Kinematic characteristics of walking-assistance robot
DC Field | Value | Language |
---|---|---|
dc.contributor.author | Bae, H. | - |
dc.contributor.author | Kim, J.O. | - |
dc.contributor.author | Chun, H.Y. | - |
dc.contributor.author | Park, K.H. | - |
dc.contributor.author | Lee, K.W. | - |
dc.date.available | 2018-05-10T13:34:30Z | - |
dc.date.created | 2018-04-17 | - |
dc.date.issued | 2011-05 | - |
dc.identifier.issn | 1226-4873 | - |
dc.identifier.uri | http://scholarworks.bwise.kr/ssu/handle/2018.sw.ssu/14462 | - |
dc.description.abstract | We developed a walking-assistance robot for walking rehabilitation and assessed the kinematic characteristics of a prototype. The walking-assistance robot is composed of hip, knee, and ankle joints, and each joint is driven by a motor with a decelerator. The equations of angular displacement while walking were derived by theoretically analyzing human locomotion, and the calculated angular displacements were then applied to the robot controller. The output angular displacement of each joint was measured and compared with its input angular displacement in walking experiments on a treadmill at various walking speeds and strides. The differences between the input and output angular displacements are 5.22% for the hip and 2.97% for the knee joints, and it has been confirmed that the walking-assistance robot works well. © 2011 The Korean Society of Mechanical Engineers. | - |
dc.language | 한국어 | - |
dc.language.iso | ko | - |
dc.publisher | 대한기계학회 | - |
dc.relation.isPartOf | Transactions of the Korean Society of Mechanical Engineers, A | - |
dc.subject | Angular displacement | - |
dc.subject | Ankle joints | - |
dc.subject | Human locomotions | - |
dc.subject | Input and outputs | - |
dc.subject | Joint | - |
dc.subject | Kinematic characteristics | - |
dc.subject | Knee joint | - |
dc.subject | Rehabilitation | - |
dc.subject | Robot controller | - |
dc.subject | Walk-assistive robot | - |
dc.subject | Walking speed | - |
dc.subject | Joints (anatomy) | - |
dc.subject | Kinematics | - |
dc.subject | Physiological models | - |
dc.subject | Robots | - |
dc.subject | Walking aids | - |
dc.title | Kinematic characteristics of walking-assistance robot | - |
dc.title.alternative | 보행보조 로봇의 운동학적 특성 | - |
dc.type | Article | - |
dc.identifier.doi | 10.3795/KSME-A.2011.35.5.503 | - |
dc.type.rims | ART | - |
dc.identifier.bibliographicCitation | Transactions of the Korean Society of Mechanical Engineers, A, v.35, no.5, pp.503 - 515 | - |
dc.identifier.kciid | ART001546415 | - |
dc.description.journalClass | 1 | - |
dc.identifier.scopusid | 2-s2.0-79955828793 | - |
dc.citation.endPage | 515 | - |
dc.citation.number | 5 | - |
dc.citation.startPage | 503 | - |
dc.citation.title | Transactions of the Korean Society of Mechanical Engineers, A | - |
dc.citation.volume | 35 | - |
dc.contributor.affiliatedAuthor | Kim, J.O. | - |
dc.type.docType | Article | - |
dc.description.isOpenAccess | N | - |
dc.description.oadoiVersion | published | - |
dc.subject.keywordAuthor | Joint | - |
dc.subject.keywordAuthor | Kinematics | - |
dc.subject.keywordAuthor | Rehabilitation | - |
dc.subject.keywordAuthor | Walk-assistive robot | - |
dc.description.journalRegisteredClass | scopus | - |
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