편측 마비 보행의 재활 훈련을 위해 팔의 움직임 정보를 이용한 1자유도 외골격 로봇의 제어 (An Assistive Control Strategy Using Arm Swing Information for 1DoF Hip Exoskeleton for Hemiplegic Gait Rehabilitation)

서지정보

· 발행기관 : 한국정밀공학회
· 수록지 정보 : 한국정밀공학회지 / 36권 / 4호 / 419 ~ 424페이지
· 저자명 : 서우석, 권준호, 고연호, 홍대희

초록

Research of different types of powered exoskeleton have been conducted for various purposes. Recently, the exoskeleton has been used in rehabilitation training for patients with walking problems. For the exoskeletons to appropriately assist the user in gait rehabilitation, it is essential to understand user's intention. The user's walking intention includes the temporal aspect of timing of movements and the quantitative aspect of how large the movement is. This study, quantitatively identifies the relationship between arm and leg movements during walking, the user's quantitative intention for gait, and suggests for a control strategy to assist user's movement accordingly for a 1DoF hip exoskeleton for hemiplegic gait rehabilitation.

영어초록

Research of different types of powered exoskeleton have been conducted for various purposes. Recently, the exoskeleton has been used in rehabilitation training for patients with walking problems. For the exoskeletons to appropriately assist the user in gait rehabilitation, it is essential to understand user's intention. The user's walking intention includes the temporal aspect of timing of movements and the quantitative aspect of how large the movement is. This study, quantitatively identifies the relationship between arm and leg movements during walking, the user's quantitative intention for gait, and suggests for a control strategy to assist user's movement accordingly for a 1DoF hip exoskeleton for hemiplegic gait rehabilitation.

참고자료

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