in the air, the catch (151b) is separated from the ratchet gear (163) and the rotary lever (161) rotates freely, so that the length of the main elastic body (131) does not change and a natural walking feeling can be provided to the user.

As described above, according to the present embodiment, the inertial drive unit (140) can be coupled to or separated from the lever support unit (160) by the inertial force of the weight (143), and the coupling or separation state of the inertial drive unit (140) and the lever support unit (160) can be stably maintained by the bistable control unit (150).

Hereinafter, a method for controlling an ankle exoskeleton device for propulsion assistance according to one embodiment of the present invention is described.

FIG. 8 is a flowchart for explaining a control method of an ankle exoskeleton device for propulsion assistance according to one embodiment of the present invention.

Referring to FIGS. 5 to 8, a control method using an ankle exoskeleton device for propulsion assistance according to the present embodiment may include an inertial coupling step (S101), an elastic body deformation step (S102), a propulsion force provision step (S103), and an inertial departure step (S104).

In the inertial coupling stage (S101), the inertial drive unit (140) rotates and is coupled to the lever support unit (160) by the downward inertial force of the weight (143) during the landing process where the shoe and the ground come into contact while walking. At this time, the catch (147) is coupled with the ratchet gear (163), and the rotating lever (161) rotates in one direction and supports the main elastic body (131) so that it can be extended.

In addition, the inertial coupling step (S101) pulls the inertial drive unit (140) using the bistable control unit (150) connected to the inertial drive unit (140) to rotate the inertial drive unit (140). When a force greater than the reference force is applied due to the inertial force of the weight (143), the bistable control unit (150) rotates the control body (141) so that the latch (147) can be reliably coupled to the ratchet gear (163).

The elastic body deformation step (S102) deforms the main elastic body (131) according to the movement of the lower leg. The elastic body deformation step (S103) increases the length of the main elastic body (131) according to the movement of the lower leg of the pedestrian to store energy.

The propulsion providing step (S103) provides propulsion to the pedestrian by the contraction and recovery of the main elastic body (131). In the propulsion providing step (S103), the main elastic body (131) is used to pull the first frame (110) to provide propulsion for the user to walk or jump. In the propulsion providing step (S103), the rear of the shoe (21) can be pulled and lifted using the main elastic body (131) in the section where the lower leg moves rearward.

In the inertial detachment step (S104), when the shoe (21) rises and then decelerates, the inertial drive unit (140) is detached from the rotary lever (161). In the inertial detachment step (S104), when the shoe rises and then decelerates while reaching a peak, the weight (143) uses the inertial force that causes the catch (147) to rise and detach from the rotary lever (161). At this time, the catch (147) is separated from the ratchet gear (163), so that the rotary lever (161) can rotate freely. Accordingly, the user can be provided with free movement when the shoe is lowered.

In addition, the inertial departure step (S104) rotates the inertial drive (140) by pulling the inertial drive (140) using the bistable control unit (150) connected to the inertial drive, and when a force greater than the reference force is applied due to the inertial force of the weight (143), the bistable control unit (150) rotates the control body (141) so that the catch (147) is completely separated from the ratchet gear (163). In addition, the inertial departure step (S104) can detach the catch (147) from the rotary lever (161) by pushing the inertial drive (140) using the pressure rod (166).

Above, one embodiment of the present invention has been described, but those skilled in the art will be able to modify and change the present invention in various ways by adding, changing, deleting or adding components, etc., within the scope that does not depart from the spirit of the present invention described in the claims, and this will also be considered to be included within the scope of the rights of the present invention.

101: Ankle exoskeleton device for propulsion assistance
110: First frame 112: Side support
116: Rear support 117: First rear bracket
118: 2nd rear bracket 120: 2nd frame
121: Rotating support 123: Fixed part
125: Elastic support 131: Main elastic body
132: Link 140: Inertial drive
141: Control body 142: Rear projection
143: Weight 147: Latch
148: Stopper protrusion 150: Bistable control unit
160: Lever support 161: Rotating lever
162: Ring Turn 163: Ratchet Gear
165: Lever bracket 166: Pressure rod
171: First protrusion 172: Second protrusion
173: Tensile elastic member

Claims (15)

A first frame coupled to a pedestrian's shoe;
A second frame having a rotating support member rotatably connected to the first frame and a fixed member that comes into contact with the lower leg of a pedestrian;
A main elastic body coupled to the first frame and storing the force generated from the change in angle between the pedestrian's foot and lower leg;
A lever support member including a rotary lever fixed to the main elastic body and rotatably coupled to the first frame;
An inertial drive unit that rotates relative to the first frame by inertia to control the rotation of the rotary lever; and
A bistable control unit connected to the above inertial drive unit and performing bistable control by pushing or pulling the above inertial drive unit;
Including,
The above lever support is coupled to the above rotary lever and further includes a ratchet gear having a plurality of projections,
The above inertial drive unit includes a control body rotatably coupled to the first frame and a weight coupled to the control body,
An ankle exoskeleton device for assisting propulsion, characterized in that when the inertial force due to the weight is greater than a preset reference force, the bistable control unit rotates the control body so that the latch is engaged with the ratchet gear. delete In the first paragraph,
An ankle exoskeleton device for assisting propulsion, characterized in that the inertial drive unit includes a catch that is coupled to the ratchet gear and controls the rotation of the ratchet gear. delete In the third paragraph,
An ankle exoskeleton device for assisting propulsion, characterized in that the control body has a rearwardly protruding rearward projection formed therein, and the weight is fitted and connected to the rearward projection. In the third paragraph,
An ankle exoskeleton device for assisting propulsion, characterized in that the bistable control unit is formed of an elastic body that is coupled to the first frame and the control body and pulls the control body. In the third paragraph,
An ankle exoskeleton device for propulsion assistance, characterized in that a lever bracket for supporting the ratchet gear is installed on the rotating lever, and a pressure rod for pushing the control body is installed on the lever bracket. In Article 7,
An ankle exoskeleton device for assisting propulsion, characterized in that a tensile elastic body is installed at the lower portion of the rotary lever to pull the rotary lever by connecting the rotary lever and the first frame. A first frame coupled to a pedestrian's shoe;
A second frame having a rotating support member rotatably connected to the first frame and a fixed member that comes into contact with the lower leg of a pedestrian;
A main elastic body coupled to the first frame and storing the force generated from the change in angle between the pedestrian's foot and lower leg;
A lever support member including a rotary lever fixed to the main elastic body and rotatably coupled to the first frame;
An inertial drive unit that rotates relative to the first frame by inertia to control the rotation of the rotary lever; and
A bistable control unit connected to the above inertial drive unit and performing bistable control by pushing or pulling the above inertial drive unit;
Including,
The above lever support is coupled to the above rotary lever and further includes a ratchet gear having a plurality of projections,
The above inertial drive unit includes a control body rotatably coupled to the first frame and a weight coupled to the control body,
An ankle exoskeleton device for assisting propulsion, characterized in that a stopper protrusion for setting the rotational position of the control body is formed on the upper part of the control body. A method for controlling an ankle exoskeleton device for assisting propulsion, the device comprising: a first frame coupled to a shoe; a second frame rotatably coupled to the first frame and supported on a lower leg; a main elastic body providing rotational force of the second frame with respect to the first frame; a lever support connected to the main elastic body; and an inertial drive connected to the lever support and controlling rotation of the lever support by inertia.
An inertial coupling step in which the inertial drive unit is coupled to the lever support unit by inertia upon landing;
An elastic body deformation step for deforming the main elastic body according to the movement of the lower leg;
A propulsion providing step for transmitting propulsion to a pedestrian by restoring the main elastic body; and
Inertial departure stage where the inertial drive detaches from the rotary lever as the foot rises and then decelerates;
Including,
The above lever support includes a rotary lever coupled to the main elastic body, a ratchet gear coupled to the rotary lever, and a pressure rod coupled to the rotary lever.
The above inertial coupling step couples the catch formed in the above inertial drive unit to the ratchet gear,
A control method for an ankle exoskeleton device for assisting propulsion, characterized in that the inertial detachment step pushes the inertial drive unit using the pressure rod to detach the latch from the rotary lever. In Article 10,
A control method for an ankle exoskeleton device for assisting propulsion, characterized in that the inertial drive unit rotates and is coupled to the lever support unit by the inertia of the weight installed in the inertial drive unit when the foot descends and touches the ground. In Article 11,
A method for controlling an ankle exoskeleton device for assisting propulsion, wherein the inertial coupling step pulls the inertial drive unit using a bistable control unit connected to the inertial drive unit to rotate the inertial drive unit. delete In Article 12,
The above inertial detachment step is a control method of an ankle exoskeleton device for assisting propulsion that detaches the catch from the rotary lever by using the inertia of the weight when the foot rises and then decelerates. delete

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