Title Page
Contents
ABBREVIATIONS 11
ABSTRACT 12
Ⅰ. INTRODUCTION 14
1.1. Motivation 14
1.2. Research Objectives 18
Ⅱ. MATERIALS AND METHODS 20
2.1. Device Design 20
2.2. Mechanical Structure of Clutch 24
2.3. Device Evaluation 28
2.4. Performance Evaluation 30
Ⅲ. EXPERIMENTAL EVALUATION 33
3.1. Upper extremity test 33
3.1.1. Subjects 33
3.1.2. Data Collection 34
3.1.3. Test Procedure 36
3.1.4. Result 37
3.2. Squat test 44
3.2.1. Subjects 44
3.2.2. Data Collection 45
3.2.3. Test Procedure 47
3.2.4. Result 48
Ⅳ. CONCLUSION 50
Ⅴ. REFERENCES 52
ABSTRACT IN KOREAN 54
Table 1. Clutch device specification. 24
Figure 1. Comparison of characteristics of exoskeletons for exercise in previous studies. 17
Figure 2. Muscle contraction and relaxation for each movement in the upper limbs. (a) Extension. Biceps relaxed and triceps contracted. (b) Flexion.... 21
Figure 3. The parts of Device. (a) Device on upper extremity. (b) Device on lower Extremity. 23
Figure 4. Structure of the mechanical clutch device. 25
Figure 5. Three operational states for the clutch mode. (a) Initial state without a force. (b) The tension spring is extended by the force from the... 27
Figure 6. Result of the Von Mises Stress via Solidworks simulation. (a) Pawl. (b) Ratchet. 29
Figure 7. Experimental setup to investigate the relationship between the length change and tension on the clutch device. The tension on string A... 31
Figure 8. The force exerted on the clutch device according to the change in length. Force applied to string A and string B (left), force applied... 32
Figure 9. Experimental setup for the measurement of upper limb movements using a motion capture system and locations of the four sEMG sensors. The... 35
Figure 10. Recorded sEMG signals from the three modes (without device, clutch mode, and resistance mode) during elbow flexion. 41
Figure 11. IEMG changes of the target muscle and contralateral muscle according to three modes (without device, clutch mode, and resistance)... 42
Figure 12. IEMG changes of the target muscle for four movements when the stiffness of linear spring was changed to 0.072, 0.114, and 0.18 N/mm. 43
Figure 13. Experimental setup for the measurement of squat using a motion capture system and locations of the four sEMG sensors. 46
Figure 14. IEMG changes of the muscles of lower extremity according to three modes (without device, clutch mode, and resistance). 49