Cited 3 time in webofscience Cited 5 time in scopus

Human force observation and assistance for lower limb rehabilitation using wire-driven series elastic actuator

Title
Human force observation and assistance for lower limb rehabilitation using wire-driven series elastic actuator
Authors
Lee, ChanKim, Jun-YoungKim, Shin-YoonOh, Sehoon
DGIST Authors
Oh, Sehoon
Issue Date
2018-11
Citation
Mechatronics, 55, 13-26
Type
Article
Article Type
Article
Author Keywords
Human force observationRobot aided rehabilitationSeries elastic actuatorWire-driven robot
Keywords
ROBOTMECHANICSDESIGNSYSTEMSAFE
ISSN
0957-4158
Abstract
This study involves proposing an assistive device using a wire-driven Series Elastic Actuator (SEA) for leg rehabilitation that can design and provide assistive force for exercises based on the physical ability of a patient. The proposed assistive device possesses a force estimation ability to measure the mass of the leg along with the force exerted by a user in real-time. In order to achieve precise human force estimation and assistive force generation, a compact Planetary-geared Elastic Actuator, which is a type of Series Elastic Actuator is applied in the proposed device. Various algorithms to provide robust assistive force and to estimate force and work performed by the user are proposed in the study. Pilot tests were conducted with an exercise scenario that fully utilizes the functions and algorithms proposed in this study, and the effectiveness of the proposed system was validated based on two types of experiments: a healthy subject case and a patient case. The results of pilot test approve that the proposed device and algorithm enable patients to perform the exercise with ease, and increase their physical capabilities effectively. © 2018 Elsevier Ltd
URI
http://hdl.handle.net/20.500.11750/9288
DOI
10.1016/j.mechatronics.2018.08.010
Publisher
Pergamon Press Ltd.
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)1. Journal Articles


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