Design of an 1 DOF Assistive Knee Joint for a Gait Rehabilitation Robot
- Design of an 1 DOF Assistive Knee Joint for a Gait Rehabilitation Robot
- 이상협; 신성열; 이준원; 김창환
- Gait rehabilitation robot; Optimization; Assistive knee joint
- Issue Date
- 로봇학회 논문지= Journal of Korea Robotics Society
- VOL 8, NO 1, 8-19
- One of the important issues for structural and electrical specifications in developing a robot
is to determine lengths of links and motor specifications, which need to be appropriate to the purpose
of robot. These issues become more critical for a gait rehabilitation robot, since a patient wears the
robot. Prior to developing an entire gait rehabilitation robot, designing of a 1DOF assistive knee joint
of the robot is considered in this paper. Human gait motions were used to determine an allowable
range of knee joint that was rotated with a linear type actuator (ball-screw type) and links. The
lengths of each link were determined by using an optimization process, minimizing the stroke of
actuator and the total energy (kinetic and potential energy). Kinetic analysis was performed in order
to determine maximum rotational speed and maximum torque of the motor for tracking gait trajectory
properly. The prototype of 1 DOF assistive knee joint was built and examined with a impedance controller.
- Appears in Collections:
- KIST Publication > Article
- Files in This Item:
There are no files associated with this item.
- RIS (EndNote)
- XLS (Excel)
Items in DSpace are protected by copyright, with all rights reserved, unless otherwise indicated.