Cited 40 times in
Design of a Walking Assistance Lower Limb Exoskeleton for Paraplegic Patients and Hardware Validation Using CoP
DC Field | Value | Language |
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dc.contributor.author | 김덕용 | - |
dc.date.accessioned | 2014-12-18T08:31:52Z | - |
dc.date.available | 2014-12-18T08:31:52Z | - |
dc.date.issued | 2013 | - |
dc.identifier.issn | 1729-8806 | - |
dc.identifier.uri | https://ir.ymlib.yonsei.ac.kr/handle/22282913/86481 | - |
dc.description.abstract | The design of an assistive lower limbexoskeleton robot for paraplegic patients that canmeasurethecentreofpressureispresented.Incontrastwithmostbipedwalkingrobots,thecentreofpressure(CoP) or zero moment point (ZMP) has not beenactivelyusedintheoperationofexoskeletonrobots.Inorderto measure CoP in our exoskeletonrobot,twokinds of force sensor units are installed in theexoskeleton:lowprofileforcesensorsinfootmodulesto measure the human weight transferred to thegroundandaloadcellattheshankframetomeasurethesupportingforce.TheCoPoftheexoskeletonrobot is calculated from the above force sensors, aninclinometeratthewaist,andthepositionsof14DOFexoskeleton joints with an algorithm to change thefixedpivotusingafootcontactsensor.Experimentsonan able‐bodied person wearing the designedexoskeletonandwalkingonthegroundareperformedto validate the designed hardware system. Throughthe experiments, the trajectory of the CoP of heexoskeletonwithawearerarecalculatedbasedontheproposedalgorithmanditiscomparedwiththevaluemeasured by a commercial pressure measurementsystem. | - |
dc.description.statementOfResponsibility | open | - |
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 Walking Assistance Lower Limb Exoskeleton for Paraplegic Patients and Hardware Validation Using CoP | - |
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 | Jeong Woo Han | - |
dc.contributor.googleauthor | Deog Young Kim | - |
dc.contributor.googleauthor | Yoon Su Baek | - |
dc.identifier.doi | 10.5772/55336 | - |
dc.admin.author | false | - |
dc.admin.mapping | false | - |
dc.contributor.localId | A00375 | - |
dc.relation.journalcode | J01085 | - |
dc.identifier.eissn | 1729-8814 | - |
dc.identifier.pmid | Exoskeleton ; Walking Assistance ; Paraplegic Patients ; Centre of Pressure (CoP) | - |
dc.subject.keyword | Exoskeleton | - |
dc.subject.keyword | Walking Assistance | - |
dc.subject.keyword | Paraplegic Patients | - |
dc.subject.keyword | Centre of Pressure (CoP) | - |
dc.contributor.alternativeName | Kim, Deog Young | - |
dc.contributor.affiliatedAuthor | Kim, Deog Young | - |
dc.rights.accessRights | free | - |
dc.citation.volume | 10 | - |
dc.citation.number | 113 | - |
dc.citation.startPage | 1 | - |
dc.citation.endPage | 13 | - |
dc.identifier.bibliographicCitation | INTERNATIONAL JOURNAL OF ADVANCED ROBOTIC SYSTEMS, Vol.10(113) : 1-13, 2013 | - |
dc.identifier.rimsid | 29005 | - |
dc.type.rims | ART | - |
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