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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.
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.
일반보행보조기(RGO)와 동력보행보조기(PGO)의 보행시 에너지 소모도 비교 평가 분석
강성재(Sung Jae Kang),류제청(Jei Cheong Ryu),문무성(Mu Seong Mun) Korean Society for Precision Engineering 2008 한국정밀공학회지 Vol.25 No.8
The aim of this study ultimately is verifying that PGO gait is more efficient than RGO for paraplegics because the air muscle assists hip flexion power in heel off movement. The gait characteristics of the paraplegic wearing the PGO or RGO are compared with that of a normal person. PGO with air muscles was used to analyze the walking of patients with lower-limb paralysis, and the results showed that the hip joint flexion and pelvic tilt angle decreased in PGO. In comparison to RGO gait, which is propelled by the movements of the back, PGO uses air muscles, which decreases the movement in the upper limb from a stance phase rate of 79±4%(RGO) to 68±8%. The energy consumption rate was 8.65±3.3 (㎖/min/㎏) for RGO, while it decreased to 7.2±2.5(㎖/min/㎏) for PGO. The results from this study show that PGO decreases energy consumption while providing support for patients with lower-limb paralysis, and it is helpful in walking for extended times.
홍응표(Eung-Pyo Hong),박세훈(Sei-Hoon Park),오홍석(Hong-Seok Oh),류제청(Jae-Cheong Ryu),문무성(Mu-Seong Mun) Korean Society for Precision Engineering 2011 한국정밀공학회지 Vol.28 No.8
The recent power add-on drive wheelchairs (PADWs) provide greater physical activity, are easier to transport, and may be an excellent alternative for the typical manual or electric wheelchairs. The development of in-wheel motor for a PADW is the principal issues. In this paper, design, implementation, and testing of the permanent magnet synchronous motor (PMSM) for a PADW are presented. To design output power and torque of the motor, the equation of motion has been investigated. The design parameters were calculated and the dimension and shape of the motor which was limited by the In-wheel mechanism of the PADW were done by applying FEM and optimal design technique. The prototype of the motor mentioned above was fabricated with precise machining and assembling. Then the motor tested on dynamometer and the measured results of the motor were verified by comparing the design results. The fabricated motor was 80 ㎜ in length with a diameter of 110 ㎜ and small enough to be attached the driving unit of the PADW.
홍응표(Eung-Pyo Hong),김용철(Yong-Cheol Kim),김규석(Gyoo-Suk Kim),류제청(Jae-Cheong Ryu),문무성(Mu-Seong Mun) Korean Society for Precision Engineering 2011 한국정밀공학회지 Vol.28 No.9
The recent power add-on drive wheelchairs (PADWs) provide greater physical activity and easier transportability and may be an excellent alternative for the typical manual and powered wheelchairs. The driving system consists of a motor and a motor driver is the most important component of the PADW. In this paper, design, implementation, and testing of a driving system for a PADW are presented. To design the output power and torque for the driving system, the equation of motion has been investigated. The motor and driver were fabricated with precise machining and assembled to implement our prototype driving system. The dynamometer test has been carried out using the prototype in order to examine the torque of the system. The experimental results demonstrates that the designed driving system can provide enough output power and efficiency for utilization in a PADW.