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Design of a Knee Exoskeleton Using Foot Pressure and Knee Torque Sensors

Authors
 Jung-Hoon Kim ; Myounghoon Shim ; Baek-Kyu Cho ; Yoon Su Baek ; Deog Young Kim ; Suk-Young Kim ; Byoung Jong Son ; Dong Hyun Ahn 
Citation
 International Journal of Advanced Robotic Systems, Vol.12 : 112, 2015 
Journal Title
 International Journal of Advanced Robotic Systems 
ISSN
 1729-8806 
Issue Date
2015
Abstract
This study presents the development of a modular knee exoskeleton system that supports the knee joints of hemiplegic patients. The device is designed to realize the polycentric motion of real human knees using a fourbar linkage and to minimize its total weight. In order to determine the user’s intention, force-sensitive resistors (FSRs) in the user’s insole, a torque sensor on the robot knee joint, and an encoder in the motor are used. The control algorithm is based on a finite state machine (FSM), where the force control, position control and virtual damping control are applied in each state. The proposed hardware design and algorithm are verified by performing experiments on the standing, walking and sitting motion controls while wearing the knee exoskeleton.
URI
http://ir.ymlib.yonsei.ac.kr/handle/22282913/141302
DOI
10.5772/60782
Appears in Collections:
1. 연구논문 > 1. College of Medicine > Dept. of Rehabilitation Medicine
Yonsei Authors
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