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Design of an 1 DOF Assistive Knee Joint for a Gait Rehabilitation Robot

보행 재활 로봇 개발을 위한 1자유도 무릎 관절 설계

  • Lee, Sanghyeop (University of Science and Technology (UST)) ;
  • Shin, Sung Yul (Center for Bionics, Korea Institute of Science and Technology) ;
  • Lee, Jun Won (Center for Bionics, Korea Institute of Science and Technology) ;
  • Kim, Changhwan (Center for Bionics, Korea Institute of Science and Technology)
  • Received : 2012.09.04
  • Accepted : 2013.01.12
  • Published : 2013.02.28

Abstract

One of the important issues for structural and electrical specifications in developing a robot is to determine lengths of links and motor specifications, which need to be appropriate to the purpose of robot. These issues become more critical for a gait rehabilitation robot, since a patient wears the robot. Prior to developing an entire gait rehabilitation robot, designing of a 1DOF assistive knee joint of the robot is considered in this paper. Human gait motions were used to determine an allowable range of knee joint that was rotated with a linear type actuator (ball-screw type) and links. The lengths of each link were determined by using an optimization process, minimizing the stroke of actuator and the total energy (kinetic and potential energy). Kinetic analysis was performed in order to determine maximum rotational speed and maximum torque of the motor for tracking gait trajectory properly. The prototype of 1 DOF assistive knee joint was built and examined with a impedance controller.

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