전기전자학회논문지 (Journal of IKEEE)

  • 제23권3호
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  • Pages.883-892
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  • 2019
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  • 1226-7244(pISSN)
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  • 2288-243X(eISSN)
한국전기전자학회 (Institute of Korean Electrical and Electronics Engineers)
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노면 적응형 대퇴 의족개발을 위한 발목 관절 부하 가변형 하퇴 의족 적용에 대한 연구

The Study on Applying Ankle Joint Load Variable Lower-Knee Prosthesis to Development of Terrain-Adaptive Above-Knee Prosthesis

  • Eom, Su-Hong (Dept. of Electronics Engineering, Korea Polytechnic University) ;
  • Na, Sun-Jong (Dept. of Electronics Engineering, Korea Polytechnic University) ;
  • You, Jung-Hwun (Dept. of Electronics Engineering, Korea Polytechnic University) ;
  • Park, Se-Hoon (Korea Orthopedics & Rehabilitation Engineering Center) ;
  • Lee, Eung-Hyuk (Dept. of Electronics Engineering, Korea Polytechnic University)
  • 투고 : 2019.09.05
  • 심사 : 2019.09.24
  • 발행 : 2019.09.30
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초록

본 연구에서는 지능형 대퇴 의족의 노면 적응 기술 구현시 보행 환경이 변화하는 구간 및 약 경사로 보행에서의 보행 불평형 문제를 해결하기 위한 방법으로 발목 관절 운동을 제어 가능한 하퇴 의족을 적용하였다. 제안한 태퇴 의족의 개발을 위해서는 보행의 단계 구분이 필수적이다. 이러한 보행의 입각기의 단계별 구분과 유각기의 판단을 위하여 대퇴의족의 슬관절 데이터와 관성센서 데이터를 바탕으로 의사 결정 나무 학습법과 랜덤포레스트 기법을 융합한 머신러닝 기술을 제안 및 적용하였다. 이러한 방법으로 발목의 운동 상태를 제어 하였으며 보행 평형이 문제가 해소 되는지를 butterfly diagram을 측정하여 평가 하였다.

This study is the method which is adapted to control ankle joint movement for resolving the problem of gait imbalance in intervals where gait environments are changed and slope walking, as applying terrain-adaptive technique to intelligent above-knee prosthesis. In this development of above-knee prosthesis, to classify the gait modes is essential. For distinguishing the stance phases and the swing phase depending on roads, a machine learning which combines decision tree and random forest from knee angle data and inertial sensor data, is proposed and adapted. By using this method, the ankle movement state of the prosthesis is controlled. This study verifies whether the problem is resolved through butterfly diagram.

키워드

참고문헌

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