Journal of the Korea Institute of Military Science and Technology (한국군사과학기술학회지)

The Korea Institute of Military Science and Technology (한국군사과학기술학회)
권호 표지
DOI QR코드

DOI QR Code

Development of the Power Assist System for High Efficiency and Lightweight Wearable Robot in Unstructured Battlefield

비정형화된 전장 환경에 활용 가능한 고효율-경량형 외골격 착용 로봇의 근력 보조 시스템 개발

  • Huichang Park (R&D Programming Division, Agency for Defense Development)
  • 박희창 (국방과학연구소 연구계획실)
  • Received : 2023.04.20
  • Accepted : 2023.07.27
  • Published : 2023.08.05
Download PDF
⟨ Previous Next ⟩

Abstract

The wearable robot system is designed to assist human skeletal and muscular systems for enhancing user's abilities in various fields, including medical, industrial, and military. The military has an expanding need for wearable robots with the integration of surveillance/control systems and advanced equipment in unstructured battlefield environments. However, there is a lack of research on the design and mechanism of wearable robots, especially for power assist systems. This study proposes a lightweight wearable robot system that provides comfortable wear and muscle support effects in various movements for soldiers performing high-strength and endurance missions. The Power assist mechanism is described and verified, and the tasks that require power assist are analyzed. This study explain the system including its driving mechanism, control system, and mechanical design. Finally, the performance of the robot is verified through experiments and evaluations, demonstrating its effectiveness in muscle support.

Keywords

References

  1. D. Y. Kang and D. H. Jeong, "Development of Walking and Waist Assistance Algorithms Using AHRS Sensors and Application of Waist Exoskeleton (WEX3)," 2022 General Conference of The Korea Institute of Military Science and Technology, pp. 1593-1594, 2022. 
  2. G. T. Kim, M. B. Hong, Y. H. Yoon, S. H. Lee and B. J. Lee, "Gait Phase Detection Algorithm based on Foot Sensors for Control of Knee Assistive Exoskeleton," 2019 General Conference of The Korea Institute of Military Science and Technology, pp. 1755-1756, 2019. 
  3. S. H. Lee, M. B. Hong, G. T. Kim, Y. H. Yoon and B. G. Kim, "Locomotion Control Strategy based on Joint Angles and Center of Gravity for Modular Exoskeleton," 2018 Autumn Conference of The Korea Institute of Military Science and Technology, pp. 98-99, 2018. 
  4. C. H. Seo and S. H. Lee, "A Walking Control Strategy for an Electrical-type Exoskeleton Robot," 2016 General Conference of The Korea Institute of Military Science and Technology, pp. 1371-1372, 2016. 
  5. M. H. Lee, G. T. Kim, M. B. Hong and Y. C. Kim, "Analysis of Dynamic Compensation Model of the Knee Assistive Exoskeleton," 2022 Autumn Conference of The Korea Institute of Military Science and Technology, pp. 104-105, 2022. 
  6. H. S. Park, T. J. Ha and W. S. Yang, "Upper Limb Wearable Robot Actuator Analysis," 2019 General Conference of The Korea Institute of Military Science and Technology, pp. 1715-1716, 2019. 
  7. C. H. Lee and D. Y. Kang, "Study on Power Analysis of Lumbar Assistance Wearable Robot," 2019 General Conference of The Korea Institute of Military Science and Technology, pp. 700-701, 2019. 
  8. H. S. Kim, M. B. Hong and Y. C. Kim, "Synchronization Performance Evaluation of Military Exoskeleton," 2019 General Conference of The Korea Institute of Military Science and Technology, pp. 1709-1710, 2019. 
  9. M. B. Hong, Y. C. Kim, G. T. Kim, M. H. Lee, S. H. Ju, S. W. Kim, H. S. Woo and Y. J. Shin, "Design of Biomimetic Spherical Knee Mechanism for Military-Purpose Wearable Robot," 2022 General Conference of The Korea Institute of Military Science and Technology, pp. 1675-1676, 2022. 
  10. M. B. Hong, G. T. Kim, Y. H. Yoon and S. H. Lee, "Development of Modular Knee Exoskeleton for Walking Assistance of Soldier," 2019 General Conference of The Korea Institute of Military Science and Technology, pp. 1739-1740, 2019. 
  11. Y. J. Shin and T. W. Park, "Design of Multi-links to Coincide Rotation Axis of Knee Joint Between Wearer and Robot," 2018 Autumn Conference of The Korea Institute of Military Science and Technology, pp. 132-133, 2018. 
  12. D. H. Jeong, D. Y. Kang, H. S. Park and Y. J. Ha, "Development of the Foot Sensor Module for Wearable Robot," 2018 General Conference of The Korea Institute of Military Science and Technology, pp. 281-282, 2018. 
  13. Y. C. Kim, "A Survey on Ergonomic Evaluation Methods of Agricultural Work for Preventing WMSDs," Journal of the Ergonomics Society of Korea, 30(4), pp. 465-472, 2011.  https://doi.org/10.5143/JESK.2011.30.4.465
  14. S. Singh, R. Arora, "Ergonomic Intervention for Preventing Musculoskeletal Disorders among Farm Women," Journal of Agricultural Sciences, 1(2), pp. 61-71, 2017.  https://doi.org/10.1080/09766898.2010.11884655
  15. T. E. Chung, "Estimation Model of Energy Expenditure of Working in a Clean Room for Manufacturing Embedded Needles by Ergonomic Programs," Korean Journal of Computational Design and Engineering, 21(1), pp. 69-77, 2015.  https://doi.org/10.7315/CADCAM.2016.069
  16. Jukka H. T. Viitasalo and Paavo V. Komi, "Signal Characteristics of EMG During Fatigue," European Journal of Applied Physiology and Occupational Physiology, 37, pp. 111-121, 1977.  https://doi.org/10.1007/BF00421697
  17. S. L. Sea and W. H. Im, "The EMG Measurement of Simple and Iterative Worker's Muscle Fatigue," Journal of the Korea Industrial Information Systems Research, 6(3), pp. 79-86, 2001.