보행재활 웨어러블 로봇의 Actuation Transparency를 위한 제어 알고리즘 및 로봇 시스템 아키텍처

Abstract

The mechanical impedance reduction of the gait rehabilitation wearable is essential for the safe rehabilitation of patients by offsetting the load caused by the robot. In addition, it becomes a basic premise for precise control of the assistance/resistance torque applied to the wearer. In this paper, an impedance reduction controller (IRC) design method is introduced to reduce the mechanical impedance caused by the actuator in a wearable robot for gait rehabilitation. A series of processes for linearizing the system by compensating for nonlinear friction, identifying the model of the linearized system, and designing the IRC based on the model are introduced.