This paper aims to develop a crutched walking frame with one-wheel driving system for the walking-impaired person as the aged. The walking frame is made up of four main parts : the steering and suspension system, the driving unit using the worm gear, the sensor and the controller. The walking frame can be controlled to keep the stable attitude by using the tilt sensor that measure the tilting of frame. The experimental results without control motion and with control motion for the downhill and uphill are presented in this study. Finally, a comparison between these results is presented to show the validity of system.

Abstract
 1. 서론
 2. 기구시스템
  2.1 조향 및 완충시스템
  2.2 웜기어를 이용한 구동 시스템
  2.3 길이조절 시스템
 3. 센서 및 제어 시스템
  3.1 기울기센서
  3.2 핸들센서
  3.3 초음파센서
  3.4 조향조작 장치
 4. 실험결과 및 고찰
 5. 결론
 참고문헌

• 김진수(전주대학교 기계자동차공학과) | Jinsoo Kim
• 임수홍(전주대학교 기계공학과 대학원) | Suhong Lim
• 신연재(전주대학교 기계자동차공학과) | Yeonjae Shin