This paper present a novel approach to control the lower body power assistive exoskeleton system of a HEXAR-CR35 aimed at improving a muscular strength. More specifically the control of based on the human intention is crucial of importance to ensure intuitive and dexterous motion with the human. In this contribution, we proposed the detection algorithm of the human intention using the MCRS which are developed to measure the contraction of the muscle with variation of the circumference. The proposed algorithm provides a joint motion of exoskeleton corresponding the relate muscles. The main advantages of the algorithm are its simplicity, computational efficiency to control one joint of the HEXAR-CR35 which are consisted knee-active type exoskeleton (the other joints are consisted with the passive or quasi-passive joints that can be arranged by analyzing of the human joint functions). As a consequence, the motion of exoskeleton is generated according to the gait phase: swing and stance phase which are determined by the foot insole sensors. The experimental evaluation of the proposed algorithm is achieved in walking with the exoskeleton while carrying the external mass in the back side.

In this paper, four-bar linkage mechanism for the knee joint is developed which is used in prosthetics. But unlike the prosthetics, the feature of this mechanism is that the instantaneous center of rotation of the four-bar linkages can be moved behind the ground reaction force vector so that it can be passively supported without any external power. In addition, this mechanism is developed similar to the structure of the human knee joint for eliminating the sense of heterogeneity of the wearer. In order to design the mechanism with these two objectives, optimization design process is done using the PIAnO tool and detailed design is carried out through optimized variable values. The developed mechanism is attached to the robot which can assist the hip and ankle joints. In order to verify the operation of the developed knee mechanism, an insole type sensor was attached to the shoes to compare data values before and after wearing the robot. Result data showed that wearer wearing the exoskeleton robot with the knee mechanism was the same value regardless of whether the heavy tool is loaded or not.

본 연구에서는 탄소섬유판이 표면 매입된 철근 콘크리트 보의 휨 거동 효과를 고찰하였다. 이를 위하여, 탄소섬유판이 표면 매입된 T 형 철근 콘크리트 보를 제작하여 실험을 수행하였다. 본 연구 결과, 표면매입(NSM) 탄소섬유판으로 보강된 철근콘크리트 부재의 휨 강성 및 극한강도는 섬유판으로 보강되지 않은 보에 비하여 크게 증진되며, 그 최대 증가율은 보강되지 않은 부재의 경우보다 약 247%로 나타났다. 위 철근콘크리트 부재의 파괴는 부재 길이 방향으로 섬유 소선이 풀리는 표면매입 탄소 섬유판의 파괴로 시작되며, 탄소섬유판의 파단이 이어지는 2차 파괴가 발생하였다. 표면매입 탄소섬유판은 콘크리트와의 완정한 합성거동을 유도하여 따라서 탄소섬유판을 표면에 매입하는 방식은 노후 구조물 보강방식으로 매우 효과적인 것으로 판단된다.