• Proceedings of the KSME Conference
• /
• 2008.11a
• /
• pp.1603-1608
• /
• 2008

Powered robotic exoskeletons are currently under development for assisting or supporting human muscle power. Many applications using this system for the purpose of national defense system, medical support, and construction industry are now frequently introduced. In this paper, we proposed the exoskeletal wearable robotics for construction workers. First, we analyzed general work conditions at the construction site and set up target tasks through the datum. Then dominant muscles’ activity which is related with the defined target tasks was checked up. Herein, wearers’ intent signal generation methodology was introduced in order to effectively activate the proposed system. In the final part of this paper, we evaluated the capability and feasibility of the exoskeletal robotics by the electromyography (EMG) signal variance; demonstrated that robotic exoskeletons controlled by muscle activity could be useful way of assisting with construction workers.

• 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.

• Proceedings of the Korean Society of Precision Engineering Conference
• /
• 2009.06a
• /
• pp.989-990
• /
• 2009

• Journal of Institute of Control, Robotics and Systems
• /
• v.15 no.3
• /
• pp.286-292
• /
• 2009

This paper proposes a knee-wearable robot system for assisting the muscle power of human knee by processing EMG (Electromyogram) signals. Although there are many muscles affecting the knee joint motion, the rectus femoris and biceps femoris among them play a core role in the extension and flexion motion, respectively, of the knee joint. The proposed knee-wearable robot system consists of three parts; the sensor for measuring and processing EMG signals, controller for estimating and applying the required knee torque, and actuator for driving the knee-wearable mechanism. Ultimately, we suggest the motion control method for knee-wearable robot system by processing the EMG signals of corresponding two muscles in this paper. Also, we show the effectiveness of the proposed knee-wearable robot system through the experimental results.

• Journal of the Korean Society for Precision Engineering
• /
• v.26 no.7
• /
• pp.7-14
• /
• 2009