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논문 기본 정보

자료유형
학술대회자료
저자정보
박대근 (서울대학교) 조규진 (서울대학교)
저널정보
대한기계학회 대한기계학회 춘추학술대회 대한기계학회 창립 70주년 기념 학술대회
발행연도
2015.11
수록면
2,127 - 2,131 (5page)

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초록· 키워드

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Because of several diseases such as muscular dystrophy, stroke, and spinal cord injury, many people have disability on their body and this disability causes low ability of activities of daily life (ADLs). To help these people, lots of devices have been developed to assist the ADLs. However these devices have many challenges in their use in actual life, such as size, weight, costs, and appearance. To solve these challenges, we developed a soft wearable robot based on a tendon-driven mechanism. By using soft materials and tendon-driven mechanism, the device can be compact, light, cheap, and easily customized due to material properties and detachment of an actuation part from body. However, the soft wearable robot also has several challenges. Of these issues, we focus on the pressure on the body. Because the actuation force is applied to the body directly, the actuation force can damage on it. Therefore, the pressure distribution is the most important when designing the wearable part. In this paper, we studied two anchor wire patterns where an actuation wire is attached. Each pattern is designed by changing direction and curvature of the anchor wire, and it wrap a cylindrical pressure measurement system. This pressure measurement system measured the pressure distribution on the anchor when the actuation wire is pulled by a tensile test machine. By using this experimental setup, we evaluated the pressure distribution of each pattern and found dominant design parameters which affect the pressure distribution.

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Abstract
1. 서론
2. 착용부 압력 분산 패턴 모델
3. 압력 분산 실험
4. 결론
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UCI(KEPA) : I410-ECN-0101-2016-550-002183599