Journal of Institute of Control, Robotics and Systems (제어로봇시스템학회논문지)

Institute of Control, Robotics and Systems (제어로봇시스템학회)
권호 표지
DOI QR코드

DOI QR Code

Design and Experiment of an Assistive Device for a Knee Joint of a Disabled Person Using an MR Damper

MR 댐퍼를 이용한 장애인의 무릎관절 보조 장치 설계 및 실험

  • 전형진 (충남대학교 메카트로닉스공학과) ;
  • 정슬 (충남대학교 메카트로닉스공학과)
  • Received : 2009.12.15
  • Accepted : 2010.03.26
  • Published : 2010.06.01
Download PDF
⟨ Previous Next ⟩

Abstract

In this paper, an assistive device for a knee joint to help a disabled person to stand up by supporting power is presented. The device is designed and controlled by using damping characteristics of the MR (Magneto-Rheological) damper. The MR damper helps the person to sit slowly and safely. A DC motor supports muscle power in the case of standing motion. Thus the device helps the disabled person to sit down and stand up. Through the experiments, it is feasible that an assistive device can help the disabled person to standup according to the foot pressure change.

Keywords

References

  1. H. Kazerooni, J.-L. Racine, L. Huang, and R. Steger, "On the control of the BLEEX (Berkeley Lower Extremity Exoskeleton)," IEEE International Conference on Robotics and Automation, pp. 4353-4360, April 2005.
  2. S. Lee and Y. Sankai, "Power assist control for walking aid with HAL-3 based on EMG and impedance adjustment around knee joint," IEEE/RSJ International Conference, Intelligent Robots and System, vol. 2, pp. 1499-1504, Oct. 2002. https://doi.org/10.1109/IRDS.2002.1043967
  3. K. C. Kong and D. Y. Jeon, "Design and control of an exoskeleton for the elderly and patients," IEEE/ASME Transactions on Mechatronics, vol. 11, no. 4, pp. 428-432, 2006. https://doi.org/10.1109/TMECH.2006.878550
  4. T. Yamada and S.-I. Demura, "Influence of the relative difference in chair seat height according to different lower thigh length on floor reaction force and lower-limb strength during sit-to-stand movement," Journal of Physiol Anthropol Appl Human Sci, vol. 23, pp. 197-203, 2004. https://doi.org/10.2114/jpa.23.197
  5. H. Kawamoto and Y. Sankai, "Power assist method based on phase sequence driven by interaction between human and robot suit," IEEE, Robot and Human Interactive Communication, pp. 491-496, Sep. 2004.
  6. 김현근, "지능형 보행보조기기 개발을 위한 외골격 설계 및 앉기/서기 제어에 관한 연구," 서강대학교 대학원 석사논문, 2003.
  7. H. Kawamoto and Y. Sankai, "Comfortable power assist control method for walking aid by HAL-3," IEEE SMC TP1B2, vol. 4, pp. 9, Oct. 2002. https://doi.org/10.1109/ICSMC.2002.1173328