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정우석(Useok Jeong),김종우(Jongwoo Kim),송대섭(Dae-Seob Song),조규진(Kyu-Jin Cho) 대한기계학회 2013 대한기계학회 춘추학술대회 Vol.2013 No.12
This study focuses on the design and evaluation of control algorithm that is embedded on cycle ergometer for rehabilitation. The admittance control algorithm is developed for the safe, compliant and effective rehabilitation exercise. The control mode is consist of passive and active mode depending on how the user exerts force. The intensity of the exercise can be adjusted by changing the impedance parameter of the controller. A developed algorithm is tested on the cycle ergometer which is widely used for the rehabilitation of upper limb and lower limb. The results show that admittance control scheme can flexibly guide the limbs compared to speed or position control and can provide various intensity of exercise with several combination of the impedance parameters.
물고기 로봇 개발을 위한 유연한 꼬리 지느러미 관절의 강성에 따른 최대 추력 조건 연구
박용재(Yong-Jai Park),정우석(Useok Jeong),이정수(Jeongsu Lee),권석령(Seok-Ryung Kwon),김호영(Ho-Young Kim),조규진(Kyu-Jin Cho) 제어로봇시스템학회 2012 제어·로봇·시스템학회 논문지 Vol.18 No.2
Fish generates large thrust through an oscillating motion with a compliant joint of caudal fin. The compliance of caudal fin affects the thrust generated by the fish. Due to the flexibility of the fish, the fish can generate a travelling wave motion which is known to increase the efficiency of the fish. However, a detailed research on the relationship between the flexible joint and the thrust generation is needed. In this paper, the compliant joint of a caudal fin is implemented in the driving mechanism of a robotic fish. By varying the driving frequency and stiffness of the compliant joint, the relationship between the thrust generation and the stiffness of the flexible joint is investigated. In general, as the frequency increases, the thrust increases. When higher driving frequency is applied, higher stiffness of the flexible joint is needed to maximize the thrust. The bending angles between the compliant joint and the caudal fin are compared with the changes of the thrust in one cycle. This result can be used to design the robotic fish which can be operated at the maximum thrust condition using the appropriate stiffness of the compliant joint.
인현기(Hyunki In),정우석(Useok Jeong),강병현(Byunghyun Kang),이해민(Haemin Lee),구인욱(Inwook Koo),조규진(Kyu-Jin Cho) 제어로봇시스템학회 2015 제어·로봇·시스템학회 논문지 Vol.21 No.6
Hand function is one of the essential functions required to perform the activities of daily living, and wearable robots that assist or recover hand functions have been consistently developed. Previously, wearable robots commonly employed conventional robotic technology such as linkage which consists of rigid links and pin joints. Recently, as the interest in soft robotics has increased, many attempts to develop a wearable robot with a soft structure have been made and are in progress in order to reduce size and weight. This paper presents the concept of a soft wearable robot composed of a soft structure by comparing it with conventional wearable robots. After that, currently developed soft wearable robots and related issues are introduced.