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Development of Wearable Robot for Elbow Motion Assistance of Elderly  

Jang, Hye-Yoen (한양대학교 기계공학과)
Han, Chang-Soo (한양대학교 대학원 기계공학과)
Kim, Tae-Sik (한양대학교 대학원 기계공학과)
Jang, Jae-Ho (한양대학교 대학원 기계공학과)
Han, Jung-Soo (한성대학교 기계시스템공학과)
Publication Information
Journal of the Korean Society for Precision Engineering / v.25, no.3, 2008 , pp. 141-146 More about this Journal
Abstract
The purpose of this study is to develop the algorithm which can control muscle power assist robot especially for elderly. Recently, wearable robots for power assistance are developed by many researchers, and its application fields are also variable such as for medical or military equipment. However, there are many technical barriers to develop the wearable robot. This study suggest a control method improving performance of a wearable robot system by using a EMG signal of major muscles and a force sensor signal as command signal of system. The result of the robot Prototype efficiency experiment, the case of Maximum Isometric motion it suggest 100% power of muscle, the man need only 66% of MVIC(Maximum Voluntary Isometric Contraction) to lift 5kg dumbbell without robot assist. However the man needs only 52% of MVIC to lift 5kg dumbbell with robot assist. Therefore 20% muscle power increased with robot assist. Also, we designed light weight robot mechanism that extract the command signal verified and drive the wanted motions.
Keywords
Wearable Robot; sEMG(surface Electromyogram); Force sensor; Power Assist; Command signal;
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