• 로봇학회논문지
• /
• 제18권4호
• /
• pp.385-391
• /
• 2023

In the elderly population, sarcopenia occurs due to physical aging, leading to movement restrictions and loss of function. This results in dependence on daily activities and limitations in participation, ultimately decreasing the overall quality of life. In this study, we propose an algorithm designed to enable patients with sarcopenia to perform sit-to-stand and stand-to-sit movements seamlessly in their daily lives. The algorithm incorporates a wearable robot for muscle support and includes algorithms for standing and seated muscle strength support. To validate the algorithm's performance, EMG sensors were attached to the Rectus Femoris and Biceps Femoris muscles. The participants underwent two scenarios: one without wearing the device and one with the device providing muscle strength support, performing sit-to-stand and stand-to-sit motions for one minute in each case. The results showed a 16% increase in the EMG peak value of the Rectus Femoris muscle during standing motion (p=0.009). On the right side, there was a roughly 20% decrease (p=0.018) during standing and a 21% decrease (p=0.014) during sitting motion. In the future, we aim to gather additional data to further refine the algorithm. Our goal is to develop an optimal muscle strength support algorithm based on this data, making it applicable for real-life use by patients with sarcopenia.

• 대한인간공학회지
• /
• 제29권3호
• /
• pp.357-364
• /
• 2010

This study proposes a lower-limb exoskeleton system that is controlled by a wearer's muscle activity. This system is designed by following procedure. First, analyze the muscle activation patterns of human leg while walking. Second, select the adequate actuator to support the human walking based on calculation of required force of knee joint for step walking. Third, unit type knee and ankle orthotics are integrated with selected actuator. Finally, using this knee-assistive system (KAS) and developed muscle stiffness sensors (MSS), the muscle activity pattern of the subject is analyzed while he is walking on the stair. This study proposes an operating algorithm of KAS based on command signal of MSS which is generated by motion intent of human. A healthy and normal subject walked while wearing the developed powered-knee exoskeleton on his/her knees, and measured effectively assisted plantar flexor strength of the subject's knees and those neighboring muscles. Finally, capabilities and feasibility of the KAS are evaluated by testing the adapted motor pattern and the EMG signal variance while walking with exoskeleton. These results shows that developed exoskeleton which controlled by muscle activity could help human's walking acceptably.