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하지 부분마비 장애인을 위한 착용형 로봇의 보행 보조 방법
우한승,이장목,공경철 한국로봇학회 2017 로봇학회 논문지 Vol.12 No.2
An important characteristic of people with partially impaired walking ability, such as incomplete paraplegics, is that they are able to generate voluntary motion of lower-limbs. Therefore, wearable robots for the incomplete paraplegic patients require a different assistance method compared to those of complete paraplegics. First, the wearable robot should be controlled to not resist wearer’s motion. Second, it should be able to generate assistive torque accurately when needed. In this paper, a wearable robot, called EROWA, for the incomplete paraplegic patients is introduced. EROWA utilizes compact rotary series elastic actuators (cRSEAs) and a control method called the zero impedance control to reduce the mechanical resistance. An assistive torque trajectory is proposed to assist gait in this paper. The proposed method is verified by simulation and experimental studies.
시변 상보필터와 보행상태 추정을 이용한 경골의 기울어짐 각도추정
송석기,우한승,공경철,Song, Seok-ki,Woo, Hanseung,Kong, Kyoungchul 제어로봇시스템학회 2015 제어·로봇·시스템학회 논문지 Vol.21 No.10
Recent studies on ankle-foot prostheses used for transtibial amputees have focused on the adaptation of the ankle angle of the prosthesis according to ground conditions. For adaptation to various ground conditions (e.g., incline, decline, and step conditions), ankle-foot prostheses should first recognize the ground conditions as well as the current human motion pattern. For this purpose, the ground reaction forces and orientation angle of the tibia provide fundamental information. The measurement of the orientation angle, however, creates a challenge in practice. Although various sensors, such as accelerometers and gyroscopes, can be utilized to measure the orientation angles of the prosthesis, none of these sensors can be solely used due to their intrinsic drawbacks. In this paper, a time-varying complementary filtering (TVCF) method is proposed to incorporate the measurements from an accelerometer and a gyroscope to obtain a precise orientation angle. The cut-off frequency of TVCF is adaptively determined according to the human gait phase detected by a fuzzy logic algorithm. The performance of the proposed method is verified through experiments.
Mingoo Jeong,우한승,공경철 제어·로봇·시스템학회 2020 International Journal of Control, Automation, and Vol.18 No.1
An exoskeletal robot can assist the movement of target joints effectively, but the eccentricity in the center of gravity caused by wearing an exoskeletal robot causes an imbalance problem. Such a side effect causes unnatural posture and additional effort for the wearer to maintain the body balance. To minimize the side effect, this paper proposes a control method of an exoskeletal robot to assist a certain target motion with body weight support and balance maintenance functions at the same time. The exoskeletal robot used in this study measures the center of pressure on the wearer’s feet in real-time using air pressure sensors embedded in the soles of the shoes. Then the proposed control method determines the direction of the assistive force to assist the wearers balancing. The desired assistance torque required for realizing the proposed assistance method is precisely generated by series elastic actuators installed at the hip and knee joints of the exoskeletal robot. In the experiments, an assistance effect is verified by measuring the EMG signals of the six lower-limb muscles that are mainly involved in the target movement. This paper also introduces the experimental results that show the proposed assistive method reduces the EMG signal in five muscles, and reduces the variation of the COP movement compared to the case where only the body weight support method is applied in the control of the exoskeletal robot. These demonstrate that the proposed assistance method effectively assists in balancing and body weight supporting effectively.
시변 상보필터와 보행상태 추정을 이용한 경골의 기울어짐 각도추정
송석기(Seok-ki Song),우한승(Hanseung Woo),공경철(Kyoungchul Kong) 제어로봇시스템학회 2015 제어·로봇·시스템학회 논문지 Vol.18 No.12
Recent studies on ankle-foot prostheses used for transtibial amputees have focused on the adaptation of the ankle angle of the prosthesis according to ground conditions. For adaptation to various ground conditions (e.g., incline, decline, and step conditions), ankle-foot prostheses should first recognize the ground conditions as well as the current human motion pattern. For this purpose, the ground reaction forces and orientation angle of the tibia provide fundamental information. The measurement of the orientation angle, however, creates a challenge in practice. Although various sensors, such as accelerometers and gyroscopes, can be utilized to measure the orientation angles of the prosthesis, none of these sensors can be solely used due to their intrinsic drawbacks. In this paper, a time-varying complementary filtering (TVCF) method is proposed to incorporate the measurements from an accelerometer and a gyroscope to obtain a precise orientation angle. The cut-off frequency of TVCF is adaptively determined according to the human gait phase detected by a fuzzy logic algorithm. The performance of the proposed method is verified through experiments.
다양한 보행 및 하중조건에서 하중을 지지하는 외골격 로봇의 무릎관절 가변강성 메커니즘 설계
권철민(Cheolmin Kwon),정민구(Mingu Jung),우한승(Hanseung Woo) 대한기계학회 2018 대한기계학회 춘추학술대회 Vol.2018 No.12
Load-carrying exoskeleton robots reduce the burden of a human carrying a heavy load. By controlling the joint torque of the robot to minimize the interaction force between the wearer and the robot, the human can move with the minimal burden due to the load. Active actuators have been widely utilized for exoskeleton robots in many previous works. In this paper, a knee joint variable-stiffness-mechanism (VSM) of an exoskeleton robot is proposed to minimize the interaction force between a human and a robot under various walking speeds and load conditions. The VSM includes a linear spring and a variable length moment arm structure. The end of the moment arm structure is connected to the spring that elongates when the knee joint angle is extended. The spring tension generates a knee joint torque that supports the load. Although the spring coefficient of the linear spring is constant, the angular stiffness of the knee joint is changed as the length of the moment arm can be changed.