Transactions of the Korean Society of Mechanical Engineers A (대한기계학회논문집A)

The Korean Society of Mechanical Engineers (대한기계학회)
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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
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Abstract

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.

보행 재활 훈련용 보행보조 로봇을 개발하고, 시제품의 운동학적 특성을 평가하였다. 이 보행보조 로봇은 고관절(hip), 슬관절(knee), 족관절(ankle) 등으로 구성되며, 각 관절은 감속기가 포함된 모터에 의해 구동된다. 인체 보행 운동을 이론적으로 해석하여, 보행 운동 중 각 관절의 각도 변위를 계산하는 식을 구하였고, 계산된 각도 변위를 로봇 구동기에 입력하였다. 트레드밀(treadmill) 위에서의 실험을 통해 다양한 보행 속도(walking speed) 및 보폭(stride)에서 각 관절의 출력 각도 변위를 측정하고 입력 값과 비교하였다. 입력 각도 변위와 출력 각도 변위의 차이가 고관절에서는 5.22%, 슬관절에서는 2.97% 이내로 일치함을 확인하여, 설계대로 보행보조 로봇이 작동함을 입증하였다.

Keywords

References

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