• Title/Summary/Keyword: Human movement assistance

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A Development of Rehabilitation System for Upper Limb Using Robot Manipulator (로봇을 이용한 상지 재활 시스템에 관한 연구)

  • 원주연;심형준;한창수
    • Journal of Biomedical Engineering Research
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    • v.24 no.4
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    • pp.309-318
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    • 2003
  • In this paper a 6 degree-of-freedom robot was studied for medical purpose. In the past the robot used for industry field was utilized for medical robot but in these days the robot used for rehabilitation. welfare, and service. This system was Proposed for a stroke patient or a patient who can not use one arm. A master-slave system was constructed to exercise either paralysis or abnormal arm using normal arms movement. Study on the human body motion result was applied to calculate a movement range of humans elbow and shoulder. In addition, a force-torque sensor is applied to estimate the rehabilitation extent of the patient in the slave robot. Therefore, the stability of the rehabilitation robot could be improved. By using the rehabilitation robot, the Patient could exercise by himself without any assistance In conclusion. the proposed system and control algorithm were verified by computer simulation and system experiment.

Development of a 2-DOF Ankle Mechanism for Gait Rehabilitation Robots (보행 재활 로봇을 위한 2자유도 족관절 기구 개발)

  • Heo, Geun Sub;Kang, Oh Hyun;Lee, Sang Ryong;Lee, Choon-Young
    • Journal of Institute of Control, Robotics and Systems
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    • v.21 no.6
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    • pp.503-509
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    • 2015
  • In this paper, we designed and tested an ankle joint mechanism for a gait rehabilitation robot. Gait rehabilitation programs are designed to improve the natural leg motion of patients who have lost their walking capabilities by accident or disease. Strengthening the muscles of the lower-limbs and stimulation of the nervous system corresponding to walking helps patients to walk again using gait assistive devices. It is an obvious requirement that the rehabilitation system's motion should be similar to and as natural as the normal gait. However, the system being used for gait rehabilitation does not pay much attention to ankle joints, which play an important role in correct walking as the motion of the ankle should reflect the movement of the center of gravity (COG) of the body. Consequently, we have designed an ankle mechanism that ensures the safety of the patient as well as efficient gait training. Also, even patients with low leg muscle strength are able to operate the ankle joint due to the direct-drive mechanism without a reducer. This safety feature prevents any possible adverse load on the human ankle. The additional degree of freedom for the roll motion achieves a gait pattern which is similar to the normal gait and with a greater degree of comfort.

Exoskeleton Based on Counterbalance Mechanism for Arm Strength Assistance (중력보상장치 기반의 근력보조 외골격 장치)

  • Lee, Won Bum;Song, Jae-Bok
    • Transactions of the Korean Society of Mechanical Engineers A
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    • v.41 no.6
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    • pp.469-475
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    • 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.

The Kinematical Analysis of Straddle Jump to Push up Motion on Sports Aerobics (스포츠 에어로빅스 Straddle Jump to Push up 동작의 운동학적 분석)

  • Kim, Cha-Nam
    • Korean Journal of Applied Biomechanics
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    • v.12 no.2
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    • pp.77-90
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    • 2002
  • This study serves the purpose of understanding about correct jump and landing motion through Kinematical Analysis of Straddle Jump to Push up Motion at target by four elite sports aerobics athletes have more than four years career. And further more that make good assistance for coaches effective guidance through an offer basic data and correct diagnosis, evaluate of motions. It was picture-taked by two-video camera for Straddle Jump to Push up Motions. Camera speeds are 60 frame/sec. There are Kinematical Variation elements for analysis, the displacement of COG, each angle displacement left/right of shoulder-joint, each angle displacement left/right of knee-joint and each speed left/right of tip of the toes. Every each person accomplished severaly 3 times and we have acquired this conclusion. The conclusions were as follows; 1. Each situation for displacement of COG showed low height of COG by phase 1, 4, 5(79.05${\pm}9.07,\;46.41{\pm}3.65,\;18.66{\pm}0.54cm$) and It showed high height of COG by phase 2, 3($120.80{\pm}6.13,\;148.12{\pm}9.19cm$). 2. Each displacement left, right of shoulder-joint flexion by phase 1($91.07{\pm}8.30,\;90.77{\pm}5.72$deg/sec)and It showed maximal extension angles by phase 2($102.48{\pm}10.00,\;102.39{\pm}10.51$deg/sec). in part of phase 3, left of shoulder-joint angle($94.43{\pm}4.12$deg/sec) showed flexion phase 1, the other right shoulder-joint angle(88.38${\pm}$4.98deg/sec) showed more a little lower than phase 1, in last phase that showed most low by phase 4($70.58{\pm}13.72,\;54.24{\pm}11.58$deg/sec). 3. Each displacement left, right of hip joint showed maximal extent conditions by phase 2, 3($160.35{\pm}22.68,\;1534.77{\pm}5.40$deg/sec, $150.04{\pm}12.79,\;145.54{\pm}13.00$deg/sec) beside, ankle-joint showed minimal angle by phase 1, 4($93.59{\pm}18.92,\;85.37{\pm}13.23$deg/sec, $66.60{\pm}15.77,\;80.60{\pm}16.57$deg/sec). 4. Each displacement left, right of hip joint showed maximal extent conditions by phase 2($157.15{\pm}9.13,\;163.52{\pm}8.18$deg/sec), and right of hip joint showed minimal angle by phase 3($110.87{\pm}13.81,\;77.53{\pm}8.95$deg/sec) It showed alike condition of low angle by phase 1, 4($91.04{\pm}2.31,\;96.26{\pm}2.20$deg/sec). 5. Each displacement left, right of knee-joint showed maximal extent conditions by phase 1, 3, 4($173.46{\pm}2.95,\;171.51{\pm}5.44$deg/sec, $172.24{\pm}4.49,\;171.26{\pm}0.65$deg/sec, $162.78{\pm}2.13,\;164.10{\pm}5.97$deg/sec) but It showed flexion only left of knee-joint by phase 2($164.45{\pm}7.51,\;159.38{\pm}3.48$deg/sec). 6. Each speed left, right of the tip of the toes showed most fastest when someone jumped with lift up leges by phase 1, 2($321.32{\pm}67.91,\;316.90{\pm}41.97$cm/sec, $410.06{\pm}153.06,\;399.77{\pm}189.34$cm/sec), It showed more less speed than phase 1,2 by phase 3($169.74{\pm}67.17,\;150.00{\pm}63.80$cm/sec) and It showed most slow speed than phase 1,2,3 by phase 4($87.22{\pm}34.90,\;85.72{\pm}52.23$cm/sec).