환자 맞춤 보조용 소프트 웨어러블 로봇을 위한 멀티 풀리 모듈 개발

Abstract

This paper presents a novel module for patient-specific assistance applicable to soft wearable robots to overcome various gait disorders. By applying the pulley module to the conventional cable-driven method, patients and therapists can easily adjust the direction and the magnitude of assistance by changing the combination of pulleys, such as the quantity and the position. The model parameters were selected considering the biomechanical restriction. The durability of the module was analyzed by the finite element method based on von-Mises yield criterion and was guaranteed to implement in practice. The feasibility of the module was verified by manufacturing a prototype, which is applied to the hip joint. The mechanism can be implemented to assist other joints, i.e., knee and ankle.