Journal of the Korean Society for Precision Engineering (한국정밀공학회지)

Korean Society for Precision Engineering (한국정밀공학회)
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Development of the Pneumatic Manipulator of Gait Rehabilitation Robot using Fuzzy Control

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  • 김승호 (한국원자력연구소 원자력 로봇연구실) ;
  • 정승호 (한국원자력연구소 원자력 로봇연구실) ;
  • 류두현 (한국원자력연구소 원자력 로봇연구실) ;
  • 조강희 (충남대학교 의과대학 재활의학과) ;
  • 김봉옥 (충남대학교 의과대학 재활의학과)
  • Published : 2000.12.01
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Abstract

Stable and comfortable walking supports, which can reduce the body weight load partially, are needed for the recovering patients from neurologic disease and orthopedic procedures. In this paper, the development of a manipulator of rehabilitation robot for the patients with walking disabilities are studied. A force controller using pneumatic actuators is designed and implemented to the human friendly rehabilitation robot considering the safety of patients, reliability of the system, effectiveness of the unloading control and economic maintenance of the system. The mechanism of the unloading manipulator is devised to improve the sensibility for the movement of the patients such as direction and velocity. For the unloading force control, fuzzy control algorithm is adopted to reduce the partial body weight and suppress the unwanted fluctuation of the body weight load to the weak legs due to the unnatural working of the patients with walking disabilities. The effectiveness of the force control is experimentally demonstrated.

Keywords

References

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