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이경섭(Kyoung-Soub Lee),박정호(Jeong-Ho Park),박형순(Hyung-Soon Park) 대한기계학회 2017 大韓機械學會論文集B Vol.41 No.8
본 논문에서는 다양한 견관절 장애 증상에 적용할 수 있는 보급형 상지 재활 로봇의 설계를 다룬다. 견관절의 회전에 수반되는 관절 중심의 위치변화를 추종하고, 사용자의 상지와 장치의 무게를 상쇄하는 3자유도 견관절 추종 및 중력보상 메커니즘을 구현하였다. 다양한 방향의 어깨 재활 동작을 구현할 수 있도록 구동축의 방향을 변환하는 메커니즘을 설계하여, 견관절에 대한 구동기의 상대적인 오리엔테이션을 변화시킴으로써 대표적인 5가지 견관절 동작을 수행할 수 있었다. 동시에 재활 운동 중의 견관절의 위치 변화를 추종하여 자연스러운 견관절 운동을 구현할 수 있었다. 최소의 구동기를 사용하는 보급형 로봇으로도 다양한 견관절 질환에 효과적으로 대응할 수 있음을 확인하였다. This paper presents a low-cost robotic device for shoulder rehabilitation, which is capable of treating various shoulder disabilities. A 3-DOF passive shoulder joint tracking module was designed to allow for translational motion of the shoulder joint center during arm swing, which is essential for natural shoulder movement. The weight of the user"s arm and the device were compensated for by springs, to enable gravity-free shoulder motion. In order to reduce the device"s cost, only one actuator was used, which can be aligned with the user"s shoulder joint in various orientations. The device is capable of implementing five representative shoulder motions, including flexion/extension, abduction/adduction, horizontal abd/adduction, internal/external rotation, and oblique raise. The proposed low-cost shoulder rehabilitation robot is expected to provide effective rehabilitation for patients with various shoulder impairments.
로봇을 통한 자연스러운 팔 동작 재활을 위한 수동형 어깨 관절 추종 장치의 설계
박정호(Jeong-Ho Park),이경섭(Kyoung-Soub Lee),채상훈(Sang-Hoon Chae),하도경(Do-Kyeong Ha),김동현(Dong-Hyun Kim),박형순(Hyung-Soon Park) 대한기계학회 2015 대한기계학회 춘추학술대회 Vol.2015 No.11
This paper aims to present development of a passive shoulder joint tracking device for shoulder rehabilitation robots able to support natural arm motion. Allowing three-dimensional translation of shoulder joint is important for rehabilitation robots to support natural arm motions. For patients suffered by various shoulder diseases, in addition, supporting weight (i.e. compensating gravity) of their upper limbs is also needed to let them move their arm freely. Unfortunately, most commercial robots for shoulder rehabilitation are unable to support natural arm motion by restricting the movement of shoulder joint. In our laboratory, three degree-of-freedom (DOF) passive shoulder joint tracking device has been developed. The proposed device is composed of single DOF vertical tracker simultaneously compensating gravity of upper limb by a spring and two DOF horizontal tracker. Because the device works completely in a passive manner, it is featured as simple structure, light-weight and low cost. Due to its simplicity, it can be easily combined to existing shoulder rehabilitation devices. In this paper, at first, design of the first version of the device is described briefly. Second, as a proof of concept, its shoulder joint tracking performance is evaluated through motion analysis of upper limb with one healthy subject. Last, improved design of gravity compensating mechanism for better performance and easier adjustment is described.