The Journal of Korea Robotics Society (로봇학회논문지)

Korea Robotics Society (한국로봇학회)
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Development of Brace-type Wearable Robot for Lumbar Stabilization

요부 안정화를 위한 복대형 입는 로봇 개발

  • Joowan Kim (Graduate School of Convergence Science and Technology, Seoul National University) ;
  • Jaehoon Sim (Graduate School of Convergence Science and Technology, Seoul National University) ;
  • Keewon Kim (Department of Rehabilitation Medicine, Seoul National University Hospital) ;
  • Sungun Chung (Department of Rehabilitation Medicine, Seoul National University College of Medicine) ;
  • Jaeheung Park (Graduate School of Convergence Science and Technology, Seoul National University, Advanced Institutes of Convergence Science and Technology)
  • Received : 2023.04.10
  • Accepted : 2023.05.01
  • Published : 2023.05.31
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Abstract

An abdominal brace is a recommended treatment for patients with lumbar spinal disorders. However, due to the nature of the static brace, it uniformly compresses the lumbar region, which can weaken the lumbar muscles or create a psychological dependence that worsens the condition of the spine when worn for an extended period of time. Due to these issues, doctors limit the wearing time when prescribing it to patients. In this paper, we propose a device that can dynamically provide abdominal pressure and support according to the lumbar motion. The proposed device is a wearable robot in the form of a brace, with actuators and a driving unit mounted on the brace. To enhance wearability and reduce the weight of the device, worm gears actuator and a multi-pulley mechanism were adopted. Based on the spinal motion of the wearer measured by the Inertia measurement unit sensors, the drives wire by driving pulley, which provide tension to the multi-pulley mechanism on both sides, dynamically tightening or loosening the device. Finally, the device can dynamically provide abdominal pressure and support. We describe the hardware and system configuration of the device and demonstrate its potential through basic control experiments.

Keywords

References

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