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정우철(Woo-Chul Jeong),김창순(Chang-Soon Kim),박진용(Jin-Yong Park),현정근(Jung-Guen Hyun),김정엽(Jung-Yup Kim) 제어로봇시스템학회 2015 제어·로봇·시스템학회 논문지 Vol.21 No.6
This paper describes an intelligent ankle assistive robot which provides assistive power to reduce ankle torque based on an analysis of ankle motion and muscle patterns during walking on level and sloped floors. The developed robot can assist ankle muscle power by driving an electric geared motor at the exact timing through the use of an accelerometer that detects gait phase and period, and a potentiometer to measure floor slope angle. A simple muscle assistive link mechanism is proposed to convert the motor torque into the foot assistive force. In particular, this mechanism doesn"t restrain the wearer"s ankle joint; hence, there is no danger of injury if the motor malfunctions. During walking, the link mechanism pushes down the top of the foot to assist the ankle torque, and it can also lift the foot by inversely driving the linkage, so this robot is useful for foot drop patients. The developed robot and control algorithm are experimentally verified through walking experiments and EMG (Electromyography) measurements.