• Proceedings of the Korean Society for Noise and Vibration Engineering Conference
• /
• 2002.11a
• /
• pp.347.2-347
• /
• 2002

This paper presented a design and a Vibration control of a biped walking RGO(Robotic Gait Orthosis) and walking simulation by this system. The vibration evaluation of the Knee Joint Mechanism on the biped walking RGO(Robotic Galt Orthosis) was used to access by the 3-axis accelerometer with a low frequency vibration for the spinal cord injuries. It will be expect that the spinal cord injury patients are able to recover effectively by a biped walking RGO. (omitted)

• Transactions of the Korean Society for Noise and Vibration Engineering
• /
• v.13 no.1
• /
• pp.10-18
• /
• 2003

This paper presented a design and control of a biped walking RGO(robotic gait orthosis) and its simulation. The biped walking RGO was distinguished from the other one by which had a very light-weight and a new RGO system will be made of 12-servo motors and 12-controllers. The vibration evaluation of the dynamic PLS(posterior leaf splint) on the biped walking RGO was used to access by the 3-axis accelerometer with a low frequency vibration of less than 30 Hz. The galt of the biped walking RGO depends 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 biped walking 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 strain stress analysis of the dynamic PLS and the analysis study of FEM with a dynamic PLS.