근력 모니터링 기능을 갖는 다관절 등속성 운동 시스템 연구

A two-degree-of-freedom exercise/rehabilitation machine is developed to enhance the muscle strength or perform the rehabilitation. In the system, the isokinetic motion is realized in the planar trajectory and the tangential velocity is controlled to be constant regardless of pushing force by the user’s foot. During the exercise or rehabilitation, the values of torque meter and load cell are converted to the pushing force in the pedal and the torque of hip, knee and ankle joint is derived from it. This torque is converted to the muscle force. The experiment was performed to show the effectiveness of the machine.