일반 보행시 스프링-수동관절 메커니즘을 적용한 하지 하중 운반 외골격로봇의 개발

Abstract

Study of a wearable robot for assistive human motion and rehabilitation for handicapped people and worker is actively in progress in the World. There are two types of wearable robot such as electrical exoskeleton and hydraulic exoskeleton. Those kinds of exoskeleton have actuating component like motor or cylinder. But those systems have some problems. First, system weight will be increased because of installing active joint component. As a result, it will give extra weight to operators. Second, work space and time will be limited. Because those systems have to need energy source as pump or battery. Moreover, those cannot work the back of beyond energy sources. Because of that reason, work space is limited. Some people can use portable energy such as battery or engine for treating that problem. But this will make another problem that is limited work time. Third, all kind of actuating components may be expensive so system cost will be increased by component cost. On the other hand, some people or laboratories are researching solution for those problems as you already know. One of solution is a passive mechanism. MIT research lab is remarkable laboratory for using passive mechanism to the exoskeleton robot. They use structure of robot and new mechanism instead of active joint mechanism. I can introduce briefly, they separate section that is needed muscle power and unnecessary power section. And then, they apply an electrical break system at the knee joint and spring at the hip and ankle joint to use consumed power. As a result, they realize a non-active mechanism. In this thesis, I will give a new exoskeleton robot for carrying load with spring and passive joint mechanism. So, mechanical design that is endured given load will be very critical issue because this system doesn’t have any active joint every joint. Especially, knee joint must be straight state for the reason that this part is serious part for supporting payload at the stance phase. Furthermore, I apply new mechanism that uses gas springs and sliding rail at the hip joint in this exoskeleton robot. So, I will introduce my research about new exoskeleton system that is applied spring and passive mechanism. After that I verify performance of exoskeleton robot using several methods such as oxygen consumption and muscle fatigue.