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Robotic Stage for Human Balance Disorder Assessment

Title
Robotic Stage for Human Balance Disorder Assessment
Authors
Samuel, KangwagyeOh, Sehoon
DGIST Authors
Oh, Sehoon
Issue Date
2020-10-14
Citation
20th International Conference on Control, Automation and Systems, ICCAS 2020, 447-452
Type
Conference
ISBN
9788993215205
ISSN
1598-7833
Abstract
This paper presents a novel robotic stage for human balance disorder assessment. The proposed robot is composed of top and bottom plates which move perpendicular to each other in x- and y- directions. Both plates can be driven or controlled simultaneously or one at a time. Each of the drive systems for the plates utilize a BLDC motor, ball-screw, force sensor, and motor encoder, which enable various control strategies. Moreover, the force sensor is located between the ball-screw and the load, hence, the load reaction force can be directly measured. To conduct the balance assessment, a human (patient) stands on the top plate of the stage and the robot is driven by either force or position control, from which the force is measured directly by the force sensor. Then, the balance disorder assessment is done by observing the characteristics of the force measurements. This device provides a wider motion strokes which enable the examiner to obtain detailed balance disorder information as compared to the existing techniques. Experiments on both control and actual human balance test are carriedout to verify the effectiveness of the proposed device. © 2020 Institute of Control, Robotics, and Systems - ICROS.
URI
http://hdl.handle.net/20.500.11750/12896
DOI
10.23919/ICCAS50221.2020.9268384
Publisher
IEEE Computer Society
Related Researcher
  • Author Oh, Sehoon MCL(Motion Control Lab)
  • Research Interests Research on Human-friendly motion control; Development of human assistance;rehabilitation system; Design of robotic system based on human musculoskeletal system; Analysis of human walking dynamics and its application to robotics; 친인간적인 운동제어 설계연구; 인간 보조;재활 시스템의 설계 및 개발연구; 인간 근골격계에 기초한 로봇기구 개발연구; 보행운동 분석과 모델 및 로봇기구에의 응용
Files:
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Collection:
Department of Robotics EngineeringMCL(Motion Control Lab)2. Conference Papers


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