지능형 대퇴의족 사용자의 보행 의도 추정을 위한 소켓 내압력 변화 측정 센서 개발에 관한 연구
A Study on the Development of In-Socket Pressure Change Measurement Sensor for Estimation Locomotion Intention of Intelligent Prosthetic leg User
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초록
대퇴의족은 절단하지를 대체하여 보행을 수행하는 기기이며, 불연속적으로 변하는 보행 환경에 대응하기 위해 사용자의 의도 제공을 통한 보행 모드 변경을 요구한다. 외부의 제어 기기 없는 자연스러운 보행 모드 변경을 위한 요구로 절단 부위와 직접 접촉하는 소켓 내부의 생체 역학적 특징을 통해 사용자의 의도를 검출하는 연구가 수행되어 왔다. 하지만 아직까지 절단 부위의 신체 및소켓 내부 환경에 적합한 센서 시스템의 요구가 남아있다. 따라서 본 연구에서는 절단 부위의 신체 특성에 적합하고 소켓 내부 온습도 조건에 영향을 받지 않으며 다양한 크기의 제작이 쉬운 필름 형태의 센서 시스템을 제안하였다. 제안된 센서는 Velostat 필름으로 제작되었으며 크기에 따라 달라지는 압력 계측 특성이 고려되었다. 실험을 통해 착용자의 의도적인 자세 수행에 의한 소켓 내부압력 변화를 계측하였으며 보행 모드 변경 의도 검출의 가능성을 확인하였다.
Abstract
The prosthetic leg is a device that performs walking instead of a amputated lower limb, and require a changein locomotion mode by providing the user's intention to respond to a discontinuous locomotion environment. Research has been conducted to detect the users' intentions through biomechanical features inside the socket thatdirectly contacts the cut site in demand for natural locomotion mode changes without external control equipment. However, there is still a need for a sensor system that is suitable for the internal environment of the main bodyand socket of the cut site. Accordingly, this paper proposed a film-type sensor system that is suitable for the mainbody characteristics of the cut site, is not affected by the temperature and humidity conditions inside the socket,and is easy to manufacture in various sizes. The proposed sensor is manufactured base on Velostat film and takesinto account the pressure measurement characteristics that vary with size. Through the experiment, the change inthe internal pressure of the socket due to the intentional posture performance of the wearer was measured, andthe possibility of detecting the intention to change the locomotion mode was confirmed.
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