하지 외골격 로봇을 위한 인솔 센서시스템 및 보행 판단 알고리즘 개발
- Title
- 하지 외골격 로봇을 위한 인솔 센서시스템 및 보행 판단 알고리즘 개발
- Other Titles
- Development of Insole Sensor System and Gait Phase Detection Algorithm for Lower Extremity Exoskeleton
- Author
- 한창수
- Keywords
- Wearable robot sensor (착용형 로봇 센서); Insole sensor (인솔 센서); Gait phase detection (보행 주기 구분); Lower extremity exoskeleton (하지 외골격 로봇); Center of pressure (족 저압 중심)
- Issue Date
- 2015-12
- Publisher
- 한국정밀공학회
- Citation
- 한국정밀공학회지, v. 32, No. 12, Page. 1065-1072
- Abstract
- 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.
- URI
- http://www.dbpia.co.kr/Journal/ArticleDetail/NODE06558640https://repository.hanyang.ac.kr/handle/20.500.11754/102029
- ISSN
- 1225-9071
- Appears in Collections:
- COLLEGE OF ENGINEERING SCIENCES[E](공학대학) > ETC
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