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
- 2014.10
- 수록면
- 793 - 797 (5page)
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초록· 키워드
오류제보하기
For improving mobility of the elderly, it is desirable to use a lower limb exoskeleton to enhance strength and endurance for their daily life activities. This paper presents a novel design of assist torque generation and compliant motion of a knee joint for an exoskeleton robot. Based on a sensorless approach, a method is suggested to estimate the external torque and generate the assistance torque of the attached DC motor. The developed lower limb exoskeleton joint provides assistive torque in order to comply with motion of the user. In comparison with existing lower limb exoskeletons, the proposed exoskeleton robot can execute various training programs by adjusting the assisting torque with less sensors and reduced hardware complexity. Experimental results on a knee exoskeleton validate the proposed method. Desirable assistive torque can be generated to be compliant with a swing motion.
목차
Abstract
1. INTRODUCTION
2. PROPOSED ASSISTIVE TORQUE GENERATION ALGORITHM
3. MECHANICAL DESIGN OF THE LOWER LIMB EXOSKELETON
4. EXPERIMENTAL RESULTS
5. CONCLUSIONS AND FUTURE WORK
REFERENCES
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