CAJ | 학술논문

以助力型外骨骼为研究对象，以建立助力型外骨骼运动学模型以及分析外骨骼运动学特性为研究目标，以运动生物力学为基础，选择单膝下跪-起立动作为特征动作，采用多层次光学捕捉系统采集人体运动数据，采用多波峰（波谷）最小二乘法进行数据拟合，得到人体运动时特征角度的数学模型。助力型外骨骼在完成动作时需要与人体高度偕行，因此将特征角度的数学模型运用到助力型外骨骼中，建立外骨骼三维模型，在ADAMS软件中完成外骨骼特征动作仿真，以此来分析外骨骼运动学特性。
이조력형외골격위연구대상，이건립조력형외골격운동학모형이급분석외골격운동학특성위연구목표，이운동생물역학위기출，선택단슬하궤-기립동작위특정동작，채용다층차광학포착계통채집인체운동수거，채용다파봉（파곡）최소이승법진행수거의합，득도인체운동시특정각도적수학모형。조력형외골격재완성동작시수요여인체고도해행，인차장특정각도적수학모형운용도조력형외골격중，건립외골격삼유모형，재ADAMS연건중완성외골격특정동작방진，이차래분석외골격운동학특성。
Choose help exoskeleton for the study in order to establish the modeling of the assist -type exoskeleton and analytical ki-nematics characteristic of exoskeleton .Based on sports biomechanics ,select one knee-stand up action for characterized action .Use multi-level optical capture system to capture human motion data , and multi-peak ( trough ) method of least squares to fit data . Therefor get the mathematical model of the human motion characteristic angle .Help exoskeleton complete the characteristic action with body accompanying ,then the mathematical model of characterized angle must be used to help exoskeleton .Establish three-di-mensional model of the help exoskeleton ,and simulation the characterized action of help exoskeleton in ADAMS to analyze the ex-oskeleton kinematics .