Kinematic Characteristics of Walking-Assistance Robot

보행보조 로봇의 운동학적 특성

  • 배하석 (이화여자대학교 의학전문대학원 재활의학과) ;
  • 김진오 (숭실대학교 기계공학과) ;
  • 전한용 (숭실대학교 기계공학과) ;
  • 박광훈 ((주)피앤에스미캐닉스) ;
  • 이경환 ((주)피앤에스미캐닉스)
  • Received : 2010.09.24
  • Accepted : 2011.03.03
  • Published : 2011.05.01


We developed a walking-assistance robot for walking rehabilitation and assessed the kinematic characteristics of a prototype. The walking-assistance robot is composed of hip, knee, and ankle joints, and each joint is driven by a motor with a decelerator. The equations of angular displacement while walking were derived by theoretically analyzing human locomotion, and the calculated angular displacements were then applied to the robot controller. The output angular displacement of each joint was measured and compared with its input angular displacement in walking experiments on a treadmill at various walking speeds and strides. The differences between the input and output angular displacements are 5.22% for the hip and 2.97% for the knee joints, and it has been confirmed that the walking-assistance robot works well.


Walk-Assistive Robot;Rehabilitation;Kinematics;Joint


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