• 한국정밀공학회:학술대회논문집
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• 한국정밀공학회 2012년도 춘계학술대회 논문집
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• pp.315-316
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• 2012

• 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.

• 대한인간공학회지
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• 제29권3호
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• pp.357-364
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• 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.

• 재활복지공학회논문지
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• 제9권1호
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• pp.1-9
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• 2015

국외의 재활보조기기 추세를 분석하였다. 접어지는 기능이 강화되고, 기존의 동력이 없는 장치에 전동구동 보조모듈이 추가되고, 전반적인 보조기기의 완성도가 향상되고 있다. 특히, 접어지는 기능을 포함한 휴대 및 보관하기 용이한 이동 보조기기가 증가하고 있다. 동력 보조 휠 및 상지보조 모듈이 시장에 진입하고 있다. 상대적으로 성숙된 최신기술을 적용한 신개념의 휠체어가 시장이 나오고 있다. 최신 로봇기술을 응용한 하지 외골격 로봇이 경쟁체제에 돌입하였다. 기립형 휠체어, 경사로, 간단한 계단 이동보조장치가 보편화 되고 있다. 보조기기와 다양한 스마트기기가 결합되고 있다. 이외에도 멋진 디자인, 소재, 가공기술 등에 의한 완성도가 제고 되고 있다.

• 한국정밀공학회지
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• 제33권10호
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• pp.837-843
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• 2016

This paper presents a position control strategy for a pump-controlled electro-hydrostatic actuator (EHA) using feedforward control with disturbance compensation. As the disturbance observer is used to estimate nonlinear dynamics of EHA, which has valve-opening conditionals, as well as external disturbances, an additional feedforward control is adopted to achieve rapid response. The effectiveness of the proposed control strategy is verified through experiment using an EHA test bench. The proposed controller shows better tracking performance compared with a conventional PID controller.

• 제어로봇시스템학회논문지
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• 제21권5호
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• pp.421-426
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• 2015

Need to develop human body's posture supervised robots, gave the push to researchers to think over dexterous design of exoskeleton robots. It requires to develop quantitative techniques to assess human motor function and generate the command to assist in compliance with complex human motion. Upper limb rehabilitation robots, are one of those robots. These robots are used for the rehabilitation of patients having movement disorder due to spinal or brain injuries. One aspect that must be fulfilled by these robots, is to cope with uncertainties due to different patients, without significantly degrading the performance. In this paper, we propose chattering free sliding mode control technique for this purpose. This control technique is not only able to handle matched uncertainties due to different patients but also for unmatched as well. Using this technique, patients feel active assistance as they deviate from the desired trajectory. Proposed methodology is implemented on seven degrees of freedom (DOF) upper limb rehabilitation robot. In this robot, shoulder and elbow joints are powered by electric motors while rest of the joints are kept passive. Due to these active joints, robot is able to move in sagittal plane only while abduction and adduction motion in shoulder joint is kept passive. Exoskeleton performance is evaluated experimentally by a neurologically intact subjects while varying the mass properties. Results show effectiveness of proposed control methodology for the given scenario even having 20 % uncertain parameters in system modeling.

• 로봇학회논문지
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• 제12권2호
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• pp.116-123
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• 2017

Wearable robots are receiving great attention from the public, as well as researchers, because its motivation is to improve the quality of lives of people. Above all, complete paraplegic patients due to spinal cord injury (SCI) might be the most adequate target users of the wearable robots, because they definitely need physical assistance due to the complete loss of muscular strength and sensory functions. Furthermore, the medical care of complete paraplegics by using the wearable robots have significantly reduced the mortality rate and improved the life expectancy. The requirements of the wearable robot for complete paraplegics are actuation torque, locomotion speed, wearing sensation, robust gait stability, safety, and practicality (i.e., size, volume, weight, and energy efficiency). A WalkON Suit is the wearable robot that has satisfied the requirements of the wearable robot for complete paraplegics and participated in the powered exoskeleton race of Cybathlon 2016. In this paper, configuration of the WalkON Suit, human-machine interface, gait pattern, control algorithm, and evaluation results are introduced.

• 대한기계학회:학술대회논문집
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• 대한기계학회 2008년도 추계학술대회A
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• pp.1603-1608
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• 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.

• 재활복지공학회논문지
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• 제8권2호
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• pp.73-78
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• 2014

이 논문은 팔꿈치 재활 훈련에 있어서 거울치료 기법을 적용한 착용형 재활로봇을 제안한다. 거울치료는 건측의 팔꿈치 동작을 측정하여, 환측의 팔꿈치 훈련을 하는 것이다. 이를 위해 환측의 재활을 위한 착용형 장치 뿐만 아니라 건측 팔꿈치 동작을 측정하기 위한 착용형 센서도 개발하였다. 착용형 장치는 인체의 팔꿈치 구조를 고려하여 설계하였다. 착용형 센서는 굽힘센서와 광파이버를 이용한 센서를 각각 개발하여 센터의 특성을 평가하였다. 개발된 거울치료형 팔꿈치 재활로봇은 피험자의 동작에 따른 동작특성을 3차원 모션 측정장치로 평가하였다. 실험의 결과는 이 연구에서 개발된 착용형 팔꿈치 재활로봇이 적용 가능함을 보였다.