사람과 외골격 로봇이 통합된 시뮬레이션 환경

Abstract

Recently, many powered exoskeleton robots are developed to assist the gait of the disabled with spinal cord injury (SCI) whose lower limbs are completely paralyzed. During the robot assisted gait, the disabled stabilize their gait using crutches on their hands and the exoskeleton robot generates lower limb motion from the predefined robot joint trajectory. Finding an effective exoskeleton robot joint trajectory requires many iterative tuning processes due to the unpredictable nature of upper limb and crutch motion in accordance with the lower limb motion generated from the predefined robot joint trajectory. In this paper, we propose a gait simulation environment for the disabled that reflects a human intention to stabilize the gait using the crutches. The gait pattern generated in the simulation environment showed a similar gait pattern generated in the real environment where the robot joint trajectories were the same in both conditions. Using this simulation environment, it is expected that a researcher can conduct the iterative tuning process more easily in the simulation environment.