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

  • 제21권5호
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  • Pages.413-420
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  • 2015
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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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힘측정기반 팔꿈치 재활로봇 설계 및 힘제어

Design of an Elbow Rehabilitation Robot based on Force Measurement and its Force Control

  • 김한솔 (경상대학교 제어계측공학과, ERI) ;
  • 김갑순 (경상대학교 제어계측공학과, ERI)
  • Kim, Han-Sol (Department of Control & Instrumentation Engineering, Gyeongsang National University) ;
  • Kim, Gab-Soon (Department of Control & Instrumentation Engineering, Gyeongsang National University)
  • 투고 : 2015.02.15
  • 심사 : 2015.03.15
  • 발행 : 2015.05.01
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초록

This paper describes the design of an elbow rehabilitation robot based on force measurement that enables a severe stroke patient confined to their bed to receive elbow rehabilitation exercises. The developed elbow rehabilitation robot was providewitha two-axis force/torque sensor which can detect force Fz and torque Tz, thereby allowing it to measure therotational force (Tz) exerted on the elbow and the signal force Fz which can be used as a safety device. The robot was designed and manufactured for severe stroke patients confined to bed, and the robot program was manufactured to perform flexibility elbow rehabilitation exercises. Asa result of the characteristics test of the developed rehabilitation robot, the device was safely operated while the elbow rehabilitation exercises were performed. Therefore, it is thought that the developed rehabilitation robot can be used for severe stroke patients.

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참고문헌

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피인용 문헌

  1. Analysis on Rehabilitation of Elbow Joint Using Elastic String vol.26, pp.3, 2016, https://doi.org/10.5391/JKIIS.2016.26.3.196
  2. Analysis on Effective Rehabilitation of Human Arms Using Compliant Strap pp.2005-4092, 2018, https://doi.org/10.1007/s12555-018-0351-z