상지부 착용 외골격시스템의 근력보상 정도에 따른 근피로도 변화에 대한 연구

Changes of muscle fatigue by force compensation using upper limb wearing exoskeleton system

Various applications of exoskeleton system are reported in the area of military, healthcare, and industries. More the user gets help from exoskeleton system, more power is consumed. To resolve this design conflict, we suggest an energy efficient exoskeleton system which compensates muscle fatigue in isotonic and isometric contraction conditions. Fatigue compensated exoskeleton significantly reduced muscle fatigue while consumed less operation power. In addition, the level of fatigue compensation can be managed by motor control using various input profile. It can make user customized exoskeleton system.