• Title/Summary/Keyword: Exoskeleton robot

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Optimization of Ground Contact Model of Ankleless Lower Exoskeleton Robot for Gait Simulation (보행 모의 실험을 위한 발목 없는 하지 외골격 로봇의 지면 접촉 모델 최적화)

  • Gimyeong Choi;Sanghyung Kim;Changhyun Cho
    • The Journal of Korea Robotics Society
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    • v.18 no.4
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    • pp.481-486
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    • 2023

  • The purpose of this study is to optimize parameters of a contact model to obtain similar ground contact force of human walking. Dynamic walking simulation considering ground contact is performed to determine load specifications when developing walking assist robots. Large contact forces that are not observed in actual experimental data occur during the simulation at the initial contact (e.g., heel contact). The large contact force generates unrealistic large joint torques. A lower exoskeleton robot with no ankles is developed with the Matlab simscape and the nonlinear hyper volumetric contact model is applied. Parameters of the nonlinear hyper volumetric model were optimized using actual walking contact force data. As a result of optimization, it was possible to obtain a contact force pattern similar to actual walking by removing the large contact force generated during initial contact.

  • https://doi.org/10.7746/jkros.2023.18.4.481 인용 PDF

Wearable Robot Design for Industrial Application (산업현장 적용을 위한 착용식 근력증강 로봇의 설계)

  • Ha, Tae-Jun;Lee, Ji-Seok;Back, Sung-Hun;Kim, Seok-Hwan;Lee, Jung-Yeob
    • Journal of the Korean Society for Precision Engineering
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    • v.29 no.4
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    • pp.433-440
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    • 2012

  • Various studies to improve the physical abilities of the human have been steadily continued from the past to the present. Only recently such technology has been realized, and those are expected to replace or complement human beings in large part. In this paper, the current status of developed wearable robots is investigated and studies were conducted in order to apply the types of robots in industry spot. In order to apply wearable exoskeleton robot to industry which enhances human physical capability, driving range of the robot's degrees of freedom were selected by analyzing working motion, and augmentative exoskeleton structure design process is presented by analyzing require torque and power during selected working motion. At the end of this paper, the designed mock-up is introduced to validate the feasibility of designed robot.

  • https://doi.org/10.7736/KSPE.2012.29.4.433 인용 PDF KSCI

A Study on Control of Walking Assistance Robot for Hemiplegia Patients with EMG Signal (EMG 신호로 반신불수 환자의 보행 보조로봇 제어에 관한 연구)

  • Shin, D.S.;Lee, D.H.
    • Journal of rehabilitation welfare engineering & assistive technology
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    • v.7 no.2
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    • pp.55-62
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    • 2013

  • The exoskeleton robot to assist walking of hemiplegia patients or disabled persons has been studied in this paper. The exoskeleton robot with degrees of freedom of 2 axis has been developed and tested for joint motion. The obtained EMG signal from normal person was analyzed and the control signal was extracted from it for convenient and automotive performance of assistance robot to help hemiplegia patient walks as normal person does. the purpose of using FES(Functional Electrical Stimulation) for hemiplegia patient's walk is to restore damaged body function by this, but this could give fatal electrical shock to patients by wrong use or cause quick fatigue in muscle by continuous stimulation. The convenient movement of hemiplegia patients with minimum muscle fatigue was looked possibly by operation of assistance robot exoskeleton using control signal. and the walking assistance exoskeleton robot seemed works more efficiently than using FES stimulator. The experiment in this study was performed based on usual motion in our life like walking, standing-up, sitting-down, and particularly feedback control system using Piezo sensor along with button switch was applied for smooth swing motion in walking. The experiment also shows that hemiplegia patients can move conveniently by using electromyogram signal of healthy leg for the operation signal of assistance robot system attached at damaged symmetrical leg.

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Development of Command Signal Generating Method for Assistive Wearable Robot of the Human Upper Extremity (상지 근력지원용 웨어러블 로봇을 위한 명령신호 생성 기법 개발)

  • Lee, Hee-Don;Yu, Seung-Nam;Lee, Seung-Hoon;Jang, Jae-Ho;Han, Jung-Soo;Han, Chang-Soo
    • Journal of Institute of Control, Robotics and Systems
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    • v.15 no.2
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    • pp.176-183
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    • 2009

  • This paper proposes command signal generating method for a wearable robot using the force as the input signal. The basic concept of this system pursues the combination of the natural and sophisticated intelligence of human with the powerful motion capability of the robot. We define a task for the command signal generation to operate with the human body simultaneously, paying attention to comfort and ease of wear. In this study, we suggest a basic exoskeleton experimental system to evaluate a HRI(Human Robot Interface), selecting interfaces of arm braces on both wrists and a weight harness on the torso to connect the robot and human. We develop the HRI to provide a command for the robot motion. It connects between the human and the robot with the multi-axis load-cell, and it measures the relative force between the human and the robot. The control system calculates the trajectory of end-effector using this force signal. In this paper, we verify the performance of proposed system through the motion of elbow E/F(Extension/Flexion), the shoulder E/F and the shoulder Ab/Ad (Abduction/Adduction).

  • https://doi.org/10.5302/J.ICROS.2009.15.2.176 인용 PDF KSCI