- Volume 35 Issue 5
DOI QR Code
Kinematic Characteristics of Walking-Assistance Robot
보행보조 로봇의 운동학적 특성
- Bae, Ha-Suk (Dept. of Physical Medicine and Rehabilitation, School of Medicine, Ewha Womans University) ;
- Kim, Jin-Oh (Dept. of Mechanical Engineering, Soongsil Univ.) ;
- Chun, Han-Yong (Dept. of Mechanical Engineering, Soongsil Univ.) ;
- Park, Kwang-Hun (P&S Mechanics Co., Ltd.) ;
- Lee, Kyung-Whan (P&S Mechanics Co., Ltd.)
- 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.
- Kang, S. J., Ryu, J. C., Kim, G. S., Song, D. J. and Mun, M. S., 2009, "Research of Hybrid Gait Orthosis Analysis for Paraplegics," Proceedings of the KSPE Spring Conference, pp. 65-66.
- Kong, K. C. and Jeon, D. Y., 2005, "New Design of Tendon-Driven Exoskeletal Assistive Device," Proceedings of the KSME Spring Conference, pp. 1255-1260.
- Hwang, S. J., Cho, Y. K., Lee, M. H., Lee, H. Y., Kim, H. S. and Kim, Y. H., 2010, "Gait Training Simulation with Robotic-Assisted Gait Training Modeling and Dynamic Analysis," Proceedings of the KSPE Spring Conference, pp. 997-998.
- Uhm, H. W., Nam, Y. S. and Lee, W. E., 2008, "Modeling of Human Gait Motion and Analysis & Simulation of Gait motion," Proceedings of the KSME Spring Conference, pp. 58-63.
- Hwang, S. J., Son, J. S., Kim, J. Y., Sohn, R. H. and Kim, Y. H., 2008, "Development of the Robotic Gait Trainer for Persons with Gait Disorder," Symposium of Information & Control, pp. 73-74.
- Hwang, S. J., Kim, J. Y., Son, J. S., Sohn, R. H. and Kim, Y. H., 2008, "The Development of the Robotic Gait Training System for Paralysis," Proceedings of the KSME Spring Conference, pp. 82-83.
- Kang, S. J., Ryu, J. C., Kim, G. S., Choi, H. J., Son, J. H., Kim, H. C. and Mun, M. S., 2010, "Development of AFO Fabraication Method for Wearable Gait Orthosis," Proceedings of the KSPE Spring Conference, pp. 1393-1394.
- Kang, S. J., Ryu, J. C. and Mun, M. S., 2008, "Comparison of Energy Consumption of Reciprocating Gait Orthosis(RGO) and Powered Gait Orthosis(PGO) during Gait," Journal of KSPE, Vol. 25, No. 8, pp. 104-110.
- Kim, G. S., Ryu, J. C., Kang, S. J., Mun. M. S. and Cho, K. H., 2010, "Clinical Evaluation and Gait Analysis of Unlockable Knee Joint for PGO," Proceedings of the KSPE Spring Conference, pp. 1361-1362.
- Hidler, J., Wisman, W. and Neckel, N., 2008, "Kinematic Trajectories while Walking within the Lokomat Robotic Gait-Orthosis," Clinical Biomechanics, Vol. 23, No. 10, pp. 1251-1259. https://doi.org/10.1016/j.clinbiomech.2008.08.004
- Sakurai, T. and Sankai, Y., 2009, "Development of Motion Instruction System with Interactive Robot Suit HAL," Proceedings of the 2009 IEEE International Conference on Robotics and Biomimetics, pp. 1141-1147. https://doi.org/10.1109/ROBIO.2009.5420755
- Zoss, A. B., Kazerooni, H. and Chu, A., 2006, "Biomechanical Design of the Berkeley Lower Extremity Exoskeleton (BLEEX)," IEEE/ASME Transaction on Mechatronics, Vol. 11, No. 2, pp. 128-138. https://doi.org/10.1109/TMECH.2006.871087
- Chun, H. Y., Kim, J. O. and Park, K. H., 2010, "Correlation of Human Carpal Motion and Electromyogram," Journal of KSME(A), Vol. 34, No. 10, pp. 1391-1399. https://doi.org/10.3795/KSME-A.2010.34.10.1393
- Winter, D. A., 2005, Biomechanics and Motor Control of Human Movement, 3rd ed., John Wiley & Sons.
- Neumann, D. A., 2002, Kinesiolgy of the Musculoskeletal System, Mosby.
- Functional Electrical Stimulation for Rehabilitation of a Shoulder Joint vol.37, pp.12, 2013, https://doi.org/10.3795/KSME-B.2013.37.12.1121