인체진동을 고려한 재활훈련용 이족보행 RGO 보조기의 생체역학적 해석 <인체진동 응력해석과 FEM을 중심으로>

Design and Control of a Dynamic PLS of the Biped Walking RGO for a Trainning of Rehabilitation considering Human Vibration

  • 장대진 (연세대학교 대학원 기계공학과) ;
  • 김명회 (대불대학교 보건학부(연세대학교 대학원) ;
  • 양현석 (연세대학교 기계공학) ;
  • 백윤수 (연세대학교 기계공학) ;
  • 박영필 (연세대학교 기계공학) ;
  • 박창일 (연세대학교 기계공학과)
  • 발행 : 2002.05.01

초록

This paper presented a design and a control of a biped walking RGO and walking simulation by this system. The biped walking RGO was distinguished from the other one by which had a very light-weight and a new RGO type with 12-servo motors. The vibration evaluation of the dynamic PLS on the biped walking RGO was used to access by the 3-axis accelerometer with a low frequency vibration for the spinal cord injuries. The gait of a biped walking RGO depended on the constrains of mechanical kinematics and the initial posture. The stability of dynamic walking was investigated by a ZMP (Zero Moment Point) of the biped walking RGO. It was designed according to a human wear type and was able to accomodate itself to a human environments. The joints of each leg were adopted with a good kinematic characteristics. To test of the analysis of joint kinematic properties, we did the strain stress analysis of the dynamic PLS and the analysis study of FEM with a dynamic PLS. It will be expect that the spinal cord injury patients are able to recover effectively with a biped walking RGO.

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