구형 가위 메커니즘을 활용한 고관절 착용형 로봇의 작업 공간 분석

Abstract

These days, lower limb wearable robots have been considered for the purpose of assisting human walking. This paper represents the design of hip joint wearable robot using a spherical scissor mechanism. The hip joint consists of 3-degree of freedom rotational movements of flexion/extension, abduction/adduction, and internal/external rotation. This joint was made through three axes that shared a point. Spherical scissors mechanisms are designed to make wearable properties and three axes degrees of freedom. Joint kinematics were obtained through the interpretation of the spherical scissor mechanism. The analysis of Joint kinematics was verified by comparing the proposed joint kinematics and IMU (Inertial Measurement Unit) data. and Workspace analysis of hip joint wearable robots was conducted through encoder data.