다른 움직임에 따라 다른 걸음걸이를 바꾸는 것은 외골격 로봇의 연구에서 중요한 방향이다. 외골격 로봇의 보행 계획을 제어하기 위한 착용자의 움직임 의도를 식별하면 외골격 이후 인체 기계 상호 작용 경험을 효과적으로 개선할 수 있다. 본 논문은 인간 표면의 sEMG 신호를 수집하여 착용자의 동작 자세 인식을 실현하기 위해 서포트 벡터 머신(SVM)을 사용한다. 외골격의 이동 보행은 인식 결과에 따라 계획되며, 디코딩 의도 신호는 보행 전환을 제어한다. 한편, 이동 중에 계획된 보행의 안정성이 분석되었다. 실험 결과는 인간의 움직임을 의도적으로 디코딩하는 sEMG 신호와 제어 외골격 로봇 보행 전환이 정확성과 실시간 성능이 우수하다는 것을 보여준다. 환자들이 보다 안전하고 신속하게 재활훈련을 마칠 수 있도록 돕는다.
제 1편 : MATLAB 기본편
1. MATLAB 기본사용편 ···················· 003
1.1 MATLAB 시작하기 ·························· 003
명령창(command Window)에서의 입력 005
도움말(Help)의 이용 ······························· 007
1.2 입력 오류의 수정 ····························· 008
계산의 중지 ·············································· 009
MATLAB 종료하기 ································· 009
1.3 연산과 변수의 할당 ·························· 009
연산자 우선순위 ······································· 011
내장함수 ···················································· 012
1.4 데이터의 표현 ··································· 013
1.5 변수의 처리 ······································· 015
변수 이름 ·················································· 015
clear 명령어 ············································· 016
특수변수와 정수 ······································· 017
whos 명령어 ············································ 017
1.6 벡터와 행렬 ······································· 018
벡터 ··························································· 018
행렬 ·························································· 023
스크린 출력과 억제 ································· 024
1.7 랜덤(Random)수와 복소수 ·············· 025
랜덤 수 ····················································· 025
복소수 ······················································· 027
1.8 기호를 이용한 연산 ·························· 028
기호식에서의 치환 ··································· 029
1.9 코드 파일 ·········································· 030
스크립트 코드 파일 ································· 030
코멘트의 추가 ·········································· 032
함수 코드 파일 ···································· 033
사용자 정의함수 ······································ 036
1.10 간단한 그래프의 생성 ····················· 037
ezplot을 이용한 그래프 ·························· 037
plot을 이용한 그래프 ·························· 039
3차원 그래프 ··········································· 042
1.11 MATLAB과 엑셀(Excel)의 접속 043
엑셀 데이터 불러오기 ····························· 043
데이터 가져오기 옵션 ························· 046
스크립트 생성 옵션 ································· 049
함수 생성 옵션 ········································ 049
생성된 데이터를 엑셀파일로 저장하기 ·· 050
제 2편 : 연구논문
A real-time stable-control gait switching strategy for lower-limb
rehabilitation exoskeleton
1. Introduction 51
2. Experimental equipment 52
3. Intention prediction and gait design 58
4. Gait design 62
5. Real-time intent signal control 64
6. Conclusions 66
7. References 68
