A gait-assistive mobile robot based on a body weight support and autonomous path tracking system
DC Field | Value | Language |
---|---|---|
dc.contributor.author | Yu, Seungnam | - |
dc.contributor.author | Jang, Jaeho | - |
dc.contributor.author | Kim, Donghwan | - |
dc.contributor.author | Lee, Jiyeong | - |
dc.contributor.author | Han, Changsoo | - |
dc.date.accessioned | 2021-06-23T10:02:20Z | - |
dc.date.available | 2021-06-23T10:02:20Z | - |
dc.date.created | 2021-01-21 | - |
dc.date.issued | 2012-03 | - |
dc.identifier.issn | 0954-4062 | - |
dc.identifier.uri | https://scholarworks.bwise.kr/erica/handle/2021.sw.erica/36278 | - |
dc.description.abstract | With the rising numbers of elderly and disabled people, the demand for welfare services using a robotic system and not involving human effort is likewise increasing. This study deals with a mobile robot system combined with a body weight support (BWS) system for gait rehabilitation. The BWS system was designed via the kinematic analysis of the robot's body-lifting characteristics and of the walking guide system that controls the total rehabilitation system integrated in the mobile robot. This mobile platform is operated by utilizing the autonomous guided vehicle driving algorithm. Especially, the method that integrates geometric path tracking and obstacle avoidance for a non-holonomic mobile robot was applied so that the system can be operated in an area where the elderly users are expected to be situated, such as in a public hospital or a rehabilitation centre. The mobile robot follows the path by moving through the turning radius supplied by the pure-pursuit method, one of the existing geometric path-tracking methods. The effectiveness of the proposed method was verified through real experiments that were conducted for path tracking with static and dynamic obstacle avoidance. Finally, through electromyography signal measurement of the subject, the performance of the proposed system in a real operation condition was evaluated. | - |
dc.language | 영어 | - |
dc.language.iso | en | - |
dc.publisher | Professional Engineering Publishing Ltd. | - |
dc.title | A gait-assistive mobile robot based on a body weight support and autonomous path tracking system | - |
dc.type | Article | - |
dc.contributor.affiliatedAuthor | Lee, Jiyeong | - |
dc.identifier.doi | 10.1177/0954406211416541 | - |
dc.identifier.scopusid | 2-s2.0-84859725561 | - |
dc.identifier.wosid | 000300455700024 | - |
dc.identifier.bibliographicCitation | Proceedings of the Institution of Mechanical Engineers, Part C: Journal of Mechanical Engineering Science, v.226, no.3, pp.828 - 841 | - |
dc.relation.isPartOf | Proceedings of the Institution of Mechanical Engineers, Part C: Journal of Mechanical Engineering Science | - |
dc.citation.title | Proceedings of the Institution of Mechanical Engineers, Part C: Journal of Mechanical Engineering Science | - |
dc.citation.volume | 226 | - |
dc.citation.number | 3 | - |
dc.citation.startPage | 828 | - |
dc.citation.endPage | 841 | - |
dc.type.rims | ART | - |
dc.type.docType | Article | - |
dc.description.journalClass | 1 | - |
dc.description.isOpenAccess | N | - |
dc.description.journalRegisteredClass | scie | - |
dc.description.journalRegisteredClass | scopus | - |
dc.relation.journalResearchArea | Engineering | - |
dc.relation.journalWebOfScienceCategory | Engineering, Mechanical | - |
dc.subject.keywordAuthor | gait rehabilitation | - |
dc.subject.keywordAuthor | service robot | - |
dc.subject.keywordAuthor | body weight support system | - |
dc.subject.keywordAuthor | pure-pursuit algorithm | - |
dc.identifier.url | https://journals.sagepub.com/doi/10.1177/0954406211416541 | - |
Items in ScholarWorks are protected by copyright, with all rights reserved, unless otherwise indicated.
55 Hanyangdeahak-ro, Sangnok-gu, Ansan, Gyeonggi-do, 15588, Korea+82-31-400-4269 sweetbrain@hanyang.ac.kr
COPYRIGHT © 2021 HANYANG UNIVERSITY. ALL RIGHTS RESERVED.
Certain data included herein are derived from the © Web of Science of Clarivate Analytics. All rights reserved.
You may not copy or re-distribute this material in whole or in part without the prior written consent of Clarivate Analytics.