하지보조용 착용형로봇 ANGELEGS를 이용한 스쿼트 운동 방법

Abstract

The frequency of rehabilitation using the robot has been increasing, but since it can be treated only in the space where the robot is installed, there is a problem that it is difficult to expect a great therapeutic effect due to time and space constraints. This paper proposes the way to maximize the rehabilitation effect by enabling the rehabilitation at the desired time and space by using the lower limb wearable robot(ANGELEGS). It is possible to assist the muscular strength or to maximize the exercise effect by generating assistive/resistive force at the robot joint, and the force is precisely generated by the series elastic actuator(SEA). In this paper, exercise effect was evaluated by applying assistance mode and exercise mode to squat movement and observing EMG signals. The measured amount of activity from the muscles was verified to increase or decrease according to the assis- tive/resistive force generated by the robot joints.