A method for controlling a wearable robot by detecting motion intention based on a brain machine interface performed by a computer device, comprises the steps of: (a) applying different tactile stimuli to left feet and right feet of a user wearing the wearable robot, respectively; (b) acquiring a user′s brain signal presented due to imagine motion and the tactile stimuli; (c) determining motion intention corresponding to the brain signal based on the brain signal and a brain signal classifier; (d) transferring an output value of the brain signal classifier and motion intention with respect to each motion to a control command receiver so that the user confirms the output value of the brain signal classifier and the motion intention; and (e) controlling both feet, a walking speed and a walking width of the wearable robot by the control command receiver so that the wearable robot performs a function corresponding to the motion intention. The brain signal classifier includes a motion noise classifier, a walking start intention classifier, and a motion intention classifier generated based on a brain signal collected from the user, and determines whether the motion intention is one of a plurality of motions by passing the brain signal as an input.
APPARATUS AND METHOD FOR CONTROLLING WEARABLE ROBOT BY DETECTING MOTION INTENTION OF USERS BASED ON BRAIN MACHINE INTERFACE