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Design of a Walking Assistance Lower Limb Exoskeleton for Paraplegic Patients and Hardware Validation Using CoP

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dc.contributor.author김덕용-
dc.date.accessioned2014-12-18T08:31:52Z-
dc.date.available2014-12-18T08:31:52Z-
dc.date.issued2013-
dc.identifier.issn1729-8806-
dc.identifier.urihttps://ir.ymlib.yonsei.ac.kr/handle/22282913/86481-
dc.description.abstractThe 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.statementOfResponsibilityopen-
dc.relation.isPartOfINTERNATIONAL JOURNAL OF ADVANCED ROBOTIC SYSTEMS-
dc.rightsCC BY-NC-ND 2.0 KR-
dc.rights.urihttps://creativecommons.org/licenses/by-nc-nd/2.0/kr/-
dc.titleDesign of a Walking Assistance Lower Limb Exoskeleton for Paraplegic Patients and Hardware Validation Using CoP-
dc.typeArticle-
dc.contributor.collegeCollege of Medicine (의과대학)-
dc.contributor.departmentDept. of Rehabilitation Medicine (재활의학)-
dc.contributor.googleauthorJung-Hoon Kim-
dc.contributor.googleauthorJeong Woo Han-
dc.contributor.googleauthorDeog Young Kim-
dc.contributor.googleauthorYoon Su Baek-
dc.identifier.doi10.5772/55336-
dc.admin.authorfalse-
dc.admin.mappingfalse-
dc.contributor.localIdA00375-
dc.relation.journalcodeJ01085-
dc.identifier.eissn1729-8814-
dc.identifier.pmidExoskeleton ; Walking Assistance ; Paraplegic Patients ; Centre of Pressure (CoP)-
dc.subject.keywordExoskeleton-
dc.subject.keywordWalking Assistance-
dc.subject.keywordParaplegic Patients-
dc.subject.keywordCentre of Pressure (CoP)-
dc.contributor.alternativeNameKim, Deog Young-
dc.contributor.affiliatedAuthorKim, Deog Young-
dc.rights.accessRightsfree-
dc.citation.volume10-
dc.citation.number113-
dc.citation.startPage1-
dc.citation.endPage13-
dc.identifier.bibliographicCitationINTERNATIONAL JOURNAL OF ADVANCED ROBOTIC SYSTEMS, Vol.10(113) : 1-13, 2013-
dc.identifier.rimsid29005-
dc.type.rimsART-
Appears in Collections:
1. College of Medicine (의과대학) > Dept. of Rehabilitation Medicine (재활의학교실) > 1. Journal Papers

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