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발목의 해부학적 회전구조를 구현하고 제어하는 발목재활로봇
김인우(Inwoo Kim),김규진(Gyujin Kim),권경민,장재용(Jeung Jang),임서균(Yim Seo Gyun),조대기(Daeki Cho),이수홍(Soo-Hong Lee),Gapsun Kim 대한기계학회 2021 대한기계학회 춘추학술대회 Vol.2021 No.11
When physical ability is reduced due to aging and various diseases, the athletic ability of the ankle, which plays a very important role in walking, is significantly weakened. Various ankle exoskeleton robots have been developed to assist and rehabilitate ankles with reduced mobility, but most do not implement the correct rotation axis of the ankle, making it difficult to transmit the correct force and increase the risk of injury. In this study, the anatomical axis of rotation of the ankle joint was structurally implemented. Two linear actuators were installed in the embodied structure to control the two rotation axes of the robot. By installing a load cell between the linear actuator and the structure, the magnitude of the torque transmitted by the robot to the human can be calculated inverse dynamic. The ankle exoskeleton robot can effectively simulate and support all movements of the human ankle.