• 제목/요약/키워드: Lower Exoskeleton Robot

검색결과 28건 처리시간 0.03초

인체 능력 향상을 위한 하지 외골격 시스템의 기술 동향 (Technical Trend of the Lower Limb Exoskeleton System for the Performance Enhancement)

  • 이희돈;한창수
    • 제어로봇시스템학회논문지
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    • 제20권3호
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    • pp.364-371
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    • 2014

  • The purpose of this paper is to review recent developments in lower limb exoskeletons. The exoskeleton system is a human-robot cooperation system that enhances the performance of the wearer in various environments while the human operator is in charge of the position control, contextual perception, and motion signal generation through the robot's artificial intelligence. This system is in the form of a mechanical structure that is combined to the exterior of a human body to improve the muscular power of the wearer. This paper is followed by an overview of the development history of exoskeleton systems and their three main applications in military/industrial field, medical/rehabilitation field and social welfare field. Besides the key technologies in exoskeleton systems, the research is presented from several viewpoints of the exoskeleton mechanism, human-robot interface and human-robot cooperation control.

  • https://doi.org/10.5302/J.ICROS.2014.14.9023 인용 PDF KSCI

인체근육의 동작의도를 이용한 하지 근력증강형 외골격 로봇의 제어 알고리즘 (Control Algorithm of the Lower-limb Powered Exoskeleton Robot using an Intention of the Human Motion from Muscle)

  • 이희돈;김완수;임동환;한창수
    • 로봇학회논문지
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    • 제12권2호
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    • pp.124-131
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    • 2017

  • This paper present a novel approach to control the lower body power assistive exoskeleton system of a HEXAR-CR35 aimed at improving a muscular strength. More specifically the control of based on the human intention is crucial of importance to ensure intuitive and dexterous motion with the human. In this contribution, we proposed the detection algorithm of the human intention using the MCRS which are developed to measure the contraction of the muscle with variation of the circumference. The proposed algorithm provides a joint motion of exoskeleton corresponding the relate muscles. The main advantages of the algorithm are its simplicity, computational efficiency to control one joint of the HEXAR-CR35 which are consisted knee-active type exoskeleton (the other joints are consisted with the passive or quasi-passive joints that can be arranged by analyzing of the human joint functions). As a consequence, the motion of exoskeleton is generated according to the gait phase: swing and stance phase which are determined by the foot insole sensors. The experimental evaluation of the proposed algorithm is achieved in walking with the exoskeleton while carrying the external mass in the back side.

  • https://doi.org/10.7746/jkros.2017.12.2.124 인용 PDF KSCI

평지 보행을 위한 하지 근력증강 로봇 테스트베드 (Lower-limb Exoskeleton Testbed for Level Walking with Backpack Load)

  • 서창훈;김홍철;왕지현
    • 한국군사과학기술학회지
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    • 제18권3호
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    • pp.309-315
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    • 2015

  • This paper presents a lower-limb exoskeleton testbed and its control method. An exoskeleton is a wearable robotic system that can enhance wearer's muscle power or assist human's movements. Among a variety of its applications, especially for military purpose, a wearable robot can be very useful for carrying heavy loads during locomotion by augmenting soldiers' mobility and endurance. The locomotion test on a treadmill was performed up to maximum 4km/h walking speed wearing the lower-limb exoskeleton testbed with a 45kg backpack load.

  • https://doi.org/10.9766/KIMST.2015.18.3.309 인용 PDF KSCI

하지 외골격 로봇을 위한 인솔 센서시스템 및 보행 판단 알고리즘 개발 (Development of Insole Sensor System and Gait Phase Detection Algorithm for Lower Extremity Exoskeleton)

  • 임동환;김완수;미안 아쉬팍 알리;한창수
    • 한국정밀공학회지
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    • 제32권12호
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    • pp.1065-1072
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    • 2015

  • This paper is about the development of an insole sensor system that can determine the model of an exoskeleton robot for lower limb that is a multi-degree of freedom system. First, the study analyzed the kinematic model of an exoskeleton robot for the lower limb that changes according to the gait phase detection of a human. Based on the ground reaction force (GRF), which is generated when walking, to proceed with insole sensor development, the sensing type, location, and the number of sensors were selected. The center of pressure (COP) of the human foot was understood first, prior to the development of algorithm. Using the COP, an algorithm was developed that is capable of detecting the gait phase with small number of sensors. An experiment at 3 km/h speed was conducted on the developed sensor system to evaluate the developed insole sensor system and the gait phase detection algorithm.

  • https://doi.org/10.7736/KSPE.2015.32.12.1065 인용 PDF KSCI

보행 모의 실험을 위한 발목 없는 하지 외골격 로봇의 지면 접촉 모델 최적화 (Optimization of Ground Contact Model of Ankleless Lower Exoskeleton Robot for Gait Simulation)

  • 최기명;김상형;조창현
    • 로봇학회논문지
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    • 제18권4호
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    • pp.481-486
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    • 2023

  • The purpose of this study is to optimize parameters of a contact model to obtain similar ground contact force of human walking. Dynamic walking simulation considering ground contact is performed to determine load specifications when developing walking assist robots. Large contact forces that are not observed in actual experimental data occur during the simulation at the initial contact (e.g., heel contact). The large contact force generates unrealistic large joint torques. A lower exoskeleton robot with no ankles is developed with the Matlab simscape and the nonlinear hyper volumetric contact model is applied. Parameters of the nonlinear hyper volumetric model were optimized using actual walking contact force data. As a result of optimization, it was possible to obtain a contact force pattern similar to actual walking by removing the large contact force generated during initial contact.

  • https://doi.org/10.7746/jkros.2023.18.4.481 인용 PDF