한국정밀공학회지 (Journal of the Korean Society for Precision Engineering)

  • 제26권7호
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  • Pages.134-141
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  • 2009
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  • 1225-9071(pISSN)
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  • 2287-8769(eISSN)
한국정밀공학회 (Korean Society for Precision Engineering)
권호 표지

여자유도를 이용한 상지 착용형 로봇의 메커니즘 설계

Redundant Design of Wearable Robot Mechanism for Upper Arm

  • Lee, Young-Su (Department of Precision Engineering, Hanyang Univ.) ;
  • Hong, Sung-Jun (Department of Precision Engineering, Hanyang Univ.) ;
  • Jang, Hye-Yeon (Department of Precision Engineering, Hanyang Univ.) ;
  • Jang, Jae-Ho (Department of Precision Engineering, Hanyang Univ.) ;
  • Han, Chang-Su (Department of Precision Engineering, Hanyang Univ.) ;
  • Han, Jung-Su (Department of Mechanical Systems Engineering, Hansung Univ.)
  • 발행 : 2009.07.01
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초록

Recently, many researchers have tried to develop wearable robots for various fields such as medical and military purposes. We have been studying robotic exoskeletons to assist the motion of persons who have problems with their muscle function in daily activities and rehabilitation. The upper-limb motions (shoulder, elbow and wrist motion) are especially important for such persons to perform daily activities. Generally for shoulder motion 300F is needed to describe its motion(extension/flexion, abduction/adduction, internal/external rotation) but we have used a redundant actuator thus making a 4 DOF system. In this paper, we proposed the mechanism design of the exoskeleton which consists of 4-DOF for shoulder and 1-DOF for elbow robotic exoskeleton to assist upper-limb motion. Then we compared the new mechanism design and prototype mechanism design. Here we also analyze the proposed system kinematically to find out and to avoid the singular point. This research will ensure that the proposed wearable robot system make human's motion more powerfully and more easily.

키워드

참고문헌

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