• Journal of Korean Physical Therapy Science
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• v.9 no.1
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• pp.81-88
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• 2002

This paper presents a design and a control of a New Reciprocating Gait Orthosis and dynamic walking simulation for this system. The New Reciprocating Gait Orthosis is distinguished from other one by which has a very light-weight and a new RGO type with servo motors. The gait of a New Reciprocating Gait Orthosis depends on the constrains of mechanical kinematics and initial posture. The stability of dynamic walking is investigated by ZMP(Zero Moment Point) of the New Reciprocating Gait Orthosis. It is designed according to a human wear type and is able to accomodate itself to human environments. The joints of each leg are adopted with a good kinematic characteristics. To test of the analysis of joint kinematic properties, we did the strain stress analysis of dynamic PLS and the study of FEM with a dynamic PLS. It will be expect that the spinal card injury patients are able to train effectively with a Reciprocating Gait Orthosis. The New Reciprocating Gait Orthosis was able to keep smooth walling by the orthotic servo motors and hybrid system, make a sequence of flexion and extension of the joint during the walking. Also, the New Reciprocating Gait Orthosis turned out to be a satisfactory orthosis for walling training, for the spinal cord injury patient.

• Proceedings of the Korean Society for Noise and Vibration Engineering Conference
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• 2003.05a
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• pp.882-887
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• 2003

This paper presented a design and control of a new RGO(reciprocating gait orthosis)and its simulation. The new RGO was distinguished from the other one by which had a very light-weight and a new RGO(reciprocating gait orthosis) system. The vibration evaluation of the hip joint system on the new RGO(reciprocating gait orthosis)was used to access by the 3-axis accelerometer with a low frequency vibration of less than 30 ㎐. The gait of the new RGO depended on the constrains of mechanical kinematics and the initial posture. The stability of dynamic walking was investigated by analyzing the ZMP (zero moment point) of the new RGO. It was designed according to the human wear type and was able to accomodate itself to the environments of S.C.I. Patients. The joints of each leg were adopted with a good kinematic characteristics. To analyse joint kinematic properties, we made the hip joint system of FEM and the hip joint system by 1-axis and 3-axis Accelerometers.

• Proceedings of the Korean Society of Precision Engineering Conference
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• 2004.10a
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• pp.814-817
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• 2004

It is a challenging task to make the paraplegic to walk with out the assist of the caregiver. So, we have developed various type of gait orthosis for paraplegic during the five years lately. The purpose of this study ultimately is energy consumption test of serveral type gait orthosis for developing the high efficiency gait orthosis. From the experimental results, the oxygen consumption rate were 6.9$\pm$3.3ml/kg in RGO gait, 5.3$\pm$1.3ml/kg in PGO, and 6.2$\pm$3ml/kg in HGO gait. The maximum hip flexion angle were 16$^{\circ}$ in RGO , 15$^{\circ}$ in PGO, and 47.5$^{\circ}$. in HGO. As a result It was found that. Hybrid Gait Orthosis need high energy consumption more than PGO for walking, but it is small weight and strengthened muscle.

• Journal of the Korean Society for Precision Engineering
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• v.25 no.8
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• pp.104-110
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• 2008

The aim of this study ultimately is verifying that PGO gait is more efficient than RGO fur paraplegics because the air muscle assists hip flexion power in heel off movement. The gait characteristics of the paraplegic wearing the PGO or RGO are compared with that of a normal person. PGO with air muscles was used to analyze the walking of patients with lower-limb paralysis, and the results showed that the hip joint flexion and pelvic tilt angle decreased in PGO. In comparison to RGO gait, which is propelled by the movements of the back, PGO uses air muscles, which decreases the movement in the upper limb from a stance phase rate of 79$\pm$4%(RGO) to 68$\pm$8%. The energy consumption rate was 8.65$\pm$3.3 (ml/min/Kg) for RGO, while it decreased to 7.21t2.5(ml/min/Kg) for PGO. The results from this study show that PGO decreases energy consumption while providing support for patients with lower-limb paralysis, and it is helpful in walking for extended times.

• Proceedings of the Korean Society of Precision Engineering Conference
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• 2010.05a
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• pp.1361-1362
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• 2010

• 제어로봇시스템학회:학술대회논문집
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• 2003.10a
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• pp.1500-1503
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• 2003

One of the main goals in the rehabilitation of SCI patients is to enable the patient to stand and walk themselves. We are developing high-thrust powered gait orthosis(PGO) that use air muscle actuator(shadow robot Co., UK) to be assisted gait and rehabilitation purposes of them. We made of PD controller and measured hip joint angle by its load and the pressure to control air muscle of PGO. As a results, maximum flexion angle of hip joint is $20^{\circ}$, and angular velocity is 30.4${\pm}2.5^{\circ}/sec$, and then delay time of system was average 0.62${\pm}$0.03s. As the hip flexion angle and the pelvic angle is decreased during the gait with PGO, the patient can walk faster. By using the PGO, the energy consumption can also be decreased. therefore, the proposed PGO can be a very useful assitive device for the paraplegics to walk.