Development of a lower extremity Exoskeleton Robot with a quasi-anthropomorphic design approach for load carriage
DC Field | Value | Language |
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dc.contributor.author | Lim, Donghwan | - |
dc.contributor.author | Kim, Wansoo | - |
dc.contributor.author | Lee, Heedon | - |
dc.contributor.author | Kim, Hojun | - |
dc.contributor.author | Shin, Kyoosik | - |
dc.contributor.author | Park, Taejoon | - |
dc.contributor.author | Lee, Jiyeong | - |
dc.contributor.author | Han, Changsoo | - |
dc.date.accessioned | 2021-06-22T21:43:44Z | - |
dc.date.available | 2021-06-22T21:43:44Z | - |
dc.date.created | 2021-01-22 | - |
dc.date.issued | 2015-12 | - |
dc.identifier.issn | 2153-0858 | - |
dc.identifier.uri | https://scholarworks.bwise.kr/erica/handle/2021.sw.erica/20628 | - |
dc.description.abstract | This study developed the Hanyang Exoskeleton Assistive Robot (HEXAR)-CR50 aimed at improving muscle strength of the wearer while transporting a load. The developed exoskeleton robot HEXAR-CR50 has 7 degrees of freedom (DOF) for one foot, 3-DOF for the hip joints, 1-DOF for the knee joints, and 3-DOF for the ankle joints. Through functional analysis of each human joint, two DOFs were composed of active joints using an electric motor developed in an under-actuated form with heightened efficiency. The rest of the DOFs were composed of passive or quasi-passive joints to imitate human joints. The control of the exoskeleton robot was based on the physical human-robot interaction. In order to verify the performance of the developed HEXAR-CR50, muscle activity was measured using electromyography, vGRF was measured using F-Scan sensor. The experimental results showed that %MVIC was reduced against the external load applied, while GRF had a decrement rate, compared with the external load when the exoskeleton was worn, which verified the performance in accordance with the development objective of load carrying. A muscle strength augment effect from the developed wearable robot was verified. © 2015 IEEE. | - |
dc.language | 영어 | - |
dc.language.iso | en | - |
dc.publisher | Institute of Electrical and Electronics Engineers Inc. | - |
dc.title | Development of a lower extremity Exoskeleton Robot with a quasi-anthropomorphic design approach for load carriage | - |
dc.type | Article | - |
dc.contributor.affiliatedAuthor | Shin, Kyoosik | - |
dc.contributor.affiliatedAuthor | Park, Taejoon | - |
dc.contributor.affiliatedAuthor | Lee, Jiyeong | - |
dc.identifier.doi | 10.1109/IROS.2015.7354132 | - |
dc.identifier.scopusid | 2-s2.0-84958149445 | - |
dc.identifier.wosid | 000371885405068 | - |
dc.identifier.bibliographicCitation | IEEE International Conference on Intelligent Robots and Systems, v.2015, pp.5345 - 5350 | - |
dc.relation.isPartOf | IEEE International Conference on Intelligent Robots and Systems | - |
dc.citation.title | IEEE International Conference on Intelligent Robots and Systems | - |
dc.citation.volume | 2015 | - |
dc.citation.startPage | 5345 | - |
dc.citation.endPage | 5350 | - |
dc.type.rims | ART | - |
dc.type.docType | Conference Paper | - |
dc.description.journalClass | 1 | - |
dc.description.isOpenAccess | N | - |
dc.description.journalRegisteredClass | scie | - |
dc.description.journalRegisteredClass | scopus | - |
dc.relation.journalResearchArea | Computer Science | - |
dc.relation.journalResearchArea | Robotics | - |
dc.relation.journalWebOfScienceCategory | Computer Science, Artificial Intelligence | - |
dc.relation.journalWebOfScienceCategory | Robotics | - |
dc.subject.keywordPlus | Anthropomorphic robots | - |
dc.subject.keywordPlus | Degrees of freedom (mechanics) | - |
dc.subject.keywordPlus | Electromyography | - |
dc.subject.keywordPlus | Human robot interaction | - |
dc.subject.keywordPlus | Intelligent robots | - |
dc.subject.keywordPlus | Joints (anatomy) | - |
dc.subject.keywordPlus | Machine design | - |
dc.subject.keywordPlus | Muscle | - |
dc.subject.keywordPlus | Robots | - |
dc.subject.keywordPlus | Springs (components) | - |
dc.subject.keywordPlus | Torque | - |
dc.subject.keywordPlus | Anthropomorphic design | - |
dc.subject.keywordPlus | Exoskeleton robots | - |
dc.subject.keywordPlus | Knee | - |
dc.subject.keywordPlus | Legged locomotion | - |
dc.subject.keywordPlus | Lower extremity exoskeletons | - |
dc.subject.keywordPlus | Muscle activities | - |
dc.subject.keywordPlus | Physical human-robot interactions | - |
dc.subject.keywordPlus | Robot sensing system | - |
dc.subject.keywordPlus | Exoskeleton (Robotics) | - |
dc.subject.keywordAuthor | Exoskeletons | - |
dc.subject.keywordAuthor | Knee | - |
dc.subject.keywordAuthor | Legged locomotion | - |
dc.subject.keywordAuthor | Robot sensing systems | - |
dc.subject.keywordAuthor | Springs | - |
dc.subject.keywordAuthor | Torque | - |
dc.identifier.url | https://ieeexplore.ieee.org/document/7354132 | - |
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