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This paper is about the development of an insole sensor system that can determine the model of an exoskeleton robot for lower limb that is a multi-degree of freedom system. First, the study analyzed the kinematic model of an exoskeleton robot for the lower limb that changes according to the gait phase detection of a human. Based on the ground reaction force (GRF), which is generated when walking, to proceed with insole sensor development, the sensing type, location, and the number of sensors were selected. The center of pressure (COP) of the human foot was understood first, prior to the development of algorithm. Using the COP, an algorithm was developed that is capable of detecting the gait phase with small number of sensors. An experiment at 3 km/h speed was conducted on the developed sensor system to evaluate the developed insole sensor system and the gait phase detection algorithm.
This paper is about the development of an insole sensor system that can determine the model of an exoskeleton robot for lower limb that is a multi-degree of freedom system. First, the study analyzed the kinematic model of an exoskeleton robot for the lower limb that changes according to the gait phase detection of a human. Based on the ground reaction force (GRF), which is generated when walking, to proceed with insole sensor development, the sensing type, location, and the number of sensors were selected. The center of pressure (COP) of the human foot was understood first, prior to the development of algorithm. Using the COP, an algorithm was developed that is capable of detecting the gait phase with small number of sensors. An experiment at 3 km/h speed was conducted on the developed sensor system to evaluate the developed insole sensor system and the gait phase detection algorithm.
This paper is about the development of an insole sensor system that can determine the model of an exoskeleton robot for lower limb that is a multi-degree of freedom system. First, the study analyzed the kinematic model of an exoskeleton robot for the lower limb that changes according to the gait phase detection of a human. Based on the ground reaction force (GRF), which is generated when walking, to proceed with insole sensor development, the sensing type, location, and the number of sensors were selected. The center of pressure (COP) of the human foot was understood first, prior to the development of algorithm. Using the COP, an algorithm was developed that is capable of detecting the gait phase with small number of sensors. An experiment at 3 km/h speed was conducted on the developed sensor system to evaluate the developed insole sensor system and the gait phase detection algorithm.
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참고문헌 (13건) : 자료제공( 네이버학술정보 )
| 번호 | 참고문헌 | 국회도서관 소장유무 |
|---|---|---|
| 1 | Zoss, A. and Kazerooni, H., “On the Mechanical Design of the Berkeley Lower Extremity Exoskeleton,”IEEE on Intelligent Robots and Systems, pp. 3465-3472, 2005. | 미소장 |
| 2 | Skelly, M. M. and Chizeck, H. J., “Real-Time Gait Event Detection for Paraplegic FES Walking,” IEEE Transactions on Neural System and Rehabilitation Engineering, Vol. 9, No. 1, pp. 59-68, 2001. | 미소장 |
| 3 | A Gait Monitoring System Based on Air Pressure Sensors Embedded in a Shoe  |
미소장 |
| 4 | Foot mounted inertial system for pedestrian navigation |
미소장 |
| 5 | Gait assessment in Parkinson's disease: toward an ambulatory system for long-term monitoring |
미소장 |
| 6 | Huang, B., Chen, M., Shi, X., and Xu, Y., “Gait Event Detection with Intelligent Shoes,” Proc. of the International Conference on Information Acquisition, pp. 579-584, 2007. | 미소장 |
| 7 | A Reliable Gyroscope-Based Gait-Phase Detection Sensor Embedded in a Shoe Insole |
미소장 |
| 8 | Gait Pattern Generation for Lower Extremity Exoskeleton Robot and Verification of Energy Efficiency | 소장 |
| 9 | Gait Analysis: Normal and Pathological Function |
미소장 |
| 10 | On the Control of the Berkeley Lower Extremity Exoskeleton (BLEEX) |
미소장 |
| 11 | The Analysis of Center of Pressure(COP) Displacement under Loading Position during Walking | 소장 |
| 12 | A Study on the Categorization of Korean Foot Shapes | 소장 |
| 13 | Alterations in evertor/invertor muscle activation and center of pressure trajectory in participants with functional ankle instability |
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