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노약자의 팔꿈치 거동 지원을 위한 착용형 로봇 개발
Development of Wearable Robot for Elbow Motion Assistance of Elderly

장혜연   (한양대학교 기계공학과UU0001519  ); 한창수   (한양대학교 대학원 기계공학과UU0001519  ); 김태식   (한양대학교 대학원 기계공학과UU0001519  ); 장재호   (한양대학교 대학원 기계공학과UU0001519  ); 한정수   (한성대학교 기계시스템공학과UU0001508  );
  • 초록

    The purpose of this study is to develop the algorithm which can control muscle power assist robot especially for elderly. Recently, wearable robots for power assistance are developed by many researchers, and its application fields are also variable such as for medical or military equipment. However, there are many technical barriers to develop the wearable robot. This study suggest a control method improving performance of a wearable robot system by using a EMG signal of major muscles and a force sensor signal as command signal of system. The result of the robot Prototype efficiency experiment, the case of Maximum Isometric motion it suggest 100% power of muscle, the man need only 66% of MVIC(Maximum Voluntary Isometric Contraction) to lift 5kg dumbbell without robot assist. However the man needs only 52% of MVIC to lift 5kg dumbbell with robot assist. Therefore 20% muscle power increased with robot assist. Also, we designed light weight robot mechanism that extract the command signal verified and drive the wanted motions.


  • 주제어

    착용형 로봇 .   표면근전도 .   힘센서 .   근력보조 .   동기신호.  

  • 참고문헌 (7)

    1. Munih, M., Ponikvar, M. and Bajd, T., "Activity of arm muscles during machine therapeutic exercise," $9^{TH}$ Annual Conference of the International FES Society, 2004 
    2. Peng, P., Kevin, M., Lynch, M., Peshkin, A. and Colgate. J. E., "Human Interaction with Passive Assistive Robots," Proceedings of the IEEE 9th International Conference on Rehabilitation Robotics, pp. 264-268, 2005 
    3. Kazerooni, H. and Mahoney, S. L., "Dynamics and Control of Robotic Systems Worn by Humans," Proceedings of the IEEE International Conference on Robotics and Automation Sacramento, pp. 2399-2405, 1991 
    4. Ahn, J. S., Jang, J. H., Han, J. S., Han, C. S. and Ahn, J. Y., "Experimental Study for Measuring Range of Motion and Electromyography Signal During Selective Daily Activities in Upper Extermity for Elderly," Spring Conference of Korea Society of Precision Engineering(Part of bio-mechanics), pp. 17-21, 2005 
    5. Kawamoto, H. and Sankai, Y., "Comfortable Power Assist Control Method for Walking Aid by HAL-3," Systems, Man and Cybernetics, IEEE International Conference, Vol. 4, pp. 6-11, 2002 
    6. Zatsiosky, V., "The Mass and Inertia Characteristics of the Main Segments of the Human Body," Biomechanics, VIII-B, pp. 1152-1159, 1983 
    7. Kazerooni, H., "Human/Robot Interaction via the Transfer of Power and Information Signals, Part1: Dynamics and Control Analysis," Proceedings of the IEEE Transactions on Systems and Cybernetics, Vol. 20, No. 2, pp. 450-463, 1990 
  • 이 논문을 인용한 문헌 (3)

    1. Lee, Young-Su ; Hong, Sung-Jun ; Jang, Hye-Yeon ; Jang, Jae-Ho ; Han, Chang-Su ; Han, Jung-Su 2009. "Redundant Design of Wearable Robot Mechanism for Upper Arm" 한국정밀공학회지 = Journal of the Korean Society of Precision Engineering, 26(7): 134~141     
    2. Jang, Hye-Youn ; Kim, Wan-Soo ; Han, Jung-Soo ; Han, Chang-Soo 2011. "Joint Torque Estimation of Elbow joint using Neural Network Back Propagation Theory" 한국정밀공학회지 = Journal of the Korean Society of Precision Engineering, 28(6): 670~677     
    3. Kang, Seung Rok ; Jeong, Gu Young ; Bae, Jong Jin ; Min, Jin Young ; Yu, Chang Ho ; Kim, Jung Ja ; Kwon, Tae Kyu 2013. "Effect of Muscle Function and Muscular Reaction of Knee Joint in the Twenties on the Whole Body Vibration Exercise" 한국정밀공학회지 = Journal of the Korean Society of Precision Engineering, 30(7): 762~768     

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