Full metadata record
DC Field | Value | Language |
---|---|---|
dc.contributor.author | 한창수 | - |
dc.date.accessioned | 2019-04-04T00:24:37Z | - |
dc.date.available | 2019-04-04T00:24:37Z | - |
dc.date.issued | 2015-09 | - |
dc.identifier.citation | 2015 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), Page. 5345-5350 | en_US |
dc.identifier.isbn | 978-1-4799-9994-1 | - |
dc.identifier.uri | https://ieeexplore.ieee.org/document/7354132 | - |
dc.identifier.uri | https://repository.hanyang.ac.kr/handle/20.500.11754/101469 | - |
dc.description.abstract | This study developed the Hanyang Exoskeleton Assistive Robot (HEXAR)-CR50 aimed at improving muscle strength of the wearer while transporting a load. The developed exoskeleton robot HEXAR-CR50 has 7 degrees of freedom (DOF) for one foot, 3-DOF for the hip joints, 1-DOF for the knee joints, and 3-DOF for the ankle joints. Through functional analysis of each human joint, two DOFs were composed of active joints using an electric motor developed in an under-actuated form with heightened efficiency. The rest of the DOFs were composed of passive or quasi-passive joints to imitate human joints. The control of the exoskeleton robot was based on the physical human-robot interaction. In order to verify the performance of the developed HEXAR-CR50, muscle activity was measured using electromyography, vGRF was measured using F-Scan sensor. The experimental results showed that %MVIC was reduced against the external load applied, while GRF had a decrement rate, compared with the external load when the exoskeleton was worn, which verified the performance in accordance with the development objective of load carrying. A muscle strength augment effect from the developed wearable robot was verified. © 2015 IEEE. | en_US |
dc.description.sponsorship | This work was supported by the Duel-Use Technology Program of MOTIE/DAPA/CMTC.[13-DU-MC-16], and the National Research Foundation of Korea(NRF) grant funded by the Korea government(MEST).(No.NRF-2015R1A2A2A01002887) | en_US |
dc.language.iso | en_US | en_US |
dc.publisher | Institute of Electrical and Electronics Engineers Inc. | en_US |
dc.subject | Exoskeletons | en_US |
dc.subject | Knee | en_US |
dc.subject | Legged locomotion | en_US |
dc.subject | Robot sensing systems | en_US |
dc.subject | Springs | en_US |
dc.subject | Torque | en_US |
dc.title | Development of a Lower Extremity Exoskeleton Robot with a `Quasi-anthropomorphic Design Approach for Load Carriage | en_US |
dc.type | Article | en_US |
dc.identifier.doi | 10.1109/IROS.2015.7354132 | - |
dc.relation.page | 5345-5350 | - |
dc.contributor.googleauthor | Lim, D | - |
dc.contributor.googleauthor | Kim, W | - |
dc.contributor.googleauthor | Lee, H | - |
dc.contributor.googleauthor | Kim, H | - |
dc.contributor.googleauthor | Shin, K | - |
dc.contributor.googleauthor | Park, T | - |
dc.contributor.googleauthor | Lee, J | - |
dc.contributor.googleauthor | Han, C | - |
dc.sector.campus | E | - |
dc.sector.daehak | COLLEGE OF ENGINEERING SCIENCES[E] | - |
dc.sector.department | DEPARTMENT OF ROBOT ENGINEERING | - |
dc.identifier.pid | cshan | - |
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