표제지
목차
ABSTRACT 11
제1장 서론 13
1.1. 연구개요 13
1.1.1. 연구배경 13
1.1.2. 로봇의족의 개발 현황 15
1.1.3. 연구의 필요성 17
1.2. 연구목적 19
제2장 이론적 배경 22
2.1. 보행 중 발목의 역할 22
2.2. 보행이론 22
2.3. 발목관절의 각도와 토크 관계 25
2.4. 보행역학 분석 27
1. IC ~LS 구간 29
2. LS ~ MST 구간 30
3. MST~TST 구간 31
4. TST ~ PSW 구간 32
5. 관절토크 분석 33
제3장 시스템 설계 및 제작 34
3.1. 설계 목표 (Design Specification) 34
(1) 관절토크[N·m] 35
(2) Push off 검출율[%] 35
(3) 사용가능시간[hr] 35
(4) 보행최대속도[m/s] 35
(5) 무게[kg] 35
(6) 움직임 범위[degree] 35
(7) 내구성 36
3.2. 시스템 설계 36
3.2.1. 통합 구동 메커니즘 36
3.2.2. 발목관절의 탄성 메커니즘 37
3.3. 로봇의족 설계 및 제작 40
3.3.1. Prototype 로봇의족 설계 및 제작 40
3.3.2. Robotic Prosthetic Foot 1(RPF1) 로봇의족 설계 및 제작 43
제4장 로봇의족 제어 48
4.1. 제어시스템 48
4.2. 발목 제어 51
4.2.1. 발목구동 제어 51
4.2.2. 보행환경 판단 52
제5장 평가(Evaluation) 56
5.1. 평가 환경 56
5.1.1. 보행시뮬레이터 56
5.1.2. 보행측정시스템 58
5.1.3. 지면 반력 측정 시스템 59
5.2. 성능평가 60
5.2.1. 관절토크 60
5.2.2. Push off 검출율 62
5.2.3. 사용가능시간 65
5.2.4. 최대 보행속도 66
5.2.5. 무게 67
5.2.6. 발목 가동각 67
5.2.7. 내구성 68
제6장 보행 임상평가 69
제7장 결론 74
참고문헌 76
국문초록 82
〈Table 1-1〉 Robotic prosthetic foot on the market 15
〈Table 3-1〉 specification of robotic prosthetic foot 34
〈Table 3-2〉 Comparison of wearability between prototype and ottobock meridium 45
〈Table 4-1〉 The specification of FSR sensor 50
〈Table 4-2〉 The specification of IMU sensor 50
〈Table 4-3〉 The specification of BLDC hall sensor 51
〈Table 5-1〉 Walking simulator specification 57
〈Table 6-1〉 Characteristics of the participants. 69
〈Table 6-2〉 Comparison between conventional and the robotic prosthetic foot of gait 71
〈Table 6-3〉 Comparison of K level between Conventional prosthetic foot and Robotic prosthetic foot 72
〈Figure 1-1〉 Development history of prosthetic foot for BK amputee 14
〈Figure 1-2〉 Characteristics of typical commercially available robotic prosthetic foot 17
〈Figure 1-3〉 (a) U.S. robotic prosthetics market, (b)Global robotic prosthetic market(upper body and lower body) 19
〈Figure 1-4〉 Ankle torque in each direction that can be seen in 1 step during normal walking 21
〈Figure 2-1〉 human gait cycle 23
〈Figure 2-2〉 Ankle joint angle change according to gait cycle 24
〈Figure 2-3〉 Relationship between ankle angle and ankle torque 25
〈Figure 2-4〉 (a)Forces applied to the ground [55], (b) Typical vertical GRFs during gait in healthy adults. GRF indicates ground reaction force. 27
〈Figure 2-5〉 (a)Analysis model of foot and ankle, (b)Stance phase for ankle moment analysis ① IC (initial contact), ② LS (loading response), ③ MST (midstance), ④ TST... 28
〈Figure 2-6〉 Force analysis of IC ~ LS 29
〈Figure 2-7〉 Force analysis of LS ~ MST 30
〈Figure 2-8〉 Force analysis of MST ~ TST 31
〈Figure 2-9〉 Force analysis of IC ~ LS 32
〈Figure 2-10〉 Theoretical analysis result of ankle torque 33
〈Figure 3-1〉 Integrated Driving Mechanism 36
〈Figure 3-2〉 Block elastic body shape and hardness applied to the robotic prosthetic foot 38
〈Figure 3-3〉 Behavior of block elastic body at (a)DF and (b)PF 39
〈Figure 3-4〉 Prototype exploded view of a robotic prosthetic foot 40
〈Figure 3-5〉 Connection between driving mechanism and foot unit 41
〈Figure 3-6〉 position and numbers of FRS sensor 42
〈Figure 3-7〉 Prototype making results and part names of robotic prosthetic foot 42
〈Figure 3-8〉 Harmonic Drive and BLDC motor 43
〈Figure 3-9〉 RPF1 exploded view of a robotic prosthetic foot 44
〈Figure 3-10〉 Height comparison of robotic prosthetic foot 45
〈Figure 3-11〉 Battery change and FSR, IMU sensor of RFP1 robotic prosthetic foot 46
〈Figure 3-12〉 RPF1 making results and part names of robotic prosthetic foot 47
〈Figure 4-1〉 Control Board(ESCON Module 50/8) 48
〈Figure 4-2〉 Control Block Diagram 49
〈Figure 4-3〉 Position of FSR sensor, IMU sensor, Hall sensor 50
〈Figure 4-4〉 Current applied to the BLDC motor according to the ankle angle on the motor encoder (a) hold on the body by maintaining an ankle angle as heel strike (b)... 52
〈Figure 4-5〉 Control condition according to walking environment 54
〈Figure 4-6〉 Ankle angle on Flat and Slope 54
〈Figure 4-7〉 Flow Chart of Finite State Machine 55
〈Figure 5-1〉 Walking simulator design and part name 56
〈Figure 5-2〉 Walking simulator being used for ankle robot evaluation 57
〈Figure 5-3〉 Vicon 3D motion analysis system: (a) photo of the system, (b) analysis software (VICON NEXSUS 2.10.1) 58
〈Figure 5-4〉 Plug-in Gait Reference Guide 59
〈Figure 5-5〉 Multi-axis force plate used in walking evaluation 59
〈Figure 5-6〉 (a)Setting method of Ankle joint torque measurement, (b)Ankle joint torque measurement picture 61
〈Figure 5-7〉 Variation of ankle joint torque during walking 61
〈Figure 5-8〉 The result of ankle joint torque measurement during walking 62
〈Figure 5-9〉 Push off experiment 62
〈Figure 5-10〉 Ankle angle measurement for measuring push off motion 63
〈Figure 5-11〉 Analysis for push off detection 64
〈Figure 5-12〉 The comparison of vertical ground reaction force between robotic prosthetic foot and conventional prosthetic foot 65
〈Figure 5-13〉 Gait speed measurement 66
〈Figure 5-14〉 The result of evaluation as gait speed in wearing a robotic prosthetic foot 66
〈Figure 5-15〉 Weight of robotic prosthetics foot 67
〈Figure 5-16〉 Measurement of ankle angle 68
〈Figure 5-17〉 Durability test 68
〈Figure 6-1〉 Gait ability evaluation method: (a) 6MWT, (b) TUG-test, (c) L-test 70
〈Figure 6-2〉 Distribution of K- level evaluation results 72
〈Figure 6-3〉 Evaluation of bilateral BK amputee 73