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

  • 제16권10호
  • /
  • Pages.933-938
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  • 2010
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  • 1976-5622(pISSN)
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  • 2233-4335(eISSN)
제어로봇시스템학회 (Institute of Control, Robotics and Systems)
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보행보조 재활로봇의 센서 시스템 구성 및 사용자 의도 감지 알고리즘

Organization of Sensor System and User's Intent Detection Algorithm for Rehabilitation Robot

  • 정준영 (과학기술연합대학원대학교 지능형로봇공학) ;
  • 박현섭 (한국생산기술연구원 지능형로봇연구부) ;
  • 이덕연 (한국생산기술연구원 지능형로봇연구부) ;
  • 장인훈 (한국생산기술연구원 지능형로봇연구부) ;
  • 이동욱 (한국생산기술연구원 지능형로봇연구부) ;
  • 이호길 (한국생산기술연구원 지능형로봇연구부)
  • 투고 : 2010.06.10
  • 심사 : 2010.07.20
  • 발행 : 2010.10.01
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초록

In this paper, we propose the organization of a sensor system and user's intent detection algorithm for walking assist rehabilitation robots. The main purpose of walking assist rehabilitation robots is assisting SCI patients to walk in normal environment. To use walking assist rehabilitation robot in normal environment, it is needed to consider various factors about user's safety and detection of user's intent and so on. For these purposes, we have analyzed the use case of rehabilitation robots and organized the system of sensors for walking assist rehabilitation robots and finally, we have developed the algorithm which is used to detect user's intent for those. We applied our proposal method in the rehabilitation robot, ROBIN, and verified their effectiveness by normal, not patient.

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참고문헌

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