와이어 구동방식 외골격 보조기의 제어 연구

Recently the active power assistive equipments have been widely developed to help the human body motion. But for the elderly people and the patients, some limits exist due to the weight and volume of the equipments. In this paper, a tendon-driven exoskeletal power assistive suit and a caster walker are considered to solve these problems. Since the caster walker carries the burdens such as actuators and controllers, the weight and volume of the exoskeletal assistive suit are minimized. The required joint torques are estimated from a human body model and subjected to the torque feedback algorithm. Experiments were performed with a normal person and the performance is compared by the magnitude of the EMG. With the proposed equipment, the required muscle power for sitting up and down has reduced up to 40%.