인체 보행운동을 모사하는 운동모델 개발에 관한 연구 = A study about Development of Model describing Human Gait Motion

다국어 초록 (Multilingual Abstract)

Nowadays, it is an obvious fact that societies of several countries are being transferred gradually into an aging society because the average span of life for human is longer than past. And the phenomenon will be slowly progressing throughout the world. Therefore, the researches about the improvement of the life quality for the senior citizen are actively progressing. The study about the exoskeleton walking assistant device is also one of them. However, the complex human-mechanism structure needs some control know-how. In order to control it, the model about human walking motion is also necessary. So, this study is about the modeling for a gait (walking) motion of human to control it. And the Lagrange equation of motion is used to derive the governor equation. A gait motion of human consists of double and single stance phases, i.e. the state of both of foot in contact with the ground and one foot swing in air with the other on the ground. To consider the constraint conditions, the Lagrange multiplier and holonomic constraint are used. And the proposed mathematical model in this study used proven data to prove the stability and accuracy of it. Finally, this study is about the modeling for a gait motion of human prior to the research about the development of exoskeleton walking assistant device.

목차 (Table of Contents)

• I. 서론 = 1
• 1.1 연구 동기 및 목적 = 1
• 1.2 논문의 구성 = 2
• II. 인체의 보행운동 = 3
• 2.1 회전(swing) 구간 = 3
• 2.2 지지(stance) 구간 = 4
• 2.2.1 양 하지 지지구간(Double Limb Stance Phase) = 5
• 2.2.2 단일 하지 지지구간(Single Limb Stance Phase) = 5
• III. 운동모델 = 8
• 3.1 파라미터 정의(Definition of each parameter) = 9
• 3.1.1 일반화된 좌표정의(Definition of coordinate system) = 9
• 3.1.2 각 부재와 관련된 기호정의(Notation) = 9
• 3.1.3 인체 각 부재에 대한 변위 및 속도벡터 = 12
• 3.2 라그랑지 운동 방정식(Lagrange equation of motion) = 14
• 3.2.1 좌측 지배방정식(Left hand side of the equation) = 17
• 3.2.2 우측 지배방정식(Right hand side of the equation) = 21
• IV. 개발된 수학적 모델 = 26
• V. 모델 검증 = 28
• 5.1 보행 시뮬레이션 구현 = 28
• 5.2 시뮬레이션 결과 1 = 29
• 5.3 시뮬레이션 결과 2 = 31
• VI. 결론 = 33
• VII. Appendix = 34
• 참고문헌 = 60