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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.
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.