The body weight support system is used for gait rehabilitation, and recently novel body weight support systems are proposed and commercialized. These body weight support systems adopted force control of wire to provide safe and dynamic assistive force to human’s whole body.
We have been developing a new type of overground body weight support system that can not only compensate for weight but also provide various environmental assistive force to support the weight and motion in better ways.
To develop the force controlled overground body weight support system the following issues are researched
- Development of compact wire tension control actuator system
- Kinematic and kinetic analysis of human whole body motion and wire tension
- Design of two-dimensional whole body motion assistive force
Experimental verification using motions capture and force plate
Wiha Choi, and Sehoon Oh. “Kinetic analysis of wheel type body weight supported locomotion using motion capture and force plate.” International Society for Technology in Arthroplasty, ISTA 2017-30th Annual Conference, 2017
Kwak, Jihoo, Wiha Choi, and Sehoon Oh. “Modal force and torque control with wire-tension control using series elastic actuator for body weight support system.” Industrial Electronics Society, IECON 2017-43rd Annual Conference of the IEEE. IEEE, 2017.
인체 하지의 동특성을 고려한 바퀴형 웨이트 서포터의 임피던스 제어 장치 및 그 방법.
발명자: 오세훈, 최위하, 곽지후