• 한국정밀공학회:학술대회논문집
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• 한국정밀공학회 2004년도 추계학술대회 논문집
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• pp.1166-1171
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• 2004

In this study, the concept of autonomous mobility is applied to a gait support mobile robot. The aim of the development of the service robot is to assist the elderly with gait rehabilitation. This study proposes an ergonomic service robot design parameter. The gait assistant path pattern is derived from analysis of the elderly gait. A lever is installed in the AMR in order to measure both the pulling force and the leading force of the elderly. The path generation of the mobile robot is developed through consideration and analysis of elderly gait patterns. The ergonomic design parameters (dimensions, action scope and working space) are determined based on moving scope of the elderly. The gait assistant mobile robot was offered the elderly guide service and internet service based on the ergonomic design parameters.

• 한국정밀공학회:학술대회논문집
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• 한국정밀공학회 2011년도 춘계학술대회 논문집
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• pp.1437-1438
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• 2011

• 제어로봇시스템학회논문지
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• 제16권9호
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• pp.823-826
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• 2010

In this study, the control method of assistive robot was developed for the elderly. The control method of gait-assistant-robot was proposed considering the change of COP (Center of Pelves), BOS (Base of Support) and comparative analysis of the moving velocity for the elderly. We analyzed the movement of COP of the body and its velocity of the elderly equipped with manual walker and gait-assistant-robot. As a result, change in COP was greater from left to right than from anterior to posterior; also, the average velocity of the movement of COP and manual walker for manual walker gait was 0.7(m/s). Therefore, it is necessary to concern more on the left-right balance and synchronization of the velocity of COP.

• 한국정밀공학회:학술대회논문집
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• 한국정밀공학회 2011년도 춘계학술대회 논문집
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• pp.959-960
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• 2011

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 2003년도 ICCAS
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• pp.2660-2664
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• 2003

In this study, the concept of autonomous mobility is applied to a medical service robot. The aim of the development of the service robot is for the elderly assisting walking rehabilitation. This study aims that the service robot design parameter is proposed in ergonomic view. The walking assistant path pattern is derived from analyzing the elderly gait analysis. A lever is installed in the AMR in order to measure the pulling force and the leading force of the elderly. A lever mechanism is applied for walking assistant service of the AMR. This lever is designed for measuring the leading force of the elderly. The elderly adjusts the velocity of the robot by applying force to the lever. The action scope and the service mechanism of the robot are developed for considering and analyzing the elderly action patterns. The ergonomic design parameters, that is, dimensions, action scope and working space are determined based on the elderly moving scope. The gait information is acquired by measuring the guide lever force by load cells and working pattern by the electromyography signal.