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하반신 마비환자를 위한 동력보행보조기의 퍼지제어 기법 개발
강성재(Sung Jae Kang),류제청(Jei Cheong Ryu),김규석(Gyu Suk Kim),김영호(Young Ho Kim),문무성(Mu Seong Mun) 제어로봇시스템학회 2009 제어·로봇·시스템학회 논문지 Vol.15 No.2
In this study, we wolud be developed the fuzzy controlled PGO that controlled the flexion and the extension of each PGO’S hip joint using the bio-signal and FSR sensor. The PGO driving system is to couple the right and left sides of the orthosis by specially designed hip joints and pelvic section. This driving system consists of the orthosis, sensor, control system. An air supply system of muscle is composed of an air compressor, 2-way solenoid valve (MAC, USA), accumulator, pressure sensor. Role of this system provide air muscle with the compressed air at hip joint constantly. According to output signal of EMG sensor and foot sensor, air muscles and assists the flexion of hip joint during PGO gait. As a results, the maximum hip flexion angles of RGO’s gait and PGO’s gait were about 16° and 57° respectively. The maximum angle of flexion/extention in hip joint of the patients during RGO’s gait are smaller than normal gait, because of the step length of them shoes a little bit. But maximum angle of flexion/extention in hip joint of the patients during PGO’s gait are larger than normal gait.
조현석,박진국,김규석,문무성,김창부,Cho, Hyeon-Seok,Park, Jin-Kook,Kim, Gyoo-Seok,Mun, Mu-Sung,Kim, Chang-Boo 대한기계학회 2015 대한기계학회 논문집. Transactions of the KSME. C, 산업기술과 혁신 Vol.3 No.2
하반신 마비환자가 스키를 탈 수 있도록 고안된 모노스키는 스키 플레이트 위에 좌석이 설치된 형태의 썰매이다. 스키를 탈 때 설면으로부터 전달되는 충격은 정상인의 경우 다리관절의 거동에 의하여 흡수되지만 모노스키의 경우에는 좌석에 탑승한 인체에 그대로 전달된다. 상용화된 대부분의 모노스키에는 이를 보완하기 위하여 스키 마운트와 시트 간에 링크 메커니즘과 충격완충장치가 설치되어 있다. 본 연구에서는 유압 실린더가 장착된 모노스키의 주행 시뮬레이션을 수행하고 불규칙한 표면 주행 중 발생하는 진동 충격 가속도를 분석하여 탑승자의 안락감을 평가할 수 있는 모델을 개발하였다. 안락감 평가방법은 국제 규격인 BS6841 을 사용하였다. 개발 모델을 이용하여 유압 완충장치의 노즐조절에 따른 안락감을 평가하였다. The mono-ski for the paraplegia designed to skiing is formed as seat bucket on the sled. The impact force transferred by snow surface during skiing is absorbed by the leg joints of normal human, but it is transferred to the human body on the seat when using mono-ski. Most of commercially available mono-ski have absorbing device and link mechanism between seat and ski mount in order to complement it. In this study we developed the comfort evaluation model that could provide skiing simulation of mono-ski with hydraulic damper and analyzed vibrational acceleration occurred during skiing uneven surface. The evaluation method used in this study is the international standard BS6841. We evaluated comfort performance of mono-ski in accordance with nozzle adjustment of hydraulic damper.
최혁재(Hyuk Jae Choi),강성재(Sung Jae Kang),권칠용(Chil Yong Kwon),류제청(Jei Cheong Ryu),이석민(Suk Min Lee),문무성(Mu Seong Mun) 제어로봇시스템학회 2010 제어·로봇·시스템학회 논문지 Vol.16 No.9
In this study, the control method of assistive robot was developed for the elderly. The control method of gait-assistant-robot was proposed considering the change of COP (Center of Pelves), BOS (Base of Support) and comparative analysis of the moving velocity for the elderly. We analyzed the movement of COP of the body and its velocity of the elderly equipped with manual walker and gait-assistant-robot. As a result, change in COP was greater from left to right than from anterior to posterior; also, the average velocity of the movement of COP and manual walker for manual walker gait was 0.7(m/s). Therefore, it is necessary to concern more on the left-right balance and synchronization of the velocity of COP.