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

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

DOI QR Code

Development of a Chest-wearable Walking Rehabilitation Robot

가슴 착용형 보행 재활로봇의 개발

  • Kim, Hyun (Department of Mechanical System Design Engineering, Seoul National University of Science and Technology) ;
  • Kwon, Jeong-Gwan (Department of Mechanical System Design Engineering, Seoul National University of Science and Technology) ;
  • Song, Sang-Young (Department of Mechanical System Design Engineering, Seoul National University of Science and Technology) ;
  • Kang, Seok-Il (Department of Mechanical System Design Engineering, Seoul National University of Science and Technology) ;
  • Kim, Jung-Yup (Department of Mechanical System Design Engineering, Seoul National University of Science and Technology)
  • 김현 (서울과학기술대학교 기계시스템디자인공학과) ;
  • 권정관 (서울과학기술대학교 기계시스템디자인공학과) ;
  • 송상영 (서울과학기술대학교 기계시스템디자인공학과) ;
  • 강석일 (서울과학기술대학교 기계시스템디자인공학과) ;
  • 김정엽 (서울과학기술대학교 기계시스템디자인공학과)
  • Received : 2015.02.15
  • Accepted : 2015.03.15
  • Published : 2015.05.01
Download PDF
⟨ Previous Next ⟩

Abstract

This paper describes the development of a chest-wearable robot that can efficiently perform self walking rehabilitation without a helper. The features of the developed robot are divided into three parts. First, as a mechanical characteristic, the conventional elbow crutch is attached at the forearm. However, the proposed robot is attached to the patient's chest, enabling them to feel free to use their hands and eliminate the burden of the arms. Second, as a characteristic of the driving algorithm, pressure sensors attached to the chest automatically perceive the patient's walking intention and move the robot-leg thereafter. Also, for safety, it stops operating when an obstacle is found in front of the patient by using ultrasonic sensors and generates a beeping sound. Finally, by using the scotch yoke mechanism, supporting legs are moved up and down using a rotary servo motor without excessive torque that is generated by large ground reaction forces. We showed that the developed robot can effectively perform self walking rehabilitation through walking experiments, and its performance was verified using Electromyograph (EMG) sensors.

Keywords

References

  1. L. Lunenburger, G. Colombo, R. Riener, and V. Dietz, "Clinical assessments performed during robotic rehabilitaion by the gait training robot Lokomat," Proc. of the 2005 IEEE 9th Int. Conf. on Rehabilitation Robotics, pp. 345-348, 2005.
  2. J. Hidler, D. Brennan, I. Black, D. Nichols, K. Brady, and T. Nef, "ZeroG: Overground gait and balance Training system," Journal of Rehabilitation Research & Development, vol. 48, no. 4, pp. 287-298, 2011. https://doi.org/10.1682/JRRD.2010.05.0098
  3. H. Schmidt, "Haptic walker - a novel haptic device for walking simulation," Proc. of EuroHaptics 2004, Munich Germany, pp. 60-67, 2004.
  4. J. Yoon, B. Novandy, C. H. Yoon, and K. J. Park, "A 6-dof gait rehabilitation robot with upper and lower limb connections that allows walking velocity updates on various terrains," IEEE/ASME Transactions of Mechatronics, vol. 15, no. 2, pp. 201-215, 2010. https://doi.org/10.1109/TMECH.2010.2040834
  5. T. Qin, L. Zhang, Y. Zou, C. Song, and S. Cheng, "Design and optimization of a footpad-type walking rehabilitation robot," Proc. of 2013 ICME Int. Conf. on Complex Medical Engineering, Beijing, China, pp. 290-295, 2013.
  6. http://kostat.go.kr
  7. http://youtu.be/S8G1vAiHnH4