Wearable robot determinable intention of user and method for controlling of the same

The present invention relates to a gait estimation based wearer robot and a control method thereof, which can accurately control a wearer's walking intention by fusing an inverse dynamic method and an HRI sensing method to reduce an error. The walking intention estimating base wear robot according to the present invention is characterized in that the walking expectation based wearing robot comprises a backpack part 100 to be worn by the wearer 1, a hydraulic pressure supply part 200 which is installed in the backpack part 100 and supplies hydraulic pressure, The robot legs 300R and 300L which are provided on both left and right sides of the lower portion of the body 100 and fixed to the legs of the wearer and the required torque required for the operation of each movable part according to the walking intention of the wearer, And a controller for controlling the operation of the supplying unit 200. The control method of the walking wear estimation based wearer robot includes a step of estimating a walking mode by sensing whether the right sole or the left sole of the wearer is in contact with the ground, (S120) for measuring the inclination of the ground on which the wearer is placed, and a sensor installed on the wearer robot (2) to estimate the walking intention of the wearer, The operating part of the wearing robot is made small Sikineunde necessary requested torque (T req) for calculation by performing a command for operating the actuator of the wear robot 2 according to the command generation step (S130) of generating a command to control the respective driving portions, the generated instruction step (S140) .