Journal of the Korean Society of Manufacturing Technology Engineers (한국생산제조학회지)

The Korean Society of Manufacturing Technology Engineers (한국생산제조학회)
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Design and Control of a Wearable Robot for Stair-Climbing Assistance

계단 보행 근력 보조를 위한 착용형 로봇의 설계 및 제어

  • Kim, Myeong-Ju (Department of Mechanical System Design Engineering, Seoul National University of Science and Technology) ;
  • Kang, Byeong-Hyeon (Department of Mechanical System Design Engineering, Seoul National University of Science and Technology) ;
  • Kim, Ok-Sik (Department of Mechanical System Design Engineering, Seoul National University of Science and Technology) ;
  • Seo, Ki-Won (Department of Mechanical System Design Engineering, Seoul National University of Science and Technology) ;
  • Kim, Jung-Yup (Department of Mechanical System Design Engineering, Seoul National University of Science and Technology)
  • Received : 2016.12.06
  • Accepted : 2017.02.13
  • Published : 2017.02.15
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Abstract

This paper describes the development of a thigh wearable robot for power assistance during stair climbing. In the wearable robot developed in this study, high-power BLDC motors and high-capacity harmonic reduction gears are used to effectively assist the thigh muscle during stair climbing. In particular, normal ground and stair are distinguished accurately by using wireless smart shoes, and the stair climbing assistance is performed by activating the actuators at an appropriate time. Impedance of the hip joint was effectively reduced by performing friction compensation of the gears, and a wearing adjustment mechanism was designed to fit the robot to the thigh by conveniently modifying the width and tilting angle of the robot using set collars. Consequently, the performance of the developed thigh wearable robot was verified through stair climbing experiments with EMG measurement.

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References

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  7. Youtube, viewed 23 Nov. 2016, Development of a wearable robot for stair climbing assistance, .

Cited by

  1. 보행보조 재활 로봇 착용에 따른 쾌적성 평가 vol.44, pp.6, 2017, https://doi.org/10.5850/jksct.2020.44.6.1107