하지 마비 장애인을 위한 착용부 분리형 외골격 로봇의 상체 착용부 설계

Abstract

Exoskeleton technology plays an essential role in assisting with gait for individuals with paraplegia. In this study, we developed a new type of powered exoskeleton with separable wearing and mechanical parts, aimed at resolving the difficulties associated with donning and movement presented by existing powered exoskeleton. Particularly, we took into consideration the reduced trunk control ability of individuals with paraplegia, efficient force transmission and support through the robot, and skin safety, to design and fabricate an optimized support structure, including a spinal support frame, pelvic wearing part, hip strap, and shoulder straps. This research conducted multiple standing motion tests with the fabricated upper-body wearing part on individuals with complete paraplegia to verify its practical applicability.