• Journal of the korean veterinary medical association
• /
• v.36 no.8
• /
• pp.700-705
• /
• 2000

외골격 고정법은 이미 외국에서는 골절의 고정, 관절의 일시적 또는 영구적인 고정, 골격 이상 교정 등에 널리 사용되고 있다. 그럼에도 불구하고 국내에서는 소수의 수의사를 제외하고는 별로 사용되고 있지 않아 외골격 고정 장치에 관해 소개해 드리고자 한다.

• Proceedings of the KAIS Fall Conference
• /
• 2011.12b
• /
• pp.485-487
• /
• 2011

본 논문에서는 인간의 근력을 보조 또는 증폭시켜 줄 수 있는 유압 구동식 외골격 로봇을 개발하였다. 인간 신체 데이터와 보행 분석 데이터를 기반으로 로봇의 외골격을 설계 하였으며, 이를 구동하기 위한 알고리즘, 제어기 H/W 등을 개발하였다. 근력지원 외골격 로봇을 설계 제작하여, 실제 실험을 통해 설계, 제어 등 로봇의 현장 적용 가능성 등을 판단할 수 있는 플랫폼을 가질 수 있었다.

• Transactions of the Korean Society of Mechanical Engineers A
• /
• v.41 no.6
• /
• pp.469-475
• /
• 2017

Workers in industrial fields are highly exposed to accidents or injuries caused by long working hours. An exoskeleton that is able to support the arm muscles of the worker and thereby reduce the probability of an accident and enhance working efficiency could be a solution to this problem. However, existing exoskeletons demand the use of high-priced sensors and motors, which makes them difficult to use in industrial fields. To solve this problem, we developed an arm assisting exoskeleton that consists only of mechanical components without any electronic sensors or motors. The exoskeleton follows the movement of the human arm by shoulder joint and ankle joint. In addition, counterbalance mechanisms are installed on the exoskeleton to support arm strength. The experimental validation of the exoskeleton was conducted using an EMG sensor, confirming the performance of the exoskeleton.

• Proceedings of the KIEE Conference
• /
• 2011.07a
• /
• pp.1918-1919
• /
• 2011

상체 지원 외골격 로봇은 크게 인간의 근력을 보조하는 형태와 인간의 근력을 증강하는 형태가 있다. 여기서는 인간의 근력을 증강하는 외골격 로봇을 중심으로 기술하고자 한다. 이러한 외골격 로봇은 팔의 EMG (Electromyograph;근전도) 신호를 측정하는 방법보다는 손의 힘을 직접 감지하는 방법을 통한 팔꿈치와 어깨의 엑추에이터를 구동하는 방식을 취하는 경향이 있다. 본 논문에서도 후자의 방식을 이용하여 손에 작용하는 힘을 분석하여 외골격 로봇을 움직이는 방식을 취하였다. 손의 힘 중에서도 인간을 중심으로 볼 때 위방향과 전진방향의 힘을 분석하기 위하여 2개의 F/T(Force/Torque) 센서를 사용하였으며 팔을 벌리는 동작은 엑추에이터 없이 자유롭게 동작이 가능하도록 설계하였다. 이러한 위방향 및 전진방향 힘의 크기를 팔꿈치와 어깨의 엑추에이터의 동작으로 바꾸어 인간의 동작을 도울 수 있고 힘을 증폭할 수 있는 외골격 로봇을 설계 제작하였다. F/T 센서는 손의 힘을 전기적 신호로 바꾸어주는 로드셀로 이루어지며 손의 힘을 최대한 잘 반영하기 위한 구조를 고안하였다. F/T 센서의 전기신호는 증폭기를 거쳐서 잡음을 제거한 후에 A/D 변환하여 processor에서 처리되어진다.

• The Journal of the Korean bone and joint tumor society
• /
• v.19 no.2
• /
• pp.64-68
• /
• 2013

Extraskeletal chondroma is a benign soft tissue tumor which is composed of hyaline cartilage but arises from the fibrous stroma rather than from mature cartilaginous or osseous tissue. Extraskeletal chondroma is relatively rare and occurs most frequently in the soft tissue around the joints of hands and feet. We present one case of extraskeletal chondroma in a finger of a young woman.

• Journal of the KSME
• /
• v.50 no.12
• /
• pp.50-55
• /
• 2010

영화 로보캅, 아이언맨 등에 등장하는 외골격기구(exoskeleton)는 이제 더 이상 먼 미래의 얘기도 아니고 딴 나라 얘기도 아니다. 외골격기구 중 특히 하지외골격기구는 Baytheon Sarcos, Berkley Bionics, Exohiker, Bleex, HAL5 등의 이름으로 버클리, 스탠퍼드 등 해외 우수 연구집단에서 이미 개발을 성공하였고 상용화를 앞두고 있다. 늦은 감은 있지만 국내에서도 재활의료용, 군수용 하지외골격기구 연구가 진행되고 있다. 본 저자는 최근 기존연구와 다른 접근방식으로 고민을 시작하였고 본 연구팀이 상표출원한 $PLE^{TM}$, $LeSATA^{TM}$의 개발을 서두르고 있다. 이 글을 통해 그간의 고민들을 간략히 털어놓을까 한다.

• Journal of the Korean Institute of Intelligent Systems
• /
• v.22 no.5
• /
• pp.533-539
• /
• 2012

The purpose of this study is to estimate a validity of control signal through a design of Exoskeleton Robot Arm's capable of intelligent recognition as a human arm's motion by using realtime processed data of generated EMG signals. By an intelligent algorithm, the EMG output value of human biceps and triceps muscles contraction can be recognized and used for the control over exoskeleton arm corresponding to human's recognition and judgement. The EMG sensing data of muscles contraction and relaxation are used as the input signal from human's body to operate the Exoskeleton Robot Arm thus copying human arm motion. An intelligent control of Exoskeleton Robot Arm is to design the analog control circuit which processes the input data, and then to manufacture an integrated control board. And then abstracted signal is passed by DSP signal processing, Fuzzy logic algorithm is designed for a accurate prediction of weight or load through the intelligent algorithm, and design an Exoskeleton Robot Arm to express a human's intention.

• Journal of rehabilitation welfare engineering & assistive technology
• /
• v.6 no.2
• /
• pp.15-22
• /
• 2012

The mechanical system of wearable walking assist robot needs to be optimized for adapting with human body structure and the planned control algorithm should have a secure procedure when a incongruity situation which can cause musculoskeletal injury occurs because a wearable robot is attached to a body. The understanding of walking or musculoskeletal motions characteristics must be preceeded and analyzed for developing novel wearable walking assist robot. In this study we tried to find out the capacities of powers and torques of joint actuators to design optimized performances of system and to obtain the analysis data to figure out the characteristics of joint movements during some types of walk. The major types of walk and motion are stair climbing and descending, sit-to-stand motion, and slope walking. In this study all these motions were analyzed experimentally except slope walking.

• Korean Journal of Ecology and Environment
• /
• v.54 no.4
• /
• pp.265-271
• /
• 2021

Intertidal mud crab (Macrophthalmus japonicus) is an organism with a hard chitinous exoskeleton and has function for an osmotic control in response to the salinity gradient of seawater. Crustacean exoskeletons change in their natural state in response to environmental factors, such as changes in the pH and water temperature, and the presence of pollutant substances and pathogen infection. In this study, the ecotoxicological effects of irgarol exposure and heavy metal distribution were presented by analyzing the surface roughness of the crab exoskeleton. The exoskeleton surface roughness and variation reduced in M. japonicus exposed to irgarol. In addition, it was confirmed that the surface roughness and variation were changed in the field M. japonicus crab according to the distribution of toxic heavy metals(Cd, Pb, Hg) in marine sediments. This change in the surface roughness of the exoskeleton represents a new end-point of the biological response of the crab according to external environmental stressors. This suggests that it may affect the functional aspects of exoskeleton protection, support, and transport. This approach can be utilized as a useful method for monitoring the aquatic environment as an integrated technology of mechanical engineering and biology.

• Journal of Biomedical Engineering Research
• /
• v.38 no.3
• /
• pp.129-136
• /
• 2017

The exoskeleton robot is a technology developed to be used in various fields such as military, industry and medical treatment. The exoskeleton robot works by sensing the movement of the wearer. By recognizing the wearer's daily activities, the exoskeleton robot can assist the wearer quickly and efficiently utilize the system. In this study, LDA, QDA, and kNN are used to classify gait types through kinetic data obtained from subjects. Walking was selected from general walking and stair walking which are mainly performed in daily life. Seven IMUs sensors were attached to the subject at the predetermined positions to measure kinematic factors. As a result, LDA was classified as 78.42%, QDA as 86.16%, and kNN as 87.10% ~ 94.49% according to the value of k.