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dc.contributor.author 이희돈 ko
dc.contributor.author 김완수 ko
dc.contributor.author 임동환 ko
dc.contributor.author 한창수 ko
dc.date.accessioned 2018-02-26T08:44:16Z -
dc.date.available 2018-02-26T08:44:16Z -
dc.date.created 2018-02-26 -
dc.date.issued 2017-05 -
dc.identifier.citation 로봇학회 논문지, v.12, no.2, pp.124 - 131 -
dc.identifier.issn 1975-6291 -
dc.identifier.uri http://hdl.handle.net/20.500.11750/5886 -
dc.description.abstract This paper present a novel approach to control the lower body power assistive exoskeleton system of a HEXAR-CR35 aimed at improving a muscular strength. More specifically the control of based on the human intention is crucial of importance to ensure intuitive and dexterous motion with the human. In this contribution, we proposed the detection algorithm of the human intention using the MCRS which are developed to measure the contraction of the muscle with variation of the circumference. The proposed algorithm provides a joint motion of exoskeleton corresponding the relate muscles. The main advantages of the algorithm are its simplicity, computational efficiency to control one joint of the HEXAR-CR35 which are consisted knee-active type exoskeleton (the other joints are consisted with the passive or quasi-passive joints that can be arranged by analyzing of the human joint functions). As a consequence, the motion of exoskeleton is generated according to the gait phase: swing and stance phase which are determined by the foot insole sensors. The experimental evaluation of the proposed algorithm is achieved in walking with the exoskeleton while carrying the external mass in the back side. -
dc.language Korean -
dc.publisher 한국로봇학회 -
dc.subject Human Intent based Control -
dc.subject Exoskeleton Control -
dc.subject Wearable Robot -
dc.subject Human-Robot Interface -
dc.title 인체근육의 동작의도를 이용한 하지 근력증강형 외골격 로봇의 제어 알고리즘 -
dc.title.alternative Control Algorithm of the Lower-limb Powered Exoskeleton Robot using an Intention of the Human Motion from Muscle -
dc.type Article -
dc.identifier.doi 10.7746/jkros.2017.12.2.124 -
dc.type.local Article(Domestic) -
dc.type.rims ART -
dc.description.journalClass 2 -
dc.identifier.kciid ART002226493 -
dc.contributor.nonIdAuthor 김완수 -
dc.contributor.nonIdAuthor 임동환 -
dc.contributor.nonIdAuthor 한창수 -
dc.identifier.citationVolume 12 -
dc.identifier.citationNumber 2 -
dc.identifier.citationStartPage 124 -
dc.identifier.citationEndPage 131 -
dc.identifier.citationTitle 로봇학회 논문지 -
dc.description.isOpenAccess N -
dc.contributor.affiliatedAuthor 이희돈 -
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Convergence Research Center for Collaborative Robots 1. Journal Articles

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