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논문 기본 정보

자료유형
학위논문
저자정보

이희돈 (한양대학교, 한양대학교 대학원)

지도교수
한창수
발행연도
2014
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한양대학교 논문은 저작권에 의해 보호받습니다.

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이 논문의 연구 히스토리 (2)

2017

인체근육의 동작의도를 이용한 하지 근력증강형 외골격 로봇의 제어 알고리즘
이희돈 ,  김완수 ,  임동환 외 1명 로봇학회 논문지 2017.06 학술저널

2014

중량물 운반 시 인체 근력증강을 위한 하지 외골격 시스템 개발
이희돈 기계공학과 2014.01 학위논문

초록· 키워드

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This study developed HEXAR-CR35, a lower limb exoskeleton system aimed at improving the muscle strength of the wearer while moving heavy materials. This system was proposed so that the wearer can move on the ground or climb stairs at a speed of 4km/h carrying a backpack of up to 30kg, with the hips having three DOFs, the knees having one DOF, and the ankles having three DOFs. HEXAR-CR35 was designed to be light and simple. Its energy consumption was decreased by the actuator. The number of sensors for obtaining the wearer''s intent was reduced.
The system was developed into an under-actuated system for control simplicity with only the knee joints of the exoskeleton operated by the electric motor. To this end, lower limb exoskeleton design, development of sensors for human intent measurement, and development of an exoskeleton controller were conducted.
For verification of performance of the HEXAR-CR35 system, human motion following and power augmentation effect experiments were performed. According to the human motion following experiment result, the maximum angle errors during level walking averaged 3.38˚ and during the STS motion it averaged 4.035˚. Nonetheless, because the wearer and the exoskeleton are not rigidly fastened together and the skin and the clothes are soft, the wearer did not feel discomfort for such size of joint error. In the power augmentation effect experiment, %MVIC
during gait decreased by more than about 37% when the wearer put on the exoskeleton
compared to when the wearer did not. Decrease in %MVIC means that the exoskeleton system improved the wearer''s muscle strength. HEXAR-CR35 was developed into an under-actuated system in which the actuator was attached only
to the knee joints to be suitable for carrying heavy materials during level walking and stair climbing.
#기계공학

목차

한근요지 . . . . . . . . . . . . . . . . . . . . . xii
Chapter 1. Introduction . . . . . . . . . . . . . 1
1.1 Survey of Related Works . . . . . . . . . . . 2
1.2 Research Motivation and Objectives . . . . . . 12
Chapter 2. Biomechanical Gait Analysis . . . . . . 16
2.1 Background and Experiment Setup . . . . . . . 16
2.2 Gait Analysis in the Sagittal Plane . . . . . 19
2.2.1 Level Walking . . . .. . . . . . . . . . . . 19
2.2.2 Stair Climbing . . . . . . . . . . . . . . . 22
Chapter 3. Lower Limb Exoskeleton Design . . . . . 25
3.1 Concept Design . . . . . . . . . . . . . . . . 25
3.1.1 Design Criteria . . . . . . . . . . . . . . 25
3.1.2 Parameters for Exoskeleton Design . . . . . 26
3.1.3 Structure Design . . . . . . . . . . . . . . 27
3.2 Joint Mechanism Design . . . . . . . . . . . . 31
3.2.1 Hip Mechanism . . . . . . . . . . . . . . . 31
3.2.2 Ankle Mechanism . . .. . . . . . . . . . . . 37
3.2.3 Knee Mechanism . . . . . . . . . . . . . . . 39
Chapter 4. Sensors for Human Intent Measurement. . 44
4.1 Muscle Circumference Sensor (MCRS) . . . . . . 44
4.1.1 Development of MCRS System . . . . . . . . . 44
4.1.2 Joint-Torque Estimation Algorithm. . . . . . 49
4.1.3 Verication of MCRS System. . . . . . . . . . 57
4.2 Insole Sensor. . . . . . . . . . . . . . . . . 65
4.2.1 Development of Insole Sensor System. . . . . 66
4.2.2 Gait Phase Detection Algorithm . . . . . . . 71
4.2.3 Verication of Insole Sensor. . . . . . . . . 74
Chapter 5. Exoskeleton control . . . . . . . . . . 79
5.1 System Integration and Control Strategy. . . . 79
5.1.1 System Integration for Exoskeleton Control . 79
5.1.2 Control Strategy . . . . . . . . . . . . . . 80
5.2 Control Algorithm .. . . . . . . . . . . . . . 83
5.2.1 Command Generation using the MCRS. . . . . . 83
5.2.2 Design of the Exoskeleton Controller . . . . 85
Chapter 6. Experiment and Verication . . . . . . . 89
6.1 Human Motion Following . . . . . . . . . . . . 89
6.2 Power Augmentation Eect. . . . . . . . . . . . 92
Chapter 7. Conclusion. . . . . . . . . . . . . . . 95
References . . . . . . . . . . . . . . . . . . . . 98
Appendix A. Biomechanical Gait Analysis Result . . 106
A.1 Angle, moment and power in sagittal plane. . . 106
A.2 Human joint angle in frontal plane . . . . . . 118
A.3 Human joint angle in Transverse plane. . . . . 119
Appendix B. Actuator Module Selection. . . . . . . 120
B.1 Electric Motor Specication . . . . . . . . . . 120
B.2 Harmonic Drive Specication . . . . . . . . . . 121
B.3 Electric Motor Controller. . . . . . . . . . . 123
Appendix C. Sensor Systems for HRI . . . . . . . . 124
C.1 Insole Sensor System. . . . .. . . . . . . . . 124
C.2 MCRS System. . . . . . . . . . . . . . . . . . 126
Appendix D. Main Controller and Programming Codes. 128
D.1 Main Controlle . . . . . . . . . . . . . . . . 128
D.2 Programming Codes using the LabView. . . . . . 132
Abstract . . . . . . . . . . . . . . . . . . . . . 138
감사의글 . . . . . . . . . . . . . . . . . . . . . 140

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