Wire-driven hand rehabilitation system and its shared control for reflecting user‘s resistive force

국문 초록 (Abstract)

본 논문은 새로운 와이어 구동형 손 재활 시스템 및 사용자 반력을 고려한 공유 제어를 제시한다. 와이어 구동형 손 재활 시스템은 와이어에 연결된 골무형 커넥터에 세 손가락의 끝을 연결하여 재활 동작을 수행한다. 와이어와 풀리 배치를 변경하여 세 손가락 잡기, 가위질, 지두잡기 자세 등 다양한 작업 기반의 동작을 수행할 수 있다. 제안하는 공유 제어기는 안전성 보장을 위한 선형 위치 제어기와 사용자 반력 반영을 위한 장력 제어기로 구성되며 위치 오차에 관계없이 사용자 의도에 따라 장력과 위치 제어 권한을 조절할 수 있다. 세 손가락 작업 기반의 손가락 구동에 대해 사용자 반력의 유무에 따른 위치 제어 및 공유 제어실험을 통해 시스템 성능을 검증한다.

다국어 초록 (Multilingual Abstract)

This paper presents a new wire-driven hand rehabilitation system and its shared control for reflecting user’s resistive force. The wire-driven hand rehabilitation system performs rehabilitation by putting the fingertips on a thimble shaped connector which coupled to the wire. The system can perform a variety of task-oriented motions such as subterminal tridigital prehension, scissoring and subterminal opposition by changing the wire and pulley layout. The proposed shared controller consists of a linear position controller to ensure safety and a tension controller to reflect user resistive force. The shared controller can regulate tension and position control authority according to user’s intention regardless of position error. The system performance is verified by the position control and the shared control experiments with or without the user resistive force for the task-oriented three finger operation.

목차 (Table of Contents)

• 요약
• ABSTRACT
• 1. INTRODUCTION
• 2. Wire-driven hand rehabilitation system
• 3. Shared control for KUREHAND-I system
• 4. Experimental results
• 5. Conclusions
• REFERENCES

참고문헌 (Reference)

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