• Journal of Biomedical Engineering Research
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• v.22 no.1
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• pp.29-34
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• 2001

본 연구의 목적은 대퇴부가 절단된 다리의 생체 역학적 기능을 복구할 수 있게 하는 의지의 개발을 위하여 5축 링크, 슬관절 완충장치를 사용하여 보행시 입각기를 제어할 수 있는 대퇴 의지 시스템 개발에 있다. 이를 위하여 입각기시 대퇴의지와 지면간 접촉 중 충격 에너지 흡수를 하는 슬관절 완충장치의 기계적 특성 및 거동을 분석하였다. 임상시험을 통하여 개발된 대퇴의지의 성능을 검증한 결과 대퇴 절단 피검자들의 보행특성은 정상인의 보행에 근접한 경향을 보였다. 결론적으로 본 연구에서 개발된 입각기 대퇴의지는 입각기시 현저한 보행 안전성을 보였다.

• Journal of the Korean Society for Precision Engineering
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• v.19 no.4
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• pp.52-72
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• 2002

• Journal of rehabilitation welfare engineering & assistive technology
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• v.8 no.4
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• pp.283-289
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• 2014

This paper presents a design and optimization of the fully-active transfemoral prosthesis leg system. As it has one degree of freedom in knee joint, this prosthesis leg can imitate the human's gait. The weight of system, which makes the users more comfortable due to less tiredness, and the knee joint torque to rise stability of the system are major factors of prosthesis leg system. Thus the mechanism of prosthesis changes from 3-linkage type to geared type. The sensorized foot is also designed to effectively determine human's gait by measuring deformation of the foot during gait. Topology optimization is carried out for the sensorized foot to remove its unnecessary weight. The safety of optimized foot is verified by carrying out finite element analysis.

• Journal of rehabilitation welfare engineering & assistive technology
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• v.7 no.2
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• pp.41-46
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• 2013

IIn this paper, active trasfemoral prosthesis leg is designed for the handicapped who lost their legs upon knee. It is important to design proper knee joint to mimic walking motion of hyman. 1 degree-of-freedom active trasfemoral prosthesis leg is designed with knee joint. Operating angle and torque have been calculated using kinematics of three linkages in prosthesis leg. Finite element analysis of major components is performed to evaluate the safety under operating condition and to reduce weights. Minimum volumes of components are obtained by optimization as satisfying safety requirements. The results show that about 35% of weight of components is reduced.

• Proceedings of the Korean Society of Precision Engineering Conference
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• 2012.05a
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• pp.1193-1194
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• 2012

• Journal of rehabilitation welfare engineering & assistive technology
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• v.10 no.1
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• pp.65-72
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• 2016

In this study, a fully active transfemoral prothesis with a knee joint is designed considering stair walking conditions. Since the torque at the knee joint required for stair walking condition is relative high compared with the one in normal walking condition, the proposed design has high torque generating mechanism. Moreover, the transfemoral prothesis is designed in compact size to reduce its weight, which is related to comfortable fit and fatigue of patients. Flat type BLDC motor is used for simple and compact structure and various components are used to generate required torque with target working angle and speed. The weight reduction of structure is carried out using optimization method after the initial design process is complete. The optimization is conducted under the load conditions of stair walking. The optimized design is validated via finite element analysis and experiments. As a result, the weight is reduced using topology and shape optimization but maintaining the safety of structure. Also the space efficiency is improved due to its compact size.

• Transactions of the Korean Society of Mechanical Engineers A
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• v.25 no.4
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• pp.685-694
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• 2001

In this study, a transfemoral prosthesis system of which both stance phase and swing phase are controllable has been developed for the recovery of the biomechanical function of the amputated leg. It consists of a 5 bar link mechanism, a hydraulic-rubber knee damper for stance phase control and a pneumatic cylinder controlled via a microprocessor for stance phase control. The mechanical characteristics of the knee damper which absorbs the impact energy generated at the heel contact were investigated. The characteristics of the pneumatic cylinder essential for the speed adaptation of the prosthesis during swing phase were also studied for its mechanical characteristics. The prosthesis was subject to the clinical tests, and the gait characteristics obtained were very close to those of normal subjects. The stance and swing controlled prosthesis that were developed in this study showed good stability during the stance phase and showed good controllability during the swing phase.

• Proceedings of the KSME Conference
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• 2000.11a
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• pp.504-509
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• 2000

In this study, a transfemoral prosthesis system of which stance phase and swing phase are controlled during walking has been developed for the recovery of the biomechanical function of the amputated leg. It consists of a 5 bar link mechanism, a hydraulic-rubber knee damper for stance phase control and a pneumatic cylinder controlled via a microprocessor for stance phase control. The mechanical characteristics and behaviour of the knee damper which absorbs the impact energy generated at the heel contact was investigated. The characteristics of the pneumatic cylinder essential for the speed adaptation of the prosthesis during swing phase was also studied for its mechanical characteristics. The prosthesis was subject to the clinical test ant the gait characteristics obtained were very close to those of normal. The stance and swing controlled prosthesis that were developed in this study showed good stability during the stance phase and showed good controllability during the swing phase.

• Proceedings of the Korean Society of Precision Engineering Conference
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• 2012.05a
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• pp.1191-1192
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• 2012

• Journal of the Korean Society for Precision Engineering
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• v.31 no.10
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• pp.913-922
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• 2014

This paper describes design of a robotic above-knee prosthetic leg which is powered by electrical motors. As a special feature, the robotic prosthetic leg has enough D.O.F.s. For mimicking the human leg, the robotic prosthetic leg is composed of five joints. Three of them are called 'active joint' which is driven by electrical motors. They are placed at the knee-pitch-axis, the ankle-pitch-axis, and the an! kle-roll-axis. Every 'active joint' has enough torque capacity to overcome ground reaction forces for walking and is backlashless for accurate motion generation and high-performance balance control. Other two joints are called 'passive joint' which is activating by torsion spring. They are placed at the toe part and designed by Crank-rocker mechanism using kinematic design approach. In order to verify working performance of the robotic prosthetic leg, we designed a gait trajectory through motion capture technique and experimentally applied it to the robot.