Wearable robot and control method thereof

1. A wearable robot comprising:

an upper limb muscular power assist device configured to perform an articulation motion with a predetermined degree of freedom, the upper limb muscular power assist device being operated by an electronic motor and wearable by a user;

a sensor configured to receive movement information, the sensor information comprising movement direction and speed of the user;

a controller configured to determine a movement mode based on status of the upper limb muscular power assist device being worn or not being worn, the movement mode comprising a real time mode and a following mode and the movement mode which being further selected by an input unit; and

a mobile platform connected to the upper limb muscular power assist device is caused, by the controller, to differently move the wearable robot, according to the determined movement mode and the movement information detected by the sensor regarding movement speed and movement direction of the user.

2. The wearable robot according to claim 1 , wherein, in response to detection of the movement mode being the real time movement mode, the mobile platform is caused by the controller to move according to the movement information regarding the movement speed and the movement direction of the user such that the mobile platform keeps pace with the user.

3. The wearable robot according to claim 1 , wherein, in response to detection of the movement mode being the following mode, the mobile platform is caused by the controller to move subsequent to a lapse of a predetermined standby time.

4. The wearable robot according to claim 1 , wherein the movement mode of the mobile platform is automatically set to the movement mode in response to detection of wearing the upper limb muscular power assist device.

5. The wearable robot according to claim 1 , wherein the movement mode of the mobile platform is automatically set to the following mode in response to detection of not wearing the upper limb muscular power assist device.

6. The wearable robot according to claim 1 , wherein the input unit is further configured to perform interfacing with the movement of the user using a mode selection button.

7. The wearable robot according to claim 1 , wherein the mobile platform is further configured to receive the information regarding the movement speed and the movement direction of the user through the sensor and the mobile platform is caused to move by the controller according to the received information.

8. The wearable robot according to claim 1 , wherein the mobile platform comprises:

driving wheels configured to adjust movement speed of the wearable robot; and

front wheels configured to adjust movement direction of the wearable robot.

9. The wearable robot according to claim 1 , wherein the upper limb muscular power assist device comprises a mobile platform connection unit, a shoulder series type mechanism unit, an elbow series type mechanism unit, a wrist parallel type mechanism unit, and a tool coupling unit.

10. The wearable robot according to claim 9 , wherein the shoulder series type mechanism comprises:

a ring unit connected to the mobile platform connection unit,

a back articulation unit connected to the ring unit,

a back muscle link unit connected to the back articulation unit, and

a shoulder muscle link unit connected to the back muscle link unit.

11. The wearable robot according to claim 10 , the shoulder series type mechanism further comprises:

a shoulder front and rear articulation unit connected to the shoulder muscle link unit,

a shoulder link unit connected to the shoulder front and rear articulation unit such that the shoulder link unit is rotated forward or backward by a predetermined angle according to motion of the shoulder front and rear articulation unit, and

a shoulder left and right articulation unit connected to the shoulder link unit.

12. A control method of a wearable robot comprising an upper limb muscular power assist device to perform an articulation motion with a predetermined degree of freedom, the upper limb muscular power assist device being wearable by a user, and a mobile platform connected to the upper limb muscular power assist device to move according to information based on movement speed and movement direction of the user, the control method comprising:

receiving information regarding movement direction and movement speed of the user through a movement sensor during movement of the user

determining a movement mode based on the information associated with performance of the upper limb muscular power assist device and status of the upper limb muscular power assist device being worn or not being worn, and controlling movement type of the upper limb muscular power assist device according to the movement information, the movement mode comprising a real time movement mode and a following mode; and

causing the mobile platform to move according to the determined movement mode and the received information detected by the sensor such that the mobile platform is selectively controlled to keep pace with movement of the user associated with performance of the upper limb muscular power assist device or to follow the user.

13. The control method according to claim 12 , further comprising:

controlling the mobile platform to move in real time according to the information regarding the movement direction and the movement speed of the user such that the mobile platform is caused to move by keeping pace with the user in in response to detection of the movement mode of the wearable robot being real time movement mode.

14. The control method according to claim 12 , further comprising:

controlling the mobile platform to follow the user after a lapse of a predetermined standby time in response to detection of a movement mode of the wearable robot is the following mode.

15. The control method according to claim 12 , wherein the in the real time movement mode in response to detection of movement of the user while wearing the upper limb muscular power assist device.

16. The control method according to claim 12 , wherein the mobile platform is controlled to move in the following mode such that the mobile platform follows the user after a lapse of a standby time in response to detection of movement of the user while not wearing the upper limb muscular power assist device.

17. A wearable robot comprising:

a communication unit to receive information regarding movement direction and movement speed of a user during movement of the user; and

a controller configured to determine a movement mode based on status of whether the wearable robot being worn or not being worn and to control movement type of the wearable robot according to the received information, the controller further configured

to move a mobile platform without standby-time such that the wearable robot is performed by keeping pace with the user's movement associated with the wearable robot in response to detection of the wearable robot being worn or

to move a mobile platform subsequent to standby-time to follow the user in response to detection of the wearable robot not being worn.

18. The wearable robot according to claim 17 , wherein the controller is further configured to move the mobile platform according to a movement mode comprising a real time movement mode and a following mode, and the controller is configured to control the wearable robot to move such that the wearable robot keeps pace with the user in response to detection of the real time movement mode and to control the wearable robot to follow the user in a response to detection of the following mode.