Design and Evaluation of the Unmanned Technology Research Center Exoskeleton Implementing the Precedence Walking Assistance Mechanism

차도완,오성남,이희환,김경수,김갑일,김수현 대한전기학회 2015 Journal of Electrical Engineering & Technology Vol.10 No.6

Assistance of the operator’s walking ability while carrying a load is a challenging area in lower limb exoskeletons. We implement an exoskeleton called the Unmanned Technology Research Center Exoskeleton (UTRCEXO), which enables the operator to walk with a load more comfortably. The UTRCEXO makes use of two types of DC motor to assist the hip and knee joints. The UTRCEXO detects the operator’s walking intention including step initiation with insole-type FSRs faster without using any bio-signals and precedes the operator’s step with a reference torque. It not only reduces interaction forces between the operator and the UTRCEXO, but also allows the operator to walk with a load more comfortably. In this paper, we present the UTRCEXO implementing the walking assistance mechanism with interaction force reduction during walking.

효율적 드론봇 전투체계를 위한 드론 편제소요 도출에 관한 연구

차도완 한국융합학회 2019 한국융합학회논문지 Vol.10 No.3

본 논문에서는 현재 육군에서 추진하고 있는 드론봇 전투체계에서 부대단위별 효율적 감시정찰 임무를 수행하기 위한 드론의 편제소요를 도출할 수 있는 방법을 제안한다. 본 논문에서는 육군의 대대 및 중대의 감시정찰 임무와 관련된 정면과 종심, 중요감시지역 수의 문제를 실제 작전환경을 고려하여 가정하였으며 first, next, valid, output 4단계의 Brute Force 알고리즘을 적용한 시뮬레이션을 통하여 대대 및 중대의 감시정찰에 필요한 최소한의 드론 대수를 도출하였고 각각 드론의 경로계획을 수립하였다. 그 결과, 육군의 드론봇 전투체계에서는 본 논문에서 제안한 방법을 적용하여 부대별 임무에 특성에 따라 보다 간단하고 빠르게 임무수행에 필요한 드론의 편제소요를 도출할 수 있을 것이다. 향후에는 본 논문에서 제안한 방법을 이용한 편제소요 도출방안의 신뢰성 검증에 대한 연구를 진행하도록 하겠다. In this paper, we propose an approach to get the requirement of drone acquisition for the efficient dronebot combat system using brute force algorithm. We define parameters, such as width, depth, and important surveillance area for the surveillance mission in the Army battalion and company units based on real military operation environment and brute force algorithm with 4 steps including first, next, valid, output is applied to get the requirement of drone acquisition and each drone's path planning using computer simulation. As a result, we could get the requirement of drone acquisition and each drone's path planning, the Army could utilize our proposed approach in the Army dronebot combat system. In the future research, we will study on the reliability of our proposed approach to get the requirement of drone acquisition for the efficient dronebot combat system.

군사용 드론 현황 및 對드론대책

차도완,박주오,손창호,박용운,김강원 한국방위산업진흥회 2018 國防과 技術 Vol.- No.471

Verification of the Peak Time Approach for Detection of Step Initiation using the UTRCEXO

차도완,서형태,오성남,조정산,김경수,김갑일,김수현 제어·로봇·시스템학회 2014 International Journal of Control, Automation, and Vol.12 No.5

We were able to detect the step initiation for the Unmanned Technology Research Center Exoskeleton before visible movements occurred during the peak time approach. Detection of the step initiation is important for the rapid onset of assistance with the exoskeleton operator's movement. Many previous studies have attempted to detect the step initiation more rapidly using the precedence walking assistance mechanism with electromyography, or the shadow walking assistance mechanism with the heel-off or toe-off time. In this paper, we detect the step initiation and implement the precedence walking assistance mechanism using the peak time approach. In particular, we detect the vertical ground reaction forces before visible movements occur, which is more reliable, simpler and faster than the previous approaches. We also present insole-type force sensing resistors based on the peak time ap-proach that are used in force plates that can be applied to the Unmanned Technology Research Center Exoskeleton to detect similar events, such as the ground reaction force events, and the step initiation. With the insole-type force sensing resistors, the Unmanned Technology Research Center Exoskeleton can not only detect step initiation before visible movements occur, but can also implement the prece-dence walking assistance mechanism for step initiation without using any bio-signals.

임무유형별 착용로봇 특성화 방안 연구

차도완,이경택,계중읍 한국로봇학회 2023 로봇학회 논문지 Vol.18 No.4

In this report, a specialization plan for wearable robots by mission profile was investigated and analyzed to derive an application plan. The final goal of this study was to derive the operating requirements of wearable robots according to specialized plans, and to conduct a specialized study on wearable robots by mission profile through investigation/analysis of specialized plans for each mission profile. In the study, 1) Research on technology trends related to military wearable robots such as patents and papers, 2) Research/analysis of mission profiles to characterize wearable robots, 3) Analysis of wearable robot specialization plans according to mission profiles, and 4) Requirements for wearable robot operation were derived. In the first time of the study, a survey on technology trends related to wearable robots for soldiers such as patents and papers was completed, and a military consultative body was conducted to derive measures to characterize wearable robots. In addition, a survey was conducted on mission profiles, and the second time study derived Key Performance Parameters (KPP) for operational performance, core performance, and system performance based on scenarios by mission profile. However, it is revealed that the KPP derived from the research results was not covered in this paper because it was judged that more in-depth research was needed prior to disclosure. In order to prepare for future battlefield situations and increase the usability of wearable robots, this study was conducted to characterize wearable robots by considering the characteristics of soldiers’ equipment according to mission profiles and to characterize wearable robots by mission profile.

Precedence walking assistance mechanism for exoskeletons with improved detection of step initiation based on gait analysis

차도완,오성남,김갑일,김경수,김수현 대한기계학회 2014 JOURNAL OF MECHANICAL SCIENCE AND TECHNOLOGY Vol.28 No.11

The development of a more rapid detection method for step initiation is a challenging area of research for interaction force eliminationin exoskeletons. Several studies have attempted to enable a more rapid detection of step initiation via either the precedence walking assistancemechanism or the shadow walking assistance mechanism. Although the precedence walking assistance mechanism is the fastest fordetecting step initiation, this mechanism has limitations, such as low reliability when using bio-signals in further development of theexoskeleton. In this study, we implemented a precedence walking assistance mechanism based on gait analysis in the Unmanned TechnologyResearch Center Exoskeleton without using any bio-signals and were thus able to reduce the interaction force of the operatorduring the first step.

합동성에 기반한 국방로봇 발전방안에 관한 연구

차도완,김정태,이종구 한국방위산업학회 2017 韓國防衛産業學會誌 Vol.24 No.2

Military robots are focused as a key weapon system in the future combat system. Many countries have been developing many kinds of military robots. We present military robot trends and developed military robots of some countries, including America, Germany, Israel, France, United of Kingdom, Russia, and China. Also, we analyzed problems for military robot development in the ROK Army, Navy and Airforce based on the results of the interview approach from military officers and robot researchers. We propose scientifical, administrative, and ethical ways for the development of military robots in terms of the Joint Military Capability. 본 논문에서는 주요 국방로봇 선진국들의 국방로봇 개발 동향 및 사례를 살펴보고 우리 한국군의 국방로봇 개발 및 전력화와 관련한 문제점을 군(軍) 및 연구자 그룹의 전문가 집단을 통해 진단해 봄으로써 우리 한국군의 합동성을 고려한 국방로봇 발전방안을 제안하고자 한다. 본 연구의 범위는 미국, 독일, 이스라엘, 프랑스, 영국, 러시아, 중국 등 세계 주요 선진국들을 대상으로 하였으며 대상국들의 국방로봇 개발 추진현황을 분석하고 합동 6대 기능을 바탕으로 국방로봇을 분류하였다. 한국군 국방로봇 발전을 위한 제한사항과 발전방안을 도출하기 위해 국방전력 분야 군(軍) 전문가 및 국방과학연구소 등 연구자 그룹의 전문가 면접을 실시하였으며 그 결과를 바탕으로 합동성에 기반한 기술적, 정책적, 윤리 및 제도적 국방로봇 발전방안을 제안하였다.

민간 우주기술을 접목한 육군의 우주력 발전방안에 관한 연구

차도완(Dowan Cha),조병운(Byeong-Un Jo),이귀현(Giwhyun Lee),이경택(Kyungtaek Lee),이돈구(Dongoo Lee),이준왕(Joonwnag Lee),최호성(Hosung Choi),문현기(Hyunki Moon),김일진(Iljin Kim),강정훈(Jeonghun Kang),김휘호(Hweeho Kim) 한국항공우주학회 2021 한국항공우주학회 학술발표회 논문집 Vol.2021 No.11

머신러닝을 적용한 드론을 위한 단일 객체의 경로 최적화

이돈구,차도완 제어로봇시스템학회 2018 제어로봇시스템학회 국내학술대회 논문집 Vol.2018 No.5

한국형 위성항법 시스템(KPS)을 활용한 메가시티 UAM 운용방안

조상근,차도완,이돈구,이동민,심준학,박상혁 국제문화기술진흥원 2022 The Journal of the Convergence on Culture Technolo Vol.8 No.3

우리나라는 도시화의 진전으로 수도권, 중부권 및 동남권 중심으로 메가시티가 형성되고 있다. 또한, 미래 신성 장 동력산업으로 메가시티에서 운용할 수 있는 도심항공 모빌리티(UAM) 개발에 박차를 가하고 있다. 이와 함께, 우 주 강국으로 도약하기 위해 2035년까지 자체적인 위성항법시스템(KPS)을 구축할 예정이다. 따라서 도심항공 모빌리 티와 한국형 위성항법시스템에서 제공하는 위치정보 서비스를 복합하여 활용한다면 미래 메가시티에서 안정적으로 도심항공 모빌리티를 운용할 수 있을 것이다. As urbanization progresses in Korea, megacities are being formed around the metropolitan area, the central area, and the southeast area. In addition, it is accelerating the development of urban air mobility (UAM) that can be operated by Mega City as a new growth engine industry in the future. At the same time, in order to become a space powerhouse, Korea plans to establish its own Korean positioning system (KPS) by 2035. Therefore, if urban air mobility and location information services provided by the Korean positioning system are used in combination, urban air mobility can be stably operated in future megacities.