하지완전마비 장애인용 외골격 로봇의 길이 조절이 가능한 허벅지 프레임 설계 및 검증

Abstract

A Powered exoskeleton for complete paraplegics aims to enable independent living by facilitating lower body movement with lower limb joint actuators. However, due to differences in individual physical conditions, the attachment points of actuators must be adjusted. If the exoskeleton is designed considering only one person’s physical condition, its versatility becomes restricted. To maximize the versatility of the powered exoskeleton, this can be achieved by designing each joint actuator as a modular unit and connecting them with length-adjustable frame. Our research team has completed the design and manufacturing of a lower limb joint actuator module, which can implement the movements of the hip, knee, and ankle joints. Among various frames that connect the actuator module, this paper introduces the design and verification of a length-adjustable thigh frame that accommodates wearers with diverse physical conditions. The strength of the thigh frame was analyzed by finite element method (FEM) simulation under various load conditions, and its functionality was verified by manufacturing the actual product.