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이더켓 통신을 기반으로 하는 뇌졸중 환자의 손목 및 피칭 운동이 가능한 재활치료로봇 개발
이효준(H. J. Lee),황희선(H. S. Hwang),윤성조(S. J. Yoon),김종걸(J. G. Kim),이종득(J. D. Lee),박성호(S. H. Park),최영호(Y. H. Choi),최두현(D. H. Choi) 대한전자공학회 2017 대한전자공학회 학술대회 Vol.2017 No.6
A subjective symptom of cerebral apoplexy, also known as stroke, is initially not so severe, to which unattended initial countermeasure can lead to various functional disorders thereafter. Most prominent among the disorders are the motor disturbances of hands and wrists, which can be recovered or improved by repetitive rehabilitation exercise. In case of the wrist rehabilitation exercise, the efficiency increases when combined with motions of bending and stretching the fingers, rather than the separate exercise of the wrist alone. To build a rehabilitation robot with high response speed, an EtherCAT-based control network is configured to apprehend the patient’s intention by using the position information of individual joints, the force and the torque sensor information, thereby creating suitable motions. A control box capable of monitoring and controlling the created motions shall be manufactured and applied to the robot, in order to conduct an evaluation on the stability and effect of the rehabilitation robot developed in this study.