• Title/Summary/Keyword: Lower extremity exoskeleton

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Gait Pattern Generation for Lower Extremity Exoskeleton Robot and Verification of Energy Efficiency (하지 착용형 외골격 로봇의 효율적 보행패턴 생성 및 에너지 효율성 검증)

  • Kim, Wan-Soo;Lee, Seung-Hoon;Ryu, Jae-Kwan;Baek, Joo-Hyun;Kim, Dong-Whan;Han, Jung-Soo;Han, Chang-Soo
    • Journal of the Korean Society for Precision Engineering
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    • v.29 no.3
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    • pp.346-353
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    • 2012

  • The purpose of this study is to verify the energy efficiency of the integrated system combining human and a lower extremity exoskeleton robot when it is applied to the proposed gait pattern. Energy efficient gait pattern of the lower limb was proposed through leg function distribution during stance phase and the dynamic-manipulability ellipsoid (DME). To verify the feasibility and effect of the redefined gait trajectory, simulations and experiments were conducted under the conditions of walking on level ground and ascending and descending from a staircase. Experiments to calculate the metabolic cost of the human body with or without the assistance of the exoskeleton were conducted. The energy consumption of the lower extremity exoskeleton was assessed, with the aim of improving the efficiency of the integrated system.

  • https://doi.org/10.7736/KSPE.2012.29.3.346 인용 PDF KSCI

Development of Insole Sensor System and Gait Phase Detection Algorithm for Lower Extremity Exoskeleton (하지 외골격 로봇을 위한 인솔 센서시스템 및 보행 판단 알고리즘 개발)

  • Lim, Dong Hwan;Kim, Wan Soo;Ali, Mian Ashfaq;Han, Chang Soo
    • Journal of the Korean Society for Precision Engineering
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    • v.32 no.12
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    • pp.1065-1072
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    • 2015

  • 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.

  • https://doi.org/10.7736/KSPE.2015.32.12.1065 인용 PDF KSCI

Human Gait-Phase Classification to Control a Lower Extremity Exoskeleton Robot (하지근력증강로봇 제어를 위한 착용자의 보행단계구분)

  • Kim, Hee-Young
    • The Journal of Korean Institute of Communications and Information Sciences
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    • v.39B no.7
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    • pp.479-490
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    • 2014

  • A lower extremity exoskeleton is a robot device that attaches to the lower limbs of the human body to augment or assist with the walking ability of the wearer. In order to improve the wearer's walking ability, the robot senses the wearer's walking locomotion and classifies it into a gait-phase state, after which it drives the appropriate robot motions for each state using its actuators. This paper presents a method by which the robot senses the wearer's locomotion along with a novel classification algorithm which classifies the sensed data as a gait-phase state. The robot determines its control mode using this gait-phase information. If erroneous information is delivered, the robot will fail to improve the walking ability or will bring some discomfort to the wearer. Therefore, it is necessary for the algorithm constantly to classify the correct gait-phase information. However, our device for sensing a human's locomotion has very sensitive characteristics sufficient for it to detect small movements. With only simple logic like a threshold-based classification, it is difficult to deliver the correct information continually. In order to overcome this and provide correct information in a timely manner, a probabilistic gait-phase classification algorithm is proposed. Experimental results demonstrate that the proposed algorithm offers excellent accuracy.

  • https://doi.org/10.7840/kics.2014.39B.7.479 인용 PDF KSCI

Prospects of Rehabilitation Welfare Devices: Based on Assistive and Robotic Devices (재활복지기기의 전망: 보조기기와 로봇장치를 중심으로)

  • Song, W.K.
    • Journal of rehabilitation welfare engineering & assistive technology
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    • v.9 no.1
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    • pp.1-9
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    • 2015

  • This paper reviews trends of the rehabilitation welfare devices on the basis of products and markets. Latest assistive devices tend to have a fold function. Auxiliary power assist module has been added. The completion of products has been improved. The folding function has strong relationship with portability. Specifically, various mobility devices, including foldable devices, are associated with enhanced portability. Powered auxiliary wheels and upper extremity supporting modules have entered the market. The leading-edge technology like Segway's control technology applies to two-wheel wheelchairs. The brand- new technology, lower extremity robotic exoskeleton, applies to markets. Standing wheelchairs, ramps, stair climbing assistive devices becomes more common. In addition, a combination of a variety of smart devices is being promoted to the classical assistive devices' part. Rehabilitation welfare devices can be more valuable due to nice industrial design, improved materials, and processing technology.

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