공압 고무 인공근육을 장착한 주관절 보조기 피드백 제어 시 근력 특성

다국어 초록 (Multilingual Abstract)

An elbow orthosis with a pneumatic rubber actuator has been developed to assist and enhance upper limbs movements and has been examined for the effectiveness. The effectiveness of the elbow orthosis was examined by comparing muscular activities during alternate dumbbell curl motion wearing and not wearing the orthosis. The subjects participated in the experiment were younger adults in their twenties. The subjects were instructed to perform dumbbell curl motion in a sitting position wearing and not wearing orthosis in turn and a dynamometer was used to measure elbow joint torque outputs in an isokinetic mode. Orthosis was controlled using contractile muscle force that is measured from force sensor through cDAQ-9172 board. The air pressure of the pneumatic actuator was O.3MPa the most suitable air pressure. For the analysis of muscular activities, Electromyography of the subjects was measured during alternate dumbbell curl motion. The experiment results showed that the muscular activities wearing the elbow orthosis were reduced. With this, we confirmed the effectiveness of the developed elbow orthosis.

목차 (Table of Contents)

• Abstract
• 1. 서론
• 2. 시스템 구성
• 3. 실험 방법
• 4. 실험 결과 및 고찰
• 5. 결론
• 감사의 글
• 참고문헌

참고문헌 (Reference)

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3 K. Kiguchi, "Application of Multiple Fuzzy-Neuron Controllers of an Exoskeletal Robot for Human Elbow Motion Support" 4 (4): 49-55, 2002

4 M. Bergamasco, "An Arm Exoskeleton System for Teleoperation and Virtual Environments Applications" 1449-1454, 1994

5 R. Jacob, "A Myosignal-Based Powered Exoskeleton System" 31 (31): 210-222, 2001

6 T. Tsuruga, "A Basic Study for a Robotic Transfer Aid System Based on Human Motion Analysis" 14 (14): 579-596, 2000