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.
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초록· 키워드
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One of the important issues for structural and electrical specifications in developing a robot is to determine lengths of links and motor specifications, which need to be appropriate to the purpose of robot. These issues become more critical for a gait rehabilitation robot, since a patient wears the robot. Prior to developing an entire gait rehabilitation robot, designing of a 1DOF assistive knee joint of the robot is considered in this paper. Human gait motions were used to determine an allowable range of knee joint that was rotated with a linear type actuator (ball-screw type) and links. The lengths of each link were determined by using an optimization process, minimizing the stroke of actuator and the total energy (kinetic and potential energy). Kinetic analysis was performed in order to determine maximum rotational speed and maximum torque of the motor for tracking gait trajectory properly. The prototype of 1 DOF assistive knee joint was built and examined with a impedance controller.
목차
Abstract
1. 서론
2. 일반인의 보행 궤적 분석
3. 전체 로봇 구조
4. 최적 설계 및 모터 사양의 결정
5. 실제 설계된 로봇의 구동 및 결과
6. 결론
참고문헌
참고문헌 (17)
참고문헌 신청
3. [학술대회논문] - Ozer Unluhisarcikli / 2011 / Design and Control of a Robotic Lower Extremity Exoskeleton for Gait Rehabilitation / 2011 IEEE/RSJ International Conference on Intelligent Robots and Systems : 25 ~ 30
4. [학술대회논문] - Ping Wang / 2011 / Synchronized Walking Coordination for Impact-less Footpad Contact of an Overground Gait Rehabilitation System : NaTUre-gaits / 2011 IEEE International Conference on Rehabilitation Robotics Rehab Week Zurich
5. [학술지(정기간행물)] - Jan F. Veneman / 2007 / Design and Evaluation of the LOPES Exoskeleton Robot for Interactive Gait Rehabilitation / IEEE TRANSACTIONS ON NEURAL SYSTEMS AND REHABILITATION ENGINEERING 15 (3)
6. [학술지(정기간행물)] - Sai K. Banala / 2009 / Robot Assisted Gait Training With Active Leg Exoskeleton (ALEX) / IEEE Transactions on Neural System and Rehabilitation Engineering 17 (1)
7. [학술대회논문] - Kyle N. Winfree / 2011 / Design of a Minimally Constraining, Passively Supported Fait Training Exoskeleton: ALEX Ⅱ / 2011 IEEE International Conference on Rehabilitation Robotics Rehab Week Zurich
4. [학술대회논문] - Ping Wang / 2011 / Synchronized Walking Coordination for Impact-less Footpad Contact of an Overground Gait Rehabilitation System : NaTUre-gaits / 2011 IEEE International Conference on Rehabilitation Robotics Rehab Week Zurich
5. [학술지(정기간행물)] - Jan F. Veneman / 2007 / Design and Evaluation of the LOPES Exoskeleton Robot for Interactive Gait Rehabilitation / IEEE TRANSACTIONS ON NEURAL SYSTEMS AND REHABILITATION ENGINEERING 15 (3)
6. [학술지(정기간행물)] - Sai K. Banala / 2009 / Robot Assisted Gait Training With Active Leg Exoskeleton (ALEX) / IEEE Transactions on Neural System and Rehabilitation Engineering 17 (1)
7. [학술대회논문] - Kyle N. Winfree / 2011 / Design of a Minimally Constraining, Passively Supported Fait Training Exoskeleton: ALEX Ⅱ / 2011 IEEE International Conference on Rehabilitation Robotics Rehab Week Zurich
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UCI(KEPA) : I410-ECN-0101-2020-559-001258815