보행 보조용 고관절 외골격 로봇의 Negative Damping 제어 기법 = Negative Damping Control Strategy of a Hip Exoskeleton for Walking Assistance

국문 초록 (Abstract)

보행은 일상생활을 영위하는데 가장 기본적이면서 중요한 활동이다. 본 논문에서는 가상의 Negative Damping 모델을 이용한 보행 보조용 고관절 외골격 로봇의 제어 기법을 제안한다. Negative Damping 제어 기법은 착용자와 외골격 로봇의 마찰과 무게로 인한 손실을 보상하여 착용자의 고관절 운동을 수월하게 해준다. 제안된 제어 기법은 착용자의 고관절 굴곡/신전 운동을 보조하기 위해 설계된 고관절 외골격 로봇에 적용하여 그 효과를 검증하였다. 실험 결과, 외골격 로봇을 입고 평지를 보행하였을 때 고관절의 구동범위는 약 21.9% 증가하였으며, 대퇴직근과 대퇴이두근의 근 활성도는 각각 18.0%와 23.7%정도 감소되는 것을 확인하였다.

다국어 초록 (Multilingual Abstract)

Human walking is a fundamental but important activity for active daily life. In this paper, we propose a virtual negative damping control strategy of a hip exoskeleton for walking assistance. The control strategy includes compensation efforts for the gravitational effects and friction loss of the wearer and exoskeleton for assistance of hip flexion and extension movements during level walking. Our control strategy has been implemented in a hip exoskeleton designed to assist human subjects performing hip flexions and extensions. We also discuss an initial experimental study on the effect of our control strategy on the wearer. Based on our findings from the experiment, wearing the exoskeleton during level walking at self-selected walking velocity increases hip range of motion about 21.9% and also decreases muscle activation levels: about 18.0% in rectus femoris and about 23.7% in bicep femoris.

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