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Design Methodology of Lower Extremity Exoskeleton System using Kinematic and Dynamic Perfromance

Title
Design Methodology of Lower Extremity Exoskeleton System using Kinematic and Dynamic Perfromance
Author
황순웅
Advisor(s)
한창수
Issue Date
2016-02
Publisher
한양대학교
Degree
Doctor
Abstract
In this study, a design methodology using mechanical and dynamic performance to increase the muscular strength of a lower extremity exoskeleton robot for load transportation was researched. The design was divided into two parts. The first part involved a design method for creating the most appropriate structure for the human body, and the second part involved an analysis of the stability of the exoskeleton robot system and provided an analytical description of a design method for minimizing the action force of humans. To attach an exoskeleton robot to a human body, the mechanical design must produce a robot structure that is as similar to the human body as possible. For this purpose, a mathematical model was proposed based on differential geometry, the Lie group theory, and the Riemannian metric. With this model, human-robot kinematic synchronization (HRKS), which is a performance indicator for measuring synchronization between humans and robots, was derived, using the harmonic mapping theory that measures the mapping performance between Riemannian manifolds. As a result, it is possible to measure and compare the mapping performance between human joint space and the exoskeleton robot using a Riemannian manifold structure and the end-effector space. Therefore, the exoskeleton robot can be designed by comparing various forms of mechanical structures for exoskeleton robots with the mechanical structures of humans. Through an analysis of the human gait on the sagittal plane, the hip and knee joints were determined to be active forms, and the ankle joint was determined to be a quasi-passive form. Thus, the exoskeleton robot has an under-actuated form and is unstable in the initial design. Design variables must be determined by stability analyses for the robot to satisfy the stability requirement. The reason that stability is analyzed using nonlinear control theory is to analytically understand the action force of humans and to minimize it. Because this action force is associated with the mass and inertia of the robot link, inertial parameter variations (IPVs) are used as a performance indicator and are derived to minimize it. The design variable that minimizes this performance indicator was found using an optimization algorithm, and the possibility of reducing action force was demonstrated.
URI
https://repository.hanyang.ac.kr/handle/20.500.11754/127095http://hanyang.dcollection.net/common/orgView/200000427976
Appears in Collections:
GRADUATE SCHOOL[S](대학원) > MECHATRONICS ENGINEERING(메카트로닉스공학과) > Theses (Ph.D.)
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