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보행 재활을 위한 신체 자중 보상용 모바일 로봇에 관한 연구
서승환(Suh, Seung-Whan),유승남(Yu, Seung-Nam),이상호(Lee Sang-Ho),한창수(Hahn Chang-Su) 한국산학기술학회 2010 한국산학기술학회논문지 Vol.11 No.10
최근 고령화 사회로의 진입 및 장애 인구의 증가로 인해, 인간의 복지를 위한 자동화 시스템에 대한 수요가 늘고 있다. 특히 재활 자동화와 관련한 로봇 시스템은 환자 본인 및 치료 보조자에 대한 수고를 덜어주면서도 기존의 전통적인 재활효과에 상응하는 성과를 얻을 수 있을 것으로 기대되고 있다. 본 연구는 하지 근력이 약화된 사용자들 의 신체 자중을 보상해줌과 동시에 정상인과 같은 패턴의 보행 훈련을 수행할 수 있는 모바일형 보행 재활 시스템을 제안하고자 한다. 특히, 자중보상 시스템은 신체의 자세 변화 특징을 반영하여, 기구학적인 분석을 통해 구현하였으며 보행 가이드를 위한 제어 알고리즘과 더불어 메인 컨트롤 시스템이 내장된 모바일 플랫폼에 통합 적용되었다. 이러한 모바일 플랫폼은 사용자의 보행 속도의지를 반영하는 UCS(User Command System)와 플랫폼 자체에 내장된 자율주행 알고리즘의 병합되어 운용되도록 고안되었으며, 본 논문에서는 보행 훈련시의 BWS(Body Weight Support)의 효과에 대한 검증에 집중하고자 한다. 이를 위해 인체의 근전도 신호를 측정할 수 있는 EMG(Electromyography) 센서를 활용 하여, BWS 및 모바일로봇을 활용한 자중 보상 시의 피험자의 하지 근력 패턴을 측정 및 분석하여, 정상 보행자와의 차이점을 비교함으로서 본 연구의 타당성을 검증하였다. As the population of elderly people and disabled people are increased, various demands for human welfare using robot system are raised. Especially autonomous rehabilitation system using robot could reduce the human effort while maintaining the its intrinsic efficacy. This study deals with mobile gait rehabilitation system which combined with BWS (Body Weight Support) for training of elderly and handicapped people who suffer the muscle force weakness of lower extremity. BWS which is designed by kinematic analysis of body lifting characteristics and walking guide system are integrated with main control system and wheeled platform. This mobile platform is operated by UCS (User Command System) and autonomous trajectory planning algorithm. Finally, through the EMG (Electromyography) signal measuring and its analysis for subject, performance and feasibility of developed system is verified.
인체 자중 보상 및 로봇 경로계획법을 이용한 이동형 보행 재활 시스템 개발
유승남(Seung-Nam Yu),손웅희(Woong-Hee Shon),서승환(Seung-Whan Suh),이상호(Sang-Ho Lee),한창수(Chang-Soo Han) 제어로봇시스템학회 2010 제어·로봇·시스템학회 논문지 Vol.16 No.10
With the rising numbers of elderly and disabled people, the demand for welfare services using a robotic system and not involving human effort is likewise increasing. This study deals with a mobile-robot system combined with a BWS (Body Weight Support) system for gait rehabilitation. The BWS system is designed via the kinematic analysis of the robot’s body-lifting characteristics and of the walking guide system that controls the total rehabilitation system integrated in the mobile robot. This mobile platform is operated by utilizing the AGV (Autonomous Guided Vehicle) driving algorithm. Especially, the method that integrates geometric path tracking and obstacle avoidance for a nonholonomic mobile robot is applied so that the system can be operated in an area where the elderly users are expected to be situated, such as in a public hospital or a rehabilitation center. The mobile robot follows the path by moving through the turning radius supplied by the pure-pursuit method which is one of the existing geometric path-tracking methods. The effectiveness of the proposed method is verified through the real experiments those are conducted for path tracking with static- and dynamic-obstacle avoidance. Finally, through the EMG (Electromyography) signal measurement of the subject, the performance of the proposed system in a real operation condition is evaluated.
시스템 모델링 및 주행 시뮬레이션을 통한 인휠드라이브 타입 6WD/6WS 차량 플랫폼의 주행 거동 분석
이정엽(Jung-Yeob Lee),서승환(Seung-Whan Suh),손웅희(Woong-Hee Shon),유승남(Seung-Nam Yu),한창수(Chang-Soo Han) 제어로봇시스템학회 2010 제어·로봇·시스템학회 논문지 Vol.16 No.4
A skid-steering method which applied to the various mobile robot platforms currently shows its effectiveness in the specified field areas and purposes. This system contains however, several problems of its intrinsic properties such as slippages occurred by different moving direction between vehicle"s driving and wheel"s rotary and difficulties of driving performance control and so on. This paper deals with the suggestion of suitable control algorithm for 6WD/6WS skid steering wheeled vehicle and verified its feasibility by analyzing the behavior of 6WD/6WS skid-steered wheeled vehicle model and by applying the engineering analytical method to the considered mobile platform. The Performance of vehicle model is evaluated by using slip mode control to follow the steering input and, as a future work, this control algorithm could be applied to real 6WD/6WS in-wheel drive type vehicle finally
초탄성 링크를 이용한 초정밀 3자유도 병렬형 매니퓰레이터 개발
윤덕원(Deok-won Yun),탁태열(Tae-Yul Tak),김진호(Jin-Ho Kim),서승환(Seung-whan Suh),이동찬(Dong-Chan Lee),한창수(Chang-Soo Han),최현석(Hyeun-Seok Choi),강은구(Eun-goo Kang),홍원표(Won-pyo Hong),최헌종(Hun-jong Choi) 한국생산제조학회 2006 한국공작기계학회 춘계학술대회논문집 Vol.2006 No.-
According to the growth of nano science and technology, ultra high precision stage and manipulator is recently required at a variety of equipment (SEM, FIB, AFM, STM etc.). In this study, 3-DOF parallel manipulator using the merits of parallel robot is developed, and inverse kinematics is studied for the parallel type manipulator. This manipulator using the pantograph type PZT is operated, and joints and links using the super-elastic material arecomposed. FEM analysis is performed in order to considerate reasonability to use super-elastic wire.
초탄성 링크를 이용한 초정밀 3자유도 병렬형 매니퓰레이터 개발
윤덕원(Deok-won Yun),탁태열(Tae-Yul Tak),김진호(Jin-Ho Kim),서승환(Seung-whan Suh),이동찬(Dong-Chan Lee),한창수(Chang-Soo Han),최현석(Hyeun-Seok Choi),강은구(Eun-goo Kang),홍원표(Won-pyo Hong),최헌종(Hun-jong Choi) 한국생산제조학회 2006 한국생산제조시스템학회 학술발표대회 논문집 Vol.2006 No.5
According to the growth of nano science and technology, ultra high precision stage and manipulator is recently required at a variety of equipment (SEM, FIB, AFM, STM etc.). In this study, 3-DOF parallel manipulator using the merits of parallel robot is developed, and inverse kinematics is studied for the parallel type manipulator. This manipulator using the pantograph type PZT is operated, and joints and links using the super-elastic material arecomposed. FEM analysis is performed in order to considerate reasonability to use super-elastic wire.
3자유도 병렬식 마이크로 매니퓰레이터의 기구학적 해석 및 설계
탁태열(Tae-Yul Tak),이동찬(Dong-Chan Lee),한창수(Chang-Soo Han),윤덕원(Deok-won Yun),서승환(Seung-whan Suh),김진호(Jin-Ho Kim),최현석(Hyeun-Seok Choi),이낙규(Nak-Kyu Lee),최태훈(Tae-Hoon Choi),이혜진(Hye-Jin Lee) 한국생산제조학회 2006 한국생산제조시스템학회 학술발표대회 논문집 Vol.2006 No.5
This paper presents the development methodology of the 3 DOF Parallel Micromanipulator with the PZT-driven flexure hinge amplifier. For the fundamental kinematic configuration of manipulator, inverse and forward kinematics are simulated by Matlab programming. Through the kinematic simulation, the operation range of the platform and the workspace of end-effector are investigated. Under a given driving condition, the PZT-driven flexure hinge amplifier is designed by FEM and optimization tools.