한국정밀공학회지 (Journal of the Korean Society for Precision Engineering)

  • 제32권12호
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  • Pages.1065-1072
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  • 2015
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  • 1225-9071(pISSN)
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  • 2287-8769(eISSN)
한국정밀공학회 (Korean Society for Precision Engineering)
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하지 외골격 로봇을 위한 인솔 센서시스템 및 보행 판단 알고리즘 개발

Development of Insole Sensor System and Gait Phase Detection Algorithm for Lower Extremity Exoskeleton

  • Lim, Dong Hwan (Department of Mechanical Engineering, Hanyang University) ;
  • Kim, Wan Soo (Research Institute of Engineering and Technology, Hanyang University) ;
  • Ali, Mian Ashfaq (Department of Mechatronics Engineering, Hanyang University) ;
  • Han, Chang Soo (Department of Robot Engineering, Hanyang University)
  • 투고 : 2015.04.15
  • 심사 : 2015.10.26
  • 발행 : 2015.12.01
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초록

This paper is about the development of an insole sensor system that can determine the model of an exoskeleton robot for lower limb that is a multi-degree of freedom system. First, the study analyzed the kinematic model of an exoskeleton robot for the lower limb that changes according to the gait phase detection of a human. Based on the ground reaction force (GRF), which is generated when walking, to proceed with insole sensor development, the sensing type, location, and the number of sensors were selected. The center of pressure (COP) of the human foot was understood first, prior to the development of algorithm. Using the COP, an algorithm was developed that is capable of detecting the gait phase with small number of sensors. An experiment at 3 km/h speed was conducted on the developed sensor system to evaluate the developed insole sensor system and the gait phase detection algorithm.

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참고문헌

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