DC Field | Value | Language |
---|---|---|
dc.contributor.advisor | 유지환 | - |
dc.contributor.author | Sengupta, Shubhranil | - |
dc.contributor.author | 센굽타 슈브로닐 | - |
dc.date.accessioned | 2024-07-25T19:30:51Z | - |
dc.date.available | 2024-07-25T19:30:51Z | - |
dc.date.issued | 2023 | - |
dc.identifier.uri | http://library.kaist.ac.kr/search/detail/view.do?bibCtrlNo=1045751&flag=dissertation | en_US |
dc.identifier.uri | http://hdl.handle.net/10203/320563 | - |
dc.description | 학위논문(석사) - 한국과학기술원 : 로봇공학학제전공, 2023.8,[iii, 40 p. :] | - |
dc.description.abstract | Joint alignment between an exoskeleton and the user is a must to reduce discomfort and prevent injuries. Knee joint misalignment problem is a classic problem due to the knee’s anatomical structure, as the knee joint center changes in both the Sagittal and the Frontal planes, unlike any 1 Degree-of-Freedom (DOF) joint. Also, the knee is subjected to large torques, and lower-limb knee-support exoskeletons must generate large assistive torques at the knee to provide meaningful support. Past rigid-type exoskeletons, in spite of high force transmission, focus on joint alignment in 2D Sagittal plane, and misalignment exists in the 3rd axis. Soft-exoskeletons, despite 3D joint alignment, cannot provide large enough support due to poor force transmission. In this thesis, a novel, hybrid-stiffness knee joint mechanism for lower-limb exoskeletons is proposed, that has a 3D directional compliance along the trajectory of the knee and rigidity in all other directions. For the first time, 3D joint alignment was addressed in all 3 directional axes, and a significant misalignment reduction was achieved. Furthermore, an EMG experiment for a shin raise task revealed minimal quadricep muscle activation to indicate the high force transmission capability of the proposed exoskeleton. | - |
dc.language | eng | - |
dc.publisher | 한국과학기술원 | - |
dc.subject | 3차원 오정렬▼a무릎▼a외골격 로봇 | - |
dc.subject | Knee joint▼aJoint misalignment▼a3D joint alignment▼aHybrid-stiffness exoskeleton | - |
dc.title | 무릎을 지지하는 새로운 하이브리드 강성 엑소-스켈레톤 | - |
dc.title.alternative | (A) hybrid-stiffness knee-joint of a lower limb exoskeleton with 3ㅇ directional compliance for misalignment reduction | - |
dc.type | Thesis(Master) | - |
dc.identifier.CNRN | 325007 | - |
dc.description.department | 한국과학기술원 :로봇공학학제전공, | - |
dc.contributor.alternativeauthor | Ryu, Jee-Hwan | - |
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