아주대학교

목차

1. Introduction 1
1.1. Motivation 1
1.2. Background 6
1.2.1. Human gait 6
1.2.2. State of the art of current wearable lower-limb robots 9
1.2.3. Functional requirement for actuator selection 12
1.3. Current challenges & limitations of soft wearable robots 15
1.4. Specific aims 17
1.5. Thesis contributions 18
2 . Proof-of-concept: shape memory alloy (SMA) wire actuator-embedded smart clothing for ankle assistance 20
2.1. Introduction 21
2.2. Ankle biomechanics during walking 24
2.3. Design 28
2.3.1. Smart clothing design for ankle assistance 28
2.3.2. SMA actuator design 32
2.4. Experimental validation of the smart clothing 36
2.5. Discussion and conclusion 39
3. A lightweight portable smart clothing (v1) for ankle assistance during walking: an indoor study 41
3.1. Introduction 42
3.2. Device design 51
3.2.1. Textile interface 51
3.2.2. Actuation 54
3.2.3. Tendon routing 62
3.2.4. Biomechanical requirements 66
3.2.5. Control and sensing 70
3.3. Methodology 78
3.3.1. Kinematics and EMG experiments 78
3.3.2. Ankle assistive torque measurement 82
3.3.3. User survey 83
3.4. Results and Discussion. 85
4. A lightweight portable smart clothing (v2) for ankle assistance during walking: an outdoor study 91
4.1. Introduction 91
4.2. Device design 93
4.2.1. Hardware enhancements 93
4.2.2. Software enhancements 99
4.3. Methodology 100
4.3.1. Outdoor walking experiment 100
4.3.2. 10-Meter Walk Test protocol 101
4.4. Results and discussion 102
4.5. General conclusion 104
5. Conclusion & future work 107
5.1. Conclusion 107
5.2. Current limitations & future work 109
Bibliography 111
Appendix 124