착용형 로봇을 제어하기 위한 근경도 기반의 의도 인식 방법Muscle Stiffness based Intent Recognition Method for Controlling Wearable Robot
- Other Titles
- Muscle Stiffness based Intent Recognition Method for Controlling Wearable Robot
- Authors
- 최유나; 김준식; 이대훈; 최영진
- Issue Date
- Dec-2023
- Publisher
- 한국로봇학회
- Keywords
- Wearable Robot; Intent Recognition; Muscle Stiffness; Gait Assistance
- Citation
- 로봇학회 논문지, v.18, no.4, pp 496 - 504
- Pages
- 9
- Indexed
- KCI
- Journal Title
- 로봇학회 논문지
- Volume
- 18
- Number
- 4
- Start Page
- 496
- End Page
- 504
- URI
- https://scholarworks.bwise.kr/erica/handle/2021.sw.erica/119899
- DOI
- 10.7746/jkros.2023.18.4.496
- ISSN
- 1975-6291
2287-3961
- Abstract
- This paper recognizes the motion intention of the wearer using a muscle stiffness sensor and proposes a control system for a wearable robot based on this. The proposed system recognizes the onset time of the motion using sensor data, determines the assistance mode, and provides assistive torque to the hip flexion/extension motion of the wearer through the generated reference trajectory according to the determined mode. The onset time of motion was detected using the CUSUM algorithm from the muscle stiffness sensor, and by comparing the detection results of the onset time with the EMG sensor and IMU, it verified its applicability as an input device for recognizing the intention of the wearer before motion. In addition, the stability of the proposed method was confirmed by comparing the results detected according to the walking speed of two subjects (1 male and 1 female). Based on these results, the assistance mode (gait assistance mode and muscle strengthening mode) was determined based on the detection results of onset time, and a reference trajectory was generated through cubic spline interpolation according to the determined assistance mode. And, the practicality of the proposed system was also confirmed by applying it to an actual wearable robot.
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Collections - COLLEGE OF ENGINEERING SCIENCES > DEPARTMENT OF ROBOT ENGINEERING > 1. Journal Articles
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