초록

Abstract ▼

1. Research Purpose
- Justify why this research is new and important
- Expected impact of research results
For the purposes of this report, an exoskeleton is a user-worn device that augments and enhances the wearer’s speed, strength, and endurance. The exoskeleton carries its own power supp

1. Research Purpose
- Justify why this research is new and important
- Expected impact of research results
For the purposes of this report, an exoskeleton is a user-worn device that augments and enhances the wearer’s speed, strength, and endurance. The exoskeleton carries its own power supply and moves synchronously with the user. Although such devices do not currently exist, efforts are under way to create them. The final goal of this project is to develop motion intention extraction algorithms of upper limbs from noninvasive biosignals and control strategies of human augmentation devices, which are essential in developing exoskeleton robots or rehabilitation robotic device. To achieve this goal, the noninvasive biosignals sensing technologies for various physical changes of skeletal muscles will be developed. Multi-DoF (degree of freedom) muscle force estimation will also be developed using physiological model and biosignals. From these studies, estimating the motion intention and appropriate muscle load will be investigated. The synchronization of a developed manipulator and human, the dynamic load compensation, will also be investigated. The output of this project will contribute the development of key technologies of man power augmented devices and man-machine interfaces. First, this could enhance human power and durability in a hostile workspace such as nuclear plants or deserts. Second, this also could improve the quality of life for the physically disabled and elderly by assisting their insufficient physical performances and also improves the efficiency and level of automations in many industrial fields including constructions.
These outcomes also offer opportunities to transform paradigms and create breakthrough in UAE and surrounding countries that could revolutionize the function and community participation of people with physical impairments. The technical spin-off effects of this research can be beneficial for the broad areas because the related technologies of this project include residual exoskeleton device for military, physical human-machine interaction for heavy industry, brain-machine interfaces, sensor technologies, rehabilitation engineering, and robotics. Hardware design including mechanical design and control architecture hardly becomes challenges, so motion intention estimation and control strategies are becoming key elements in research perspectives. This could provide a chance to both counterparts being an important research player in several research sectors of robotics communities.

목차 Contents

• A. 2011 Seed Money Project Final Report ... 1
• 1. Research Purpose ... 2
• 2. Research Target Using Progress Chart ... 4
• 3. Research Method ... 5
• 1) Human motion estimation using noninvasive biosignals ... 5
• 2) EMG assisted power augmentation strategy ... 14
• 3) New sensing modality for exoskeleton control ... 19
• 4. Research Results ... 25
• 1) Human motion estimation using noninvasive biosignals ... 25
• 2) EMG assisted power augmentation strategy ... 27
• 3) Developments of muscle stiffness sensor ... 32