Development of an upper limb rehabilitation robot providing symmetric bilateral movements based on inertial measurement units관성센서 기반의 대칭성 양측 상지 재활 운동 보조 로봇 개발

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dc.contributor.advisorKim, Jung-
dc.contributor.advisor김정-
dc.contributor.authorKyeong, Seulki-
dc.date.accessioned2019-08-28T02:42:56Z-
dc.date.available2019-08-28T02:42:56Z-
dc.date.issued2016-
dc.identifier.urihttp://library.kaist.ac.kr/search/detail/view.do?bibCtrlNo=849861&flag=dissertationen_US
dc.identifier.urihttp://hdl.handle.net/10203/265834-
dc.description학위논문(석사) - 한국과학기술원 : 기계공학과, 2016.2,[vi, 79 p. :]-
dc.description.abstractStroke is most of the causes of disability and loss of motor function with growing population of old people. Mirror image motion enabler reflects unimpaired side motion into impaired side movements and it is effective because rehabilitation with voluntary drive makes reorganizational changes in the motor cortex. We present an upper limb rehabilitation robot providing symmetric bilateral movement for the hemiplegic stroke to rehabilitate with bilateral movements. For the unimpaired arm, a sensing unit utilizing IMUs measured the rotation joint angles of forearm. For the impaired arm, an actuating unit equipped with BLDC motors helped movements of elbow flexion/extension, wrist flexion/extension, and forearm pronation/supination. Because there are 3 axis of forearm motions, the patients can use the forearm motions of daily living. The device is portable to carry around, the patients can make daily and longer lasting treatment by transporting the device to home, hospital, and so on. Because the actuating unit and sensing unit are in different system, we need to consider the measurement of unimpaired arm motion, and the desired trajectory for the asymmetric impaired arm. We suggest the solution to make the sensing unit based on IMU sensors, and the actuating unit to drive with cable driven mechanism. The actuation of the forearm pronation/supination and wrist flexion/extension used one motor using cable driven mechanism, and two kind of motions were designed to be selectable. Through the experiments with the device, we validate the device and we expect this device to use in upper limb rehabilitation.-
dc.languageeng-
dc.publisher한국과학기술원-
dc.subjectMirror image rehabilitation▼asymmetric bilateral movement▼aforearm rehabilitation▼ainertial measurement unit motion sensing▼aunderactuated robotics-
dc.subject거울상 대칭 재활▼a양팔 대칭 움직임▼a상지 재활▼a관성센서를 이용한 움직임 측정▼a로봇 재활-
dc.titleDevelopment of an upper limb rehabilitation robot providing symmetric bilateral movements based on inertial measurement units-
dc.title.alternative관성센서 기반의 대칭성 양측 상지 재활 운동 보조 로봇 개발-
dc.typeThesis(Master)-
dc.identifier.CNRN325007-
dc.description.department한국과학기술원 :기계공학과,-
dc.contributor.alternativeauthor경슬기-
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