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Development of an Intelligent Ankle Assistive Robot

지능형 발목 근력 보조 로봇의 개발

  • Jeong, Woo-Chul (Dept. of Mechanical System Design Engineering, Seoul National University of Science and Technology) ;
  • Kim, Chang-Soon (Dept. of Mechanical System Design Engineering, Seoul National University of Science and Technology) ;
  • Park, Jin-Yong (Dept. of Mechanical System Design Engineering, Seoul National University of Science and Technology) ;
  • Hyun, Jung-Guen (Dept. of Mechanical System Design Engineering, Seoul National University of Science and Technology) ;
  • Kim, Jung-Yup (Dept. of Mechanical System Design Engineering, Seoul National University of Science and Technology)
  • 정우철 (서울과학기술대학교 기계시스템디자인공학과) ;
  • 김창순 (서울과학기술대학교 기계시스템디자인공학과) ;
  • 박진용 (서울과학기술대학교 기계시스템디자인공학과) ;
  • 현정근 (서울과학기술대학교 기계시스템디자인공학과) ;
  • 김정엽 (서울과학기술대학교 기계시스템디자인공학과)
  • Received : 2015.02.15
  • Accepted : 2015.03.15
  • Published : 2015.06.01

Abstract

This paper describes an intelligent ankle assistive robot which provides assistive power to reduce ankle torque based on an analysis of ankle motion and muscle patterns during walking on level and sloped floors. The developed robot can assist ankle muscle power by driving an electric geared motor at the exact timing through the use of an accelerometer that detects gait phase and period, and a potentiometer to measure floor slope angle. A simple muscle assistive link mechanism is proposed to convert the motor torque into the foot assistive force. In particular, this mechanism doesn't restrain the wearer's ankle joint; hence, there is no danger of injury if the motor malfunctions. During walking, the link mechanism pushes down the top of the foot to assist the ankle torque, and it can also lift the foot by inversely driving the linkage, so this robot is useful for foot drop patients. The developed robot and control algorithm are experimentally verified through walking experiments and EMG (Electromyography) measurements.

Acknowledgement

Supported by : 서울과학기술대학교

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