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국내 최대 기계 및 로봇 연구정보
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  • 국내학술지

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    국내학술지 제목 게시판 내용
    제목(국문) DC 모터를 이용한 동력 의족 시스템 개발
    제목(영문) Development of a Powered Knee Prosthesis using a DC Motor
    저자 NULL
    초록
    초록(영문)
    In this paper, we present an overview of the structure of a lab-built powered knee prosthesis and the control of it. We build a powered prosthesis prototype on the basis of previous researches and aim at obtaining the essential technology related with its control. We adopt the slider-crank mechanism with a DC motor as an actuator to manipulate the knee joint. We also build an embedded control system for the prosthesis with a 32-bit DSP controller as a main computation unit. We divide the gait phase into five stages and use a FSM (Finite State Machine) to generate a torque reference needed for each stage. We also propose to use a position-based impedance controller for driving the powered knee prosthesis stably. We perform some walking experiments at fixed speeds on a tread mill in order to show the feature of the built powered prosthesis. The experimental results show that our prosthesis has the ability to provide a functional gait that is representative of normal gait biomechanics.
    keyword powered prosthesis, impedance control, finite state machine
    저널명 제어로봇시스템학회논문지 ▷관련저널보기
    VOL 20
    PAGE 193-199
    발표년도 2014
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    영문File
    • 페이스북아이콘
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