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특징점 분석을 이용한 착용형 보행보조 재활로봇의 보행패턴 생성 알고리즘
장인훈(I. H. Jang),정준영(J. Y. Jung),이덕연(D. Y. Lee),이동욱(D. W. Lee),이호길(H. K. Lee),박현섭(H. S. Park) 한국재활복지공학회 2010 한국재활복지공학회 학술대회논문집 Vol.2010 No.11
In this paper, we focus on the method to generate gait pattern for robotic orthosis having motors at its hip and knee respectively. In first we define the features in a gait pattern and extract features from the gait pattern, which is experimental encoder data of hip and knee taken from our dummy robotic encoder system. We also describe how to convert the selected features to input data for operating motor and what the physical meaning of features are. Finally, we make gait patterns using these features and apply them to our exoskeleton robot ROBIN-PI to verify our method.