지원사업
학술연구/단체지원/교육 등 연구자 활동을 지속하도록 DBpia가 지원하고 있어요.
커뮤니티
연구자들이 자신의 연구와 전문성을 널리 알리고, 새로운 협력의 기회를 만들 수 있는 네트워킹 공간이에요.
논문 기본 정보
- 자료유형
- 학술저널
- 저자정보
- 발행연도
- 2011.10
- 수록면
- 1,021 - 1,028 (8page)
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초록· 키워드
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The objective of this paper is to optimize the design parameters of a novel mechanism for a robotic knee orthosis. The feature of the proposed knee othosis is to drive a knee joint with independent actuation during swing and stance phases, which can allow an actuator with fast rotation to control swing motions and an actuator with high torque to control stance motions, respectively. The quadriceps device operates in five-bar links with 2-DOF motions during swing phase and is changed to six-bar links during stance phase by the contact motion to the patella device. The hamstring device operates in a slider-crank mechanism for entire gait cycle. The suggested kinematic model will allow a robotic knee orthosis to use compact and light actuators with full support during walking. However, the proposed orthosis must use additional linkages than a simple four-bar mechanism. To maximize the benefit of reducing the actuators power by using the developed kinematic design, it is necessary to minimize total weight of the device, while keeping necessary actuator performances of torques and angular velocities for support. In this paper, we use a SGA (Simple Genetic Algorithm) to minimize sum of total link lengths and motor power by reducing the weight of the novel knee orthosis. To find feasible parameters, kinematic constraints of the hamstring and quadriceps mechanisms have been applied to the algorithm. The proposed optimization scheme could reduce sum of total link lengths to half of the initial value. The proposed optimization scheme can be applied to reduce total weight of general multi-linkages while keeping necessary actuator specifications.
목차
Abstract
Ⅰ. 서론
Ⅱ. 설계된 외골격 로봇의 기구
Ⅲ. 최적화 알고리즘
Ⅳ. 최적설계 결과
Ⅴ. 결론
참고문헌
참고문헌 (12)
참고문헌 신청
1. [학술대회논문] - J. S. Sulzer / 2009 / adaptation to flexion torque during gait / 11th IEEE International Conference on Rehabilitation Robotics : 23 ~ 26
2. [학술대회논문] - J. E. Pratt / 2004 / The RoboKnee: An exoskeleton for enhancing strength and endurance during walking / Proc. of the 2004 IEEE International Conference on Robotics & Automation : 2430 ~ 2435
3. [학술지(정기간행물)] - G. Colombo / 2000 / Treadmill training of paraplegic patients using a robotic orthosis / Journal of Rehabilitation Research and Development 37 (6) : 693 ~ 700
4. [학술지(정기간행물)] - M. Ackermann / 2009 / Automatic knee flexion in lower limb orthosis / Journal of the Brazilian Society of Mechanical Sciences and Engineering 31 (4) : 305 ~ 311
5. [학술대회논문] - S. K. Banala / 2005 / Gait rehabilitation with an active leg orthosis / International Design Engineering Technical Conferences and Computers and Information in Engineering Conference : 459 ~ 465
2. [학술대회논문] - J. E. Pratt / 2004 / The RoboKnee: An exoskeleton for enhancing strength and endurance during walking / Proc. of the 2004 IEEE International Conference on Robotics & Automation : 2430 ~ 2435
3. [학술지(정기간행물)] - G. Colombo / 2000 / Treadmill training of paraplegic patients using a robotic orthosis / Journal of Rehabilitation Research and Development 37 (6) : 693 ~ 700
4. [학술지(정기간행물)] - M. Ackermann / 2009 / Automatic knee flexion in lower limb orthosis / Journal of the Brazilian Society of Mechanical Sciences and Engineering 31 (4) : 305 ~ 311
5. [학술대회논문] - S. K. Banala / 2005 / Gait rehabilitation with an active leg orthosis / International Design Engineering Technical Conferences and Computers and Information in Engineering Conference : 459 ~ 465
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UCI(KEPA) : I410-ECN-0101-2013-569-003260845