동작의도 측정을 위한 센서개발 및 상지웨어러블 로봇개발

Abstract

Robots are recently drawing more and more attention. The robot market is increasing, and the robot is becoming essential across the all industries. In particular, wearable robots are being more focused on. Worn by a human being, the wearable robot supports or aids the human being?s muscular force according to his/her intention, and helps rehabilitation. It helps the human being carry out what has not been possible, or makes what has been possible more easy and convenient. In addition, the wearable robot can help improve the life of the aged, which are now abruptly increasing, and the disabled. Two devices were developed in this study. One was the wearable upper limb robot, and the other was the sensor that measures the motion intention of the human being. The 4-DOF wearable upper limb robot was developed to help upper limb rehabilitation and muscular exercise. In addition, the left-right and motion conversion was fully automated, and the robot was ergonomically designed. The wearable robot has to catch the intention of human motion in order to assist or add to the muscular force of the human being. Many sensors are used to grasp the intention of motion. These sensors include EMG and MSS. However, the existing sensors have many problems. In this study, the problems were addressed to develop a more convenient and comfortably worn sensor. The developed wearable upper limb robot was also actuated using the sensor that was developed in this study for the purpose of verification.