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http://dx.doi.org/10.5302/J.ICROS.2005.11.11.936

Design and Control of a Novel Tendon-driven Exoskeletal Power Assistive Device  

Kong Kyoung-chul (서강대학교 기계공학과)
Jeon Doyoung (서강대학교 기계공학과)
Publication Information
Journal of Institute of Control, Robotics and Systems / v.11, no.11, 2005 , pp. 936-942 More about this Journal
Abstract
Recently the exoskeletal power assistive equipment which is a kind of wearable robot has been widely developed to help the human body motion. For the elderly people and patients, however, some limits exist due to the weight and volume of the equipments. As a feasible solution, a tendon-driven exoskeletal power assistive device fur the lower body, and caster walker are proposed in this research. Since the caster walker carries the heavy items, the weight and volume of the wearable exoskeleton are minimized. The key control is used to generate the joint torque required to assist motions such as sitting, standing and walking. Experiments were performed for several motions and the EMG sensors were used to measure the magnitude of assistance. When the motion of sitting down and standing up was compared with and without wearing the proposed device, the $25\%$ assistance was acquired.
Keywords
exoskeletal power assistive device; caster walker; tendon-drive mechanism; muscle fiber expansion signal; fuzzy control;
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