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토크 제어를 위한 Sensor-less 페달형 재활 기구 개발
박대근(Daegeun Park),김종우(Jongwoo Kim),송대섭(Dae-Seob Song),조규진(Kyu-Jin Cho) 대한기계학회 2013 대한기계학회 춘추학술대회 Vol.2013 No.12
For rehabilitation, there are many kinds of devices such as the constant passive motion (CPM) and the pedal type rehabilitation device. Of these devices, the pedal type devices are most used widely. However, these devices need improvements because the force control which is important for safety isn’t applied in this simple controlled system. Some companies try to develop the force control mode by using the force/torque (F/T) sensor in the pedal type device. However, the high cost of the sensor interrupt the commercialization of the devices. In this paper, we develop the pedal type rehabilitation system which consist of the motor and the worm gear without any F/T sensors. To control the torque of this system without F/T sensor, we made the test bed which consist of the motor system and rotational torque sensor. Then we analyze the relationship between the torque and the current from the test bed and we finally develop the sensor-less torque controlled pedal type device for rehabilitation.
정우석(Useok Jeong),김종우(Jongwoo Kim),송대섭(Dae-Seob Song),조규진(Kyu-Jin Cho) 대한기계학회 2013 대한기계학회 춘추학술대회 Vol.2013 No.12
This study focuses on the design and evaluation of control algorithm that is embedded on cycle ergometer for rehabilitation. The admittance control algorithm is developed for the safe, compliant and effective rehabilitation exercise. The control mode is consist of passive and active mode depending on how the user exerts force. The intensity of the exercise can be adjusted by changing the impedance parameter of the controller. A developed algorithm is tested on the cycle ergometer which is widely used for the rehabilitation of upper limb and lower limb. The results show that admittance control scheme can flexibly guide the limbs compared to speed or position control and can provide various intensity of exercise with several combination of the impedance parameters.