로봇을 통한 자연스러운 팔 동작 재활을 위한 수동형 어깨 관절 추종 장치의 설계

다국어 초록 (Multilingual Abstract)

This paper aims to present development of a passive shoulder joint tracking device for shoulder rehabilitation robots able to support natural arm motion. Allowing three-dimensional translation of shoulder joint is important for rehabilitation robots to support natural arm motions. For patients suffered by various shoulder diseases, in addition, supporting weight (i.e. compensating gravity) of their upper limbs is also needed to let them move their arm freely. Unfortunately, most commercial robots for shoulder rehabilitation are unable to support natural arm motion by restricting the movement of shoulder joint. In our laboratory, three degree-of-freedom (DOF) passive shoulder joint tracking device has been developed. The proposed device is composed of single DOF vertical tracker simultaneously compensating gravity of upper limb by a spring and two DOF horizontal tracker. Because the device works completely in a passive manner, it is featured as simple structure, light-weight and low cost. Due to its simplicity, it can be easily combined to existing shoulder rehabilitation devices. In this paper, at first, design of the first version of the device is described briefly. Second, as a proof of concept, its shoulder joint tracking performance is evaluated through motion analysis of upper limb with one healthy subject. Last, improved design of gravity compensating mechanism for better performance and easier adjustment is described.

목차 (Table of Contents)

• Abstract
• 1. 서론
• 2. 수동형 3자유도 어깨 관절 추종장치의 개발 및 성능 평가
• 3. 상지 중력보상 메커니즘 설계 개선
• 4. 결론
• 참고문헌