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Design of Lower Limb Exoskeleton Robot Using Gas Spring and Verification of Muscle Strength Assistance Effect

가스스프링을 사용한 하지 외골격 로봇의 설계 및 근력 보조 효과 검증

Juho Yeo1
,
Jinwon Kim2
,
Hunseok Lee3
,
Eunbyeol Jang4
,
Jaewon Choi5
,
Baeksuk Chu6*
여 주호1
,
김 진원2
,
이 훈석3
,
장 은별4
,
최 재원5
,
주 백석6*
1M.E. Student, Department of Mechanical Engineering, Kumoh National Institute of Technology
2M.E. Student, Department of Mechanical Engineering, Kumoh National Institute of Technology
3M.E. Student, Department of Mechanical Engineering, Kumoh National Institute of Technology
4M.E. Student, Department of Aeronautic, Mechanical and Electronic Convergence Engineering, Kumoh National Institute of Technology
5M.E. Student, Department of Aeronautic, Mechanical and Electronic Convergence Engineering, Kumoh National Institute of Technology
6Professor, Department of Mechanical System Engineering, Kumoh National Institute of Technology
1금오공과대학교 대학원 기계공학과 석사과정
2금오공과대학교 대학원 기계공학과 석사과정
3금오공과대학교 대학원 기계공학과 석사과정
4금오공과대학교 대학원 항공기계전자융합과 석사과정
5금오공과대학교 대학원 항공기계전자융합과 석사과정
6금오공과대학교 기계시스템공학과 교수
*Corresponding Author
14 April 2023. pp. 20-27
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Abstract

In this study, we developed a passive type lower limb muscle strength assisting exoskeleton robot capable of static and dynamic muscle strength support to prevent injuries in industrial fields such as construction. While conventional exoskeleton robots mainly provide static muscle assistance, this exoskeleton robot does not provide only static assistance for seated situation, but also provides dynamic assistance for standing motion. Lockable gas springs are applied to support muscle power and appropriate analysis was performed. When the user is seated, the force acting on the thigh support is calculated, and the optimal cross-sectional area and thickness are selected through structural analysis. As a result using electromyography tests, when wearing the exoskeleton robot, it was confirmed that the magnitude of the force consumed by the muscle was reduced significantly.

Keywords
Wearable Robot
Lower Body Exoskeleton
Muscle Assistance
Lockable Gas Spring
Electromyography Sensor

본 연구에서는 건설 등 산업 현장에서 작업자가 바닥에 놓인 중량물을 들어올리기 위해서 기립하거나, 앉은 상태에서 공구를 사용하는 작업을 할 때 작업자의 부상을 방지하기 위해 정적 및 동적 근력 보조가 가능한 수동형 하지 근력 보조 외골격 로봇을 개발하였다. 본 외골격 로봇은 착용자가 앉은 상태일 때에는 정적 근력을 보조하며, 기립하는 동적 과정에서도 근력을 보조한다. 근력 보조를 하는 액추에이터로 잠금 가능한 가스스프링을 사용하고 최적의 스프링 선정을 위한 해석을 수행하였다. 또한 외골격 로봇의 앉는 기능을 사용했을 때, 사람의 하중을 지지해주는 허벅지 지지부에 작용하는 힘을 계산하고 구조해석을 통해 최적의 단면적과 두께를 선정하였다. 외골격 로봇의 성능을 확인하기 위해 외측광근에 대한 근전도 검사를 실시한 결과, 외골격 로봇을 착용했을 때 근육에서 발생하는 힘이 상당폭 감소하는 것을 확인하였다.

키워드
웨어로블 로봇
하지 외골격
근력 보조
잠금가능한 가스스프링
근전도 센서
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Information
  • Publisher :Korean Society of Automation and Robotics in Construction
  • Publisher(Ko) :(사)한국건설자동화·로보틱스학회
  • Journal Title :Journal of Construction Automation and Robotics
  • Journal Title(Ko) :건설자동화·로보틱스 논문집
  • Volume : 2
  • No :1
  • Pages :20-27
  • Received Date : 2023-03-13
  • Revised Date : 2023-03-17
  • Accepted Date : 2023-04-13
  • DOI :https://doi.org/10.55785/JCAR.2.1.20
Journal Informaiton Journal of Construction Automation and Robotics Journal of Construction Automation and Robotics
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