Journal of Advanced Marine Engineering and Technology

The Korean Society of Marine Engineering (한국마린엔지니어링학회)
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Structure Analysis of an Exoskeleton with a Torsion Bar Gravity Compensator

비틈 봉 중력보상기를 적용한 외력증강기 구조해석

  • 최형식 (한국해양대학교 기계시스템공학과) ;
  • 이동준 (한국해양대학교 기계시스템공학과) ;
  • 조종래 (한국해양대학교 기계시스템공학과)
  • Received : 2012.01.30
  • Accepted : 2012.04.13
  • Published : 2012.05.31
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Abstract

In this paper, a technical method of reducing torque load of exoskeleton device, with using of a gravity compensator based on a torsion bar, for human leg joints, is proposed. Design and structure analyses and also performance test were performed to estimate and to measure the characteristics of the torsion bar. On the basis of design and structure analysis, a new light and compact exoskeleton device has been developed. For the purpose of lightening and optimizing thickness of the links, FEM analysis has been performed.

이 논문에서는 비틈 봉을 기반으로 한 중력보상기가 적용된 새로운 외력증강기를 이용하여 인체 다리관절에 작용하는 부하를 경감시키는 방법에 대해 제안한다. 비틈 봉 특성을 추정하고 측정하기 위하여 설계와 구조 해석을 행하였다. 설계와 구조해석을 바탕으로 매우 경량이고 소형인 새로운 외력증강기를 개발하였다. 구조해석은 외력증강기를 매우 경량으로 하기위해 최적두께의 링크에 대한 FEM해석을 행하였다.

Keywords

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