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고령자의 사용성 향상을 위한 착용형 보행 보조로봇에 관한 연구
엄수홍(S. H. Eom),이원영(W. Y. Lee),신진우(J. W. Sin),이응혁(E. H. Lee) 한국재활복지공학회 2018 한국재활복지공학회 학술대회논문집 Vol.2018 No.4
In this paper, a wearable walking aid robot is proposed to support hip movement after measuring and analyzing leg displacement by wearing it on the waist and back legs. The proposed auxiliary robot drives the actuator by detecting the amount of rotation of the driveshaft when it is stationary through the springs and encoders attached to the accelerator drive shaft. It proposes a walking state machine that can detect the steps of the foot in relation to the changing points in joint direction and angular velocity, and also proposes interface methods and excutator control algorithms for actuator actuation. According to the analysis of the current variation in the executor"s current during a 10-minute walk at 2 km/h and a 30-centimeter-long stride, the actuator verified 60 % of the applied strength increase in the proposed method.