와이어 구동방식의 새로운 외골격 보조기 설계 연구

This paper proposes a tendon-driven exoskeletal power assistive device to reduce the problem of the existing exoskeletal power assistive equipment. In addition, this paper suggests a caster walker, which can be moved by pushing, in order to carry heavy peripheral devices and maintain stable balance of the user at the same time. A muscle fiber expansion signal is used to control this proposed tendon-driven exoskeletal assistive device in order to compensate for the delay time of a motor and perform an easy assistance by sensing the user's action in advance. The muscle fiber expansion signal has the characteristics that the signal is ahead of the action and in proportion to joint torque.