• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 2003년도 ICCAS
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• pp.1495-1499
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• 2003

There is some equipment that helps user to exercise and to walk. But almost all equipments require some physical strength of their muscles. So we developed a system that could assist walking action of the people with lower-limb disability. The system called as walking stand adopted the balancing mechanism which assures the stable walking, and the 4 link-based mechanism that had 2 degrees of freedom on each leg. The walking stand uses four motors and has two sets of the special link-structure to simulate the human walking mechanism. With our system, even serious disabled with lower-limb disability may enjoy walking rehabilitation. And by adjusting the power, it can be used as the walking assistant mechanism instead of conventional wheelchairs. Experiments showed that our walking stand is applicable to the rehabilitation and also to the mobile device in our daily life for those people who do not have enough physical ability to walk by themselves.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 2004년도 ICCAS
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• pp.1638-1641
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• 2004

Many walking stands, and assisting tools have been developed for the people with low-limb disability to prevent diseases from bedridden state and to help them walk again. But many of those equipments require user to have some physical strength or balancing ability. In our last research, we developed walking assist system for the people with lower-limb disability. With the system, user can be assisted by actuators, and do not have to worry about falling down. The system adapted the unique closed links structure with four servomotors, three PICs as controller, and four limit switches as HMI (human man interface). We confirmed the adaptability of the system by the experiment. In this research, Muscle Stiffness Sensor was tested as the advanced HMI for walking assist system, and confirmed the adaptability by the experiment. As Muscle Stiffness Sensor can attain the muscle activity, user can interface with any device he want to control. Experimental result with Muscle Stiffness sonsor showed that user could easily control the walking assist system as his will, just by changing his muscle strength.

• 제어로봇시스템학회논문지
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• 제16권10호
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• pp.933-938
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• 2010

In this paper, we propose the organization of a sensor system and user's intent detection algorithm for walking assist rehabilitation robots. The main purpose of walking assist rehabilitation robots is assisting SCI patients to walk in normal environment. To use walking assist rehabilitation robot in normal environment, it is needed to consider various factors about user's safety and detection of user's intent and so on. For these purposes, we have analyzed the use case of rehabilitation robots and organized the system of sensors for walking assist rehabilitation robots and finally, we have developed the algorithm which is used to detect user's intent for those. We applied our proposal method in the rehabilitation robot, ROBIN, and verified their effectiveness by normal, not patient.

• 로봇학회논문지
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• 제5권4호
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• pp.294-301
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• 2010

In order to produce a convenient robot for the aged and the lower limb disabled, it is needed for the research detecting implicit walking intention and controlling robot by a user's intention. In this study, we developed sensor module system to control the walking- assist robot using FSR sensor and tilt sensor, and analyzed the signals being acquired from two sensors. The sensor module system consisted of the assist device control unit, communication unit by wire/wireless, information collection unit, information operation unit, and information processing PC which handles integrated processing of assist device control. The FSR sensors attached user's the palm and the soles of foot are sensing force/pressure signals from these areas and are used for detecting the walking intention and states. The tilt sensor acquires roll and pitch signal from area of vertebrae lumbales and reflects the pose of the upper limb. We could recognize the more detailed user's walking intention such as 'start walking', 'start of right or left foot forward', and 'stop walking' by the combination of FSR and tilt signals can recognize.

• 한국정보전자통신기술학회논문지
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• 제8권3호
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• pp.239-242
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• 2015

시각장애인들은 외출을 하기 위해 보행 보조기기를 사용하고 있다. 또한, 최근에는 보행 보조기기뿐만 아니라 음성인식 명령기능을 탑재한 스마트폰도 이용하고 있다. 이러한 추세에 따라, 본 논문에서는 시각장애인 보행 보조를 위한 스마트 폰 케이스를 설계하고 구현하였다. 조도 센서와 스마트폰 카메라 플래시를 이용하여 어두운 장소에서 자신의 위치를 알려주는 자기 위치 알림 시스템과 초음파 센서를 이용하여 장애물을 감지하고 시각장애인들에게 음성으로 경고를 해주는 음성 경고 시스템을 제공한다. 이를 이용하면 시각장애인은 어두운 곳에서 자신의 위치를 알리고, 전방의 장애물을 피해갈 수 있어서 보다 안전하게 보행하여 사고를 방지할 수 있다.

• 재활복지공학회논문지
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• 제6권2호
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• pp.15-22
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• 2012

외골격 보행보조로봇은 로봇 시스템을 인체에 직접 착용하는 형태이므로 기구적인 측면에서는 인체 근골격 구조에 최적화된 메커니즘으로 구성되어야 하며, 제어적인 측면에서는 근골격계의 손상을 일으킬 수 있는 로봇의 부적합한 거동을 예방할 수 있는 안전장치를 갖추어야 한다. 외골격 보행보조로봇을 개발하기 위해서는 보행이나 근골격계의 거동특성에 대한 이해 및 분석이 필요하다. 본 연구에서는 최적화된 로봇시스템 설계를 위하여 구동장치의 관절력과 동력 용량을 예측하였으며 몇 가지 보행동작에 대한.관절거동특성을 파악할 수 있는 자료를 획득하였다. 평지보행을 제외한 나타나는 주요한 동작으로는 계단오르고 내리기, 안기, 서기, 경사면 걷기 등이 있다. 본 연구에서는 경사면 걷기를 제외한 모든 동작에 대한 동작 실험을 수행하고 분석하였다.

• 로봇학회논문지
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• 제15권4호
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• pp.323-329
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• 2020

This paper presents a control algorithm for a wearable walking aid robot for subjects with paraplegia after stroke. After a stroke, a slow, asymmetrical and unstable gait pattern is observed in a number of patients. In many cases, one leg can move in a relatively normal pattern, while the other leg is dysfunctional due to paralysis. We have adopted the so-called assist-as-needed control that encourages the patient to walk as much as possible while the robot assists as necessary to create the gait motion of the paralyzed leg. A virtual wall was implemented for the assist-as-needed control. A position based admittance controller was applied in the swing phase to follow human intentions for both the normal and paralyzed legs. A position controller was applied in the stance phase for both legs. A power controller was applied to obtain stable performance in that the output power of the system was delimited during the sample interval. In order to verify the proposed control algorithm, we performed a simulation with 1-DOF leg models. The preliminary results have shown that the control algorithm can follow human intentions during the swing phase by providing as much assistance as needed. In addition, the virtual wall effectively guided the paralyzed leg with stable force display.

• International Journal of Advanced Culture Technology
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• 제9권4호
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• pp.320-328
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• 2021

As the number of visually impaired people steadily increases, interest in independent walking is also increasing. However, there are various inconveniences in the independent walking of the visually impaired at present, reducing the quality of life of the visually impaired. The white cane, which is an existing walking aid for the visually impaired, has difficulty in recognizing upper obstacles and obstacles outside the effective distance. In addition, it is inconvenient to cross the street because the sound signal to help the visually impaired cross the crosswalk is lacking or damaged. These factors make it difficult for the visually impaired to walk independently. Therefore, we propose the design of an embedded system that provides traffic light recognition through object recognition technology, voice guidance using TTS, and upper obstacle recognition through ultrasonic sensors so that blind people can realize safe and high-quality independent walking.

• 대한의용생체공학회:의공학회지
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• 제31권4호
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• pp.269-274
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• 2010

The purpose of this study was to develop the FSR sensor suit that controls walking assist device for paraplegic patients. The FSR sensor suit was to detect user's intent and patterns for walking by measuring pressure on the palm and the sole of user's foot. It consisted of four modules: sensing pressure from palm, changing modes and detecting pressure on the palm/at the wrist, sensing pressure from the soles of user's foot, and host module that transmit FSR data obtained from sensing modules to PC. Sensing modules were connected to sensing pads which detect analog signals obtained from the palm or the sole of foot. These collect signals from the target regions, convert analog signals into digital signals, and transmit the final signals to host module via zigbee modules. Finally, host modules transmit the signals to host PC via zigbee modules. The study findings showed that forces measured at the palm when using a stick reflected user's intent to walk and forces at the sole of the user's foot revealed signals detecting walking state.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 2001년도 ICCAS
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• pp.46.1-46
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• 2001

This paper describes a control method of hybrid power assistive system for lower body, HAL, with the techniques of Phase Sequence and the application of EMG. Our objective is to attain the power assist control of motion in the lower body effectively with these two methods. The Phase Sequence which performs basic motion controls of HAL is the method that a motion, the Task, is accomplished by dividing each motion into the unit named Phase and ...