대퇴 절단자들을 위한 로봇 의지의 설계

摘要

This paper describes design of a robotic above-knee prosthetic leg which is powered by electrical motors. As a special feature, the robotic prosthetic leg has enough D.O.F.s. For mimicking the human leg, the robotic prosthetic leg is composed of five joints. Three of them are called ‘active joint’ which is driven by electrical motors. They are placed at the knee-pitch-axis, the ankle-pitchaxis, and the an! kle-roll-axis. Every ‘active joint’ has enough torque capacity to overcome ground reaction forces for walking and is backlashless for accurate motion generation and highperformance balance control. Other two joints are called ‘passive joint’ which is activating by torsion spring. They are placed at the toe part and designed by Crank-rocker mechanism using kinematic design approach. In order to verify working performance of the robotic prosthetic leg, we designed a gait trajectory through motion capture technique and experimentally applied it to the robot.