Cited 65 times in
Design of a Knee Exoskeleton Using Foot Pressure and Knee Torque Sensors
DC Field | Value | Language |
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dc.contributor.author | 김덕용 | - |
dc.date.accessioned | 2016-02-04T11:49:57Z | - |
dc.date.available | 2016-02-04T11:49:57Z | - |
dc.date.issued | 2015 | - |
dc.identifier.issn | 1729-8806 | - |
dc.identifier.uri | https://ir.ymlib.yonsei.ac.kr/handle/22282913/141302 | - |
dc.description.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. | - |
dc.description.statementOfResponsibility | open | - |
dc.format.extent | 112~112 | - |
dc.relation.isPartOf | INTERNATIONAL JOURNAL OF ADVANCED ROBOTIC SYSTEMS | - |
dc.rights | CC BY-NC-ND 2.0 KR | - |
dc.rights.uri | https://creativecommons.org/licenses/by-nc-nd/2.0/kr/ | - |
dc.title | Design of a Knee Exoskeleton Using Foot Pressure and Knee Torque Sensors | - |
dc.type | Article | - |
dc.contributor.college | College of Medicine (의과대학) | - |
dc.contributor.department | Dept. of Rehabilitation Medicine (재활의학) | - |
dc.contributor.googleauthor | Jung-Hoon Kim | - |
dc.contributor.googleauthor | Myounghoon Shim | - |
dc.contributor.googleauthor | Dong Hyun Ahn | - |
dc.contributor.googleauthor | Byoung Jong Son | - |
dc.contributor.googleauthor | Suk-Young Kim | - |
dc.contributor.googleauthor | Deog Young Kim | - |
dc.contributor.googleauthor | Yoon Su Baek | - |
dc.contributor.googleauthor | Baek-Kyu Cho | - |
dc.identifier.doi | 10.5772/60782 | - |
dc.admin.author | false | - |
dc.admin.mapping | false | - |
dc.contributor.localId | A00375 | - |
dc.relation.journalcode | J01085 | - |
dc.identifier.eissn | 1729-8814 | - |
dc.subject.keyword | Exoskeleton Robot | - |
dc.subject.keyword | Knee Assistive Device | - |
dc.subject.keyword | Rehabilitation Robot | - |
dc.subject.keyword | Foot Pressure Sensor | - |
dc.subject.keyword | Walking Assistance Control | - |
dc.contributor.alternativeName | Kim, Deog Young | - |
dc.contributor.affiliatedAuthor | Kim, Deog Young | - |
dc.rights.accessRights | free | - |
dc.citation.volume | 12 | - |
dc.citation.startPage | 112 | - |
dc.identifier.bibliographicCitation | INTERNATIONAL JOURNAL OF ADVANCED ROBOTIC SYSTEMS, Vol.12 : 112, 2015 | - |
dc.identifier.rimsid | 31468 | - |
dc.type.rims | ART | - |
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