발목굽힘 재활운동을 위한 발목재활로봇 개발

다국어 초록 (Multilingual Abstract)

This paper describes the design of an ankle rehabilitation robot for the force measurement of a severe stroke patient staying in a bed ward. The developed ankle rehabilitation robot was attached to a three-axis force/torque sensor that could detect force Fx, Fz, and torque Tz and measure the ankle rotation force (Fx) exerted on the ankle and the signal force Fz and torque Tz to be used as a safety device. The robot was designed and manufactured for bedridden stroke patients, and the robot program was manufactured to perform the flexibility rehabilitation exercise for ankle bending and to measure the ankle force to judge the degree of rehabilitation. According to the result of the characteristics test of the developed rehabilitation robot, it was safely operated while the ankle-bending flexibility rehabilitation exercise and the emergency situation were performed. Therefore, it is thought that the developed rehabilitation robot can be used for severe stroke patients.

목차 (Table of Contents)

• Abstract
• I. 서론
• II. 3축 힘/토크센서의 설계 및 제작
• III. 고속제어장치의 설계 및 제작
• IV. 발목재활로봇의 개발 및 특성실험
• V. 결론
• REFERENCES

참고문헌 (Reference)

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