Journal of Internet Computing and Services (인터넷정보학회논문지)

Korean Society for Internet Information (한국인터넷정보학회)
권호 표지
DOI QR코드

DOI QR Code

Joint Angles Analysis of Intelligent upper limb and lower extremities Wheelchair Robot System

지능형 상 · 하지 재활 휠체어 로봇 시스템의 관절각도 분석

  • Received : 2013.07.26
  • Accepted : 2013.10.15
  • Published : 2013.12.31
Download PDF
⟨ Previous Next ⟩

Abstract

When the eldery with limited mobility and disabled use a wheelchairs to move, it can cause decreased exercise ability like decline muscular strength in upper limb and lower extremities. The disabled people suffers with spinal cord injuries or post stroke hemiplegia are easily exposed to secondary problems due to limited mobility. In this paper, We designed intelligent wheelchair robot system for upper limb and lower extremities exercise/rehabilitation considering the characteristics of these severely disabled person. The system consists of an electric wheelchair, biometrics module for Identification characteristics of users, upper limb and lower extremities rehabilitation. In this paper, describes the design and configurations and of developed robot. Also, In order to verify the system function, conduct performance evaluation targeting non-disabled about risk context analysis with biomedical signal change and upper limb and lower extremities rehabilitation over wheelchair robot move. Consequently, it indicate sufficient tracking performance for rehabilitation as at about 86.7% average accuracy for risk context analysis and upper limb angle of 2.5 and lower extremities angle of 2.3 degrees maximum error range of joint angle.

거동이 불편한 노인 및 장애인의 이동을 위한 휠체어 사용 시, 사용하지 않는 상 하지의 근력 저하 등 운동 능력의 감소를 초래할 수 있다. 특히, 척수손상 및 뇌졸중 편마비와 같은 중증 장애인은 거동이 제한되어 운동이 부족하고 근력 유지가 어렵다. 본 논문에서는 이러한 중증 장애인의 특성을 고려하여 상 하지 운동 및 재활훈련이 가능한 지능형 휠체어 로봇 시스템을 설계하였다. 이 시스템은 전동 휠체어, 개인의 특성 파악을 위한 생체인식모듈, 그리고 상 하지 재활 로봇으로 구성되어 있다. 본 논문에서는 개발된 로봇의 설계 및 구성에 대해 설명하고 운용 방법을 제시한다. 또한, 제안한 시스템의 추종 성능을 검증하기 위하여, 비장애인 피험자를 대상으로 재활 운동 수행시 생체 신호 변화에 따른 위험상황 분석과 휠체어 로봇이 이동하면서 상 하지 재활운동 기능에 대한 성능평가를 수행한 결과, 피험자의 재활 운동 수행 시 위험상황 분석에 대한 평균 정확도는 86.7%, 관절각도 최대 오차는 상지 2.5도, 하지 2.3도로 재활 운동 수행에 충분한 추종성능을 나타냈다.

Keywords

References

  1. S. Katsura and K. Ohnishi, "Semiautonomous wheelchair Based on quarry of environmental information," IEEE Trans. on Industrial Electronics Society, Vol. 53, No. 4, pp. 1373-1382, 2006.
  2. Richard Simpson, Edmund LoPresti, Steve Hayashi, ,Illah Nourbakhsh and David Miller, "The Smart Wheelchair Component System," Journal of Rehabilitation Research and Development, Vol. 41, No. 3B, pp. 429-442, 2004. https://doi.org/10.1682/JRRD.2003.03.0032
  3. B. Hwang, Y. Kang, and D. Jeon, "Introduction of the Wearable Robot SUBAR for Lower-Limb Assistance," in proc. of the 26th Japanese Conference on Advancement of Assistive and Rehabilitation Technology(JCAART), 2011.
  4. S. Jezernik, G. Colombo and M. Morari,"Automatic Gait-Pattern Adaptation Algorithms for Rehabilitation With a 4-DOF Robotic Orthosis," IEEE Trans. on Robotics and Autom., vol.20, no.3, pp.574-582, 2004. https://doi.org/10.1109/TRA.2004.825515
  5. Hidler, J., Wisman, W., Neckel, N.,"Kinematic Trajectories while Walking within the Lokomat Robotic Cait-Orthosis," Clinical Biomechanics, Vol.23, No.10, pp.1251-1259, 2008. https://doi.org/10.1016/j.clinbiomech.2008.08.004
  6. Zoss, A. B., Kazerooni, H., Chu, A.,"Biomechanical Design of the Berkley Lower Extremity Exoskeleton (BLEEX)," IEEE/ASME Trans. on Mechatronics, Vol.11, No.2, pp.128-138, 2006. https://doi.org/10.1109/TMECH.2006.871087
  7. Sakurai, T., Sankai, Y.,"Development of Motion Instruction System with Interactive Robot Suit HAL," Proceeding of the IEEE International Conference on Robotics and Biomimetisc, pp.1141-1147, 2009.
  8. Yeon-Suk Choi, Byoung-Tae Park, Yong-Ju Choi, "Design and Implementation of Location Based Silver Town u-Service System," Journal of Korean Society for Internet Information, Vol.11, No.3, pp.53-63, 2010.
  9. Chung-Sub Lee, Chang-Won Jeong, Su-Chong Joo, "Design and Implementation of Process Management Model applying Agent Technology," Journal of Korean Society for Internet Information, Vol.8, No.1, pp.57-70, 2007.
  10. Moohyun Park, Chang-Won Jeong, Su-Chong Joo, "Design of platform supporting for healthcare context information service based on multi-agent," Journal of Korean Society for Internet Information, Vol.9, No.3, pp.9-24, 2008.
  11. Sam-Gyu Lee, "Comparison of Treadmill and Swimming Exercises on the Cognitive Function in Cerebral Infarction Rats," American academy of physical medicine and rehabilitation, 2012.