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하지 착용형 외골격 로봇의 효율적 보행패턴 생성 및 에너지 효율성 검증Gait Pattern Generation for Lower Extremity Exoskeleton Robot and Verification of Energy Efficiency

Other Titles
Gait Pattern Generation for Lower Extremity Exoskeleton Robot and Verification of Energy Efficiency
Authors
김완수이승훈유재관백주현김동환한정수한창수
Issue Date
Mar-2012
Publisher
한국정밀공학회
Keywords
Lower Extremity Exoskeleton (하지 착용형 외골격 로봇); Walking Assist (보행 보조); Dynamic Manipulability Ellipsoid (동조작성타원); Gait Pattern (보행패턴); Energy Efficiency (에너지 효율)
Citation
한국정밀공학회지, v.29, no.3, pp.346 - 353
Indexed
KCI
Journal Title
한국정밀공학회지
Volume
29
Number
3
Start Page
346
End Page
353
URI
https://scholarworks.bwise.kr/erica/handle/2021.sw.erica/35771
ISSN
1225-9071
Abstract
The purpose of this study is to verify the energy efficiency of the integrated system combining human and a lower extremity exoskeleton robot when it is applied to the proposed gait pattern. Energy efficient gait pattern of the lower limb was proposed through leg function distribution during stance phase and the dynamic-manipulability ellipsoid (DME). To verify the feasibility and effect of the redefined gait trajectory, simulations and experiments were conducted under the conditions of walking on level ground and ascending and descending from a staircase. Experiments to calculate the metabolic cost of the human body with or without the assistance of the exoskeleton were conducted. The energy consumption of the lower extremity exoskeleton was assessed, with the aim of improving the efficiency of the integrated system.
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