Transactions of the Korean Society for Noise and Vibration Engineering (한국소음진동공학회논문집)

The Korean Society for Noise and Vibration Engineering (한국소음진동공학회)
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Design and Analysis of a PLS of the Biped Walking RGO for a Trainning of Rehabilitation Considering Human Vibration(I)

인체진동을 고려한 재활훈련용 이족보행 RGO 보조기 PLS의 생체역학적 설계와 해석 (I);-인체진동 응력해석과 FEM을 중심으로 -

  • 김명회 (대불대학교 보건학부(연세대학교 대학원)) ;
  • 장대진 (연세대학교 대학원 기계공학과) ;
  • 양현석 (연세대학교 공과대학 기계공학과) ;
  • 백윤수 (연세대학교 공과대학 기계공학과) ;
  • 박영필 (연세대학교 공과대학 기계공학과) ;
  • 박창일 (연세대학교 의과대학 재활병원)
  • Published : 2003.01.01
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Abstract

This paper presented a design and control of a biped walking RGO(robotic gait orthosis) and its simulation. The biped walking RGO was distinguished from the other one by which had a very light-weight and a new RGO system will be made of 12-servo motors and 12-controllers. The vibration evaluation of the dynamic PLS(posterior leaf splint) on the biped walking RGO was used to access by the 3-axis accelerometer with a low frequency vibration of less than 30 Hz. The galt of the biped walking RGO depends on the constrains of mechanical kinematics and the initial posture. The stability of dynamic walking was investigated by analyzing the ZMP (zero moment point) of the biped walking RGO. It was designed according to the human wear type and was able to accomodate itself to the environments of S.C.I. Patients. The Joints of each leg were adopted with a good kinematic characteristics. To analyse joint kinematic properties. we made the strain stress analysis of the dynamic PLS and the analysis study of FEM with a dynamic PLS.

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References

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