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dc.contributor.author박종현-
dc.date.accessioned2019-11-25T05:38:17Z-
dc.date.available2019-11-25T05:38:17Z-
dc.date.issued2017-05-
dc.identifier.citationINTERNATIONAL JOURNAL OF PRECISION ENGINEERING AND MANUFACTURING, v. 18, no. 5, page. 661-671en_US
dc.identifier.issn2234-7593-
dc.identifier.issn2005-4602-
dc.identifier.urihttps://link.springer.com/article/10.1007%2Fs12541-017-0079-3-
dc.identifier.urihttp://repository.hanyang.ac.kr/handle/20.500.11754/114125-
dc.description.abstractIn military and industrial applications, wearable robots should meet the required payload capacity in all human motion range owing to dealing with heavy loads, which is safety and work performance issues. But, the payload capacity of wearable robots employing linear actuators gradually decreases while the pilot bends his knees with a stand-to-sit motion, because the moment arm of actuating force varies and decreases drastically. To deal with this issue, this study proposes an elastic mechanism combined with a sub-link mechanism to increase the moment arm of the elastic force in the knee-flexion posture. This mechanism generates additional torque to supplement the force needed during sit-to-stand and stand-to-sit motions with heavy loads. The proposed mechanism was simulated and tested with a wearable robot, and its effectiveness was verified.en_US
dc.language.isoen_USen_US
dc.publisherKOREAN SOC PRECISION ENGen_US
dc.subjectWearable roboten_US
dc.subjectExoskeletonen_US
dc.subjectLinear actuatoren_US
dc.subjectMoment armen_US
dc.subjectPayload capacityen_US
dc.subjectElastic mechanismen_US
dc.titleIncreasing Payload Capacity of Wearable Robots Employing Linear Actuators and Elastic Mechanismen_US
dc.typeArticleen_US
dc.relation.no5-
dc.relation.volume18-
dc.identifier.doi10.1007/s12541-017-0079-3-
dc.relation.page661-671-
dc.relation.journalINTERNATIONAL JOURNAL OF PRECISION ENGINEERING AND MANUFACTURING-
dc.contributor.googleauthorChoo, Junghoon-
dc.contributor.googleauthorPark, Jong Hyeon-
dc.relation.code2017004516-
dc.sector.campusS-
dc.sector.daehakCOLLEGE OF ENGINEERING[S]-
dc.sector.departmentDIVISION OF MECHANICAL ENGINEERING-
dc.identifier.pidjongpark-
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COLLEGE OF ENGINEERING[S](공과대학) > MECHANICAL ENGINEERING(기계공학부) > Articles
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