대한인간공학회지 (Journal of the Ergonomics Society of Korea)

  • 제29권3호
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  • Pages.357-364
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  • 2010
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  • 1229-1684(pISSN)
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  • 2093-8462(eISSN)
대한인간공학회 (Ergonomics Society of Korea)
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무릎근력 지원용 모듈식 웨어러블 시스템 개발

Development of a Modular-type Knee-assistive Wearable System

  • Yu, Seung-Nam (Department of Mechanical Engineering, Hanyang University) ;
  • Han, Jung-Soo (Department of Mechanical System Engineering, Hansung University) ;
  • Han, Chang-Soo (Department of Mechanical Engineering, Hanyang University)
  • 투고 : 2009.03.20
  • 심사 : 2010.04.20
  • 발행 : 2010.06.30
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초록

This study proposes a lower-limb exoskeleton system that is controlled by a wearer's muscle activity. This system is designed by following procedure. First, analyze the muscle activation patterns of human leg while walking. Second, select the adequate actuator to support the human walking based on calculation of required force of knee joint for step walking. Third, unit type knee and ankle orthotics are integrated with selected actuator. Finally, using this knee-assistive system (KAS) and developed muscle stiffness sensors (MSS), the muscle activity pattern of the subject is analyzed while he is walking on the stair. This study proposes an operating algorithm of KAS based on command signal of MSS which is generated by motion intent of human. A healthy and normal subject walked while wearing the developed powered-knee exoskeleton on his/her knees, and measured effectively assisted plantar flexor strength of the subject's knees and those neighboring muscles. Finally, capabilities and feasibility of the KAS are evaluated by testing the adapted motor pattern and the EMG signal variance while walking with exoskeleton. These results shows that developed exoskeleton which controlled by muscle activity could help human's walking acceptably.

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참고문헌

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피인용 문헌

  1. The technical trend of the exoskeleton robot system for human power assistance vol.13, pp.8, 2012, https://doi.org/10.1007/s12541-012-0197-x