형상기억합금 구동장치를 이용한 발목 보조기구

다국어 초록 (Multilingual Abstract)

Gait disorder could lower the quality of life. Foot drop, which is an inability to lift the front foot towards a body, causes one of deviated gait patterns. Ankle foot orthosis (AFO) is the most common treatment for foot drop. It is necessary to design a light and compact AFO, especially for people with impaired lower limb muscles as 30% of oxygen consumption increases per 2kg load on a foot. Therefore, a soft actuator has been proposed to replace a motor of an active AFO, and shape memory alloy (SMA) was chosen to design a soft actuator for the AFO in this study.
Patients with foot drop presents different gait patterns compared to healthy people; toe instead of heel contacts the floor at the beginning of a gait. In addition, the limited range of the ankle angle in the first 10% of a gait cycle is the biggest problem of foot drop patients. Thus, it is expected that foot drop would be improved when the ankle is supported in the first 10% of the gait cycle by an AFO. Due to the rigid structure of the AFO, center of pressure (COP) in y direction did not show a consistent pattern to detect gait phases. Adaptive oscillator (AO) has been implemented to overcome this difficulty, and real-time continuous gait phase detection has been performed to assist the ankle in the first 10% of the gait cycle.
In this study, an AFO with SMA actuators and continuous gait phase detection algorithm is proposed to improve the limited ankle angle of foot drop patients. Walk test on a treadmill has been performed, and it showed that there was a significant change in the ankle angle when the SMA actuators assisted the ankle.

목차 (Table of Contents)

• 제 1장 서 론 1
• 1.1 연구 배경 1
• 1.2. 연구 동향 9
• 1.2.1. 형상기억합금 구동 장치 9
• 1.2.3. 형상기억합금 구동 장치를 이용한 발목 보조기구 10
• 1.3 연구 목표 10
• 제 2 장 형상기억합금 구동 장치를 이용한 발목 보조기구 12
• 2.1. 형상기억합금 구동 장치 12
• 2.1.1. 형상기억합금 스프링 제작 15
• 2.1.2. 형상기억합금 구동 장치 제작 17
• 2.1.3. 형상기억합금 구동 장치 특성 18
• 2.2. 형상기억합금 구동 장치를 이용한 발목 보조기구 22
• 2.2.1 형상기억합금 구동 장치 설치 위치 선정 22
• 2.2.2. 형상기억합금 구동 장치를 이용한 발목 보조기구 27
• 제 3 장 제어 전략 28
• 3.1 연속 보행 단계 판단 28
• 3.2 형상기억합금 구동 장치 가열/예열 구간 선정 34
• 3.3. 실시간 연속 보행 단계 판단 38
• 제 4 장 족하수 보조 실험 39
• 4.1 보행 실험 39
• 4.1.1. SMA-AFO 보행 실험 39
• 4.1.2. 발목 각도 변화 분석 41
• 제 5 장 결론 46
• 참고 문헌 46