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    국내학술지 제목 게시판 내용
    제목(국문)
    제목(영문) Master-Slave Control of an Intention-Actuated Exoskeletal Robot for Locomotion and Lower Extremity Rehabilitation
    저자 - (Gao Huang ,Beijing Advanced innovation Center for intelligent Robots and Systems, Beijing institute of Technology, China ) ▷공저자네트워크등록하기
    - (Weimin Zhang ,Beijing Advanced innovation Center for intelligent Robots and Systems, Beijing institute of Technology, China ) ▷공저자네트워크등록하기
    - (Fei Meng ,Beijing Advanced innovation Center for intelligent Robots and Systems, Beijing institute of Technology, China ) ▷공저자네트워크등록하기
    - (Zhangguo Yu ,Beijing Advanced innovation Center for intelligent Robots and Systems, Beijing institute of Technology, China ) ▷공저자네트워크등록하기
    - (Xuechao Chen ,Beijing Advanced innovation Center for intelligent Robots and Systems, Beijing institute of Technology, China ) ▷공저자네트워크등록하기
    - (Marco Ceccarelli ,Beijing Advanced innovation Center for intelligent Robots and Systems, Beijing institute of Technology, China ) ▷공저자네트워크등록하기
    - (Qiang Huang ,Beijing Advanced innovation Center for intelligent Robots and Systems, Beijing institute of Technology, China ) ▷공저자네트워크등록하기
    초록
    초록(영문)

    In this paper, a master-slave control system is proposed and applied in an intention-actuated exoskeletal robot to assist user
    locomotion and lower extremity rehabilitation simultaneously. In particular, to increase users' sense of participation, the motion of
    the exoskeleton and the wheelchair, which is denoted as slave motion in this study, is actuated by the users intention, which is denoted
    as master motion and thus makes patients feel that they are moving the wheelchair. This master-slave motion control system can help
    to eliminate patients 'fear of medical apparatus and instruments. The bicycling motion actuated by one motor is implemented to
    realize the rehabilitation motion exercise. Experimental results validate a position-force control strategy for the exoskeleton motors,
    and show that the proposed method can help users to move around and to exercise their legs simultaneously and effectively.

    keyword Intention-actuated exoskeletal robot, Master-slave control, Rehabilitation
    저널명 International Journal of Precision Engineering and Manufacturing ▷관련저널보기
    VOL 19
    PAGE 0983
    발표년도 2018
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