노약자의 팔꿈치 거동 지원을 위한 착용형 로봇 개발
- Title
- 노약자의 팔꿈치 거동 지원을 위한 착용형 로봇 개발
- Other Titles
- Development of Wearable Robot for Elbow Motion Assistance of Elderly
- Author
- 한창수
- Keywords
- Wearable Robot(착용형 로봇); sEMG(surface Electromyogram:표면근전도); Force sensor(힘센서); Power Assist(근력보조); Command signal(동기신호)
- Issue Date
- 2008-03
- Publisher
- 한국정밀공학회
- Citation
- 한국정밀공학회지, v. 25, No. 3, Page. 141-146
- Abstract
- The purpose of this study is to develop the algorithm which can control muscle power assist robot especially for elderly. Recently, wearable robots for power assistance are developed by many researchers, and its application fields are also variable such as for medical or military equipment.
However, there are many technical barriers to develop the wearable robot. This study suggest a control method improving performance of a wearable robot system by using a EMG signal of major muscles and a force sensor signal as command signal of system.
The result of the robot Prototype efficiency experiment, the case of Maximum Isometric motion it suggest 100% power of muscle, the man need only 66% of MVIC(Maximum Voluntary Isometric Contraction) to lift 5㎏ dumbbell without robot assist. However the man needs only 52% of MVIC to lift 5㎏ dumbbell with robot assist. Therefore 20% muscle power increased with robot assist. Also, we designed light weight robot mechanism that extract the command signal verified and drive the wanted motions.
- URI
- http://www.dbpia.co.kr/Journal/ArticleDetail/NODE00959534https://repository.hanyang.ac.kr/handle/20.500.11754/104409
- ISSN
- 1225-9071
- Appears in Collections:
- COLLEGE OF ENGINEERING SCIENCES[E](공학대학) > ROBOT ENGINEERING(로봇공학과) > Articles
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