지원사업
학술연구/단체지원/교육 등 연구자 활동을 지속하도록 DBpia가 지원하고 있어요.
커뮤니티
연구자들이 자신의 연구와 전문성을 널리 알리고, 새로운 협력의 기회를 만들 수 있는 네트워킹 공간이에요.
논문 기본 정보
- 자료유형
- 학술대회자료
- 저자정보
- 발행연도
- 2012.10
- 수록면
- 1,752 - 1,755 (4page)
이용수
초록· 키워드
오류제보하기
It is well known that stroke is the leading cause of long-term disability and the number of stroke patients has been increasing due to the ageing of the population worldwide. Over the past decade, the effort to deliver effective rehabilitation robots especially for stroke patients has also been growing steadily with aims to provide timely and effective recovery, thus to reduce overall healthcare service burden. The trend of technical development has been evolving from the passive or one-way assistance regardless of patients’ intention or acute physical status toward the interactive therapy taking into account force/torque feedback and movement intention of the patients along with the therapy. Currently, few systems in the market, however, have considered the relative coordinate change of the patients’ upper limb, especially the center of humerus head into robot therapy. Here, we have developed a 7-DOF exoskeleton robot system for stroke rehabilitation of the upper extremity. The robot has three motors for the shoulder rotation and one for the elbow actuation. A key differentiating feature of this robot is the additional 3-DOF full shoulder motion control designed to build more ergonomic system, which provides a more user-friendly therapy by making the patient posture more natural. As the first step for the robotic control, this paper describes the combined kinematic analysis of the 7-DOF rehabilitation robot.
목차
Abstract
1. INTRODUCTION
2. HYBRID 7-DOF REHAB ROBOT
3. KINEMATIC ANALYSES OF THE TWO ROBOTS
4. COMBINED KINEMATIC ANALYSIS OF THE 7-DOF HYBRID ROBOT
5. CONCLUSION
REFERENCES
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