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장재호(J. H. Jang),한정수(J. S. Han),한창수(C. S. Han),안재용(J. Y. Ahn) 대한기계학회 2006 대한기계학회 춘추학술대회 Vol.2006 No.6
??The existing rehabilitation systems were developed to exercise specific joints only. Therefore rehabilitating the various joints of human, various kinds of devices are need. To overcome these defects, this paper proposed the CMRS, an integrated system that performs various rehabilitation exercises. The characteristics of motion and the positions between human body and the system were investigated with the kinematics analysis of upper and lower limb of human body. We presented a proper mechanism to develop a rehabilitation device on the base of the study and studied the relative positions between head part and human joints. Through the simulations, the possibility of rehabilitation system was verified. And the base frame was also developed for convenient and stable position control. Finally, the CMRS was developed as an 8 degree of freedom mechanism. It is expected that the CMRS will be applied to the rehabilitations of various joints.
Development of the Gait Assistant Mobile Robot using Ergonomics Design
장재호(J. H. Jang),박동진(T. J. Park),한창수(C. S. Han),한정수(J. S. Han) 한국정밀공학회 2004 한국정밀공학회 학술발표대회 논문집 Vol.2004 No.10월
In this study, the concept of autonomous mobility is applied to a gait support mobile robot. The aim of the development of the service robot is to assist the elderly with gait rehabilitation. This study proposes an ergonomic service robot design parameter. The gait assistant path pattern is derived from analysis of the elderly gait. A lever is installed in the AMR in order to measure both the pulling force and the leading force of the elderly. The path generation of the mobile robot is developed through consideration and analysis of elderly gait patterns. The ergonomic design parameters (dimensions, action scope and working space) are determined based on moving scope of the elderly. The gait assistant mobile robot was offered the elderly guide service and internet service based on the ergonomic design parameters.