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Development of Knee Joint Robot for Students Becoming Therapist
Yoshifumi Morita,Yuki Kawai,Yusuke Hayashi,Tatsuya Hirano,Hiroyuki Ukai,Kouji Sanaka,Hironori Nakamuta,Keiko Takao 제어로봇시스템학회 2010 제어로봇시스템학회 국제학술대회 논문집 Vol.2010 No.10
The authors are developing a knee joint robot as an educational tool for students becoming physical therapist (PT) or occupational therapist (OT). The robot can simulate some problems of a knee joint, such as range of motion trouble, contracture, rigidity, spasticity and so on. The robot has a knee joint mechanism to realize not only flexion/extension movement but also inner/outer rotation movement, which is based on the idea of rolling, sliding and coming off movement. In addition the robot has the wire drive system to control the knee joint passive movement. In this paper we design optimal arrangement of four pulleys in the wire drive system by introducing performance indices. In addition we design control algorithms to imitate two kinds of knee joint troubles and verify the effectiveness by fundamental experiments.