Cited 3 time in
Cited 5 time in
Human force observation and assistance for lower limb rehabilitation using wire-driven series elastic actuator
- Human force observation and assistance for lower limb rehabilitation using wire-driven series elastic actuator
- Lee, Chan; Kim, Jun-Young; Kim, Shin-Yoon; Oh, Sehoon
- DGIST Authors
- Oh, Sehoon
- Issue Date
- Mechatronics, 55, 13-26
- Article Type
- Author Keywords
- Human force observation; Robot aided rehabilitation; Series elastic actuator; Wire-driven robot
- ROBOT; MECHANICS; DESIGN; SYSTEM; SAFE
- 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
- Pergamon Press Ltd.
- Related Researcher
MCL(Motion Control Lab)
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
There are no files associated with this item.
- Department of Robotics EngineeringMCL(Motion Control Lab)1. Journal Articles
Items in DSpace are protected by copyright, with all rights reserved, unless otherwise indicated.