인간-외골격로봇 도킹을 위한 오차 공간 기반 가이드 설계

Abstract

In this study, a novel separable design of powered exoskeleton was introduced to mitigate the risks and difficulties encountered during the donning process of exoskeleton for individuals with paraplegia. The developed powered exoskeleton in this research is categorized into two parts: the 'wearing part' that is directly attached on the user's body, and the 'mechanical part' that performs the powered exoskeleton's mechanical functions. These two components are combined through a 'docking' process. Notably, the docking incorporates a guide designed considering a three-dimensional error space, effectively addressing uncertainties that may arise from the human side, which could hinder the docking process. This approach enhances the convenience and safety of the wearing process and proposes a new method for donning powered exoskeleton.