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이영삼(Y. S. Lee),오장진(J. J. Oh),심수용(S. Y. Shim),임현(H. Lim),서정헌(J. H. Seo) 제어로봇시스템학회 2008 제어·로봇·시스템학회 논문지 Vol.14 No.6
In this paper, we propose a new swing-up control strategy for rotary inverted pendulums with restricted rotation range. The control law is derived from a Lyapunov function. The Lyapunov function is defined as the square of the sum of the absolute value of the total mechanical energy and weighted squares of the arm’s angular displacement and velocity. By adjusting the weighting parameters in the Lyapunov function, we can affect the swing-up strategy such that the restriction on rotation range can be satisfied. Finally, we verify the performance of the proposed control law through simulation and experiments.
New C-Leg의 기능 분석을 통한 지능형 의지시스템의 발전 현황
이성욱(S. U. Lee),김석윤(S. Y. Kim),이영삼(Y. S. Lee) 한국재활복지공학회 2011 한국재활복지공학회 학술대회논문집 Vol.2011 No.11
This paper examine developments of intelligent prosthesis system by analysising founction of New C-Leg is made by Otto Bock in Germany. At first, it will describe gait pattern of normal people, and that will describe methode of appling in New C-Leg. Second, it will introduce C-soft that is finely changing movement with matching users habit. At least, it will describe mode change about exercise.
DC 모터 기반의 능동형 의족 시스템 프로토 타입 개발 및 제어
김원식(W. S. Kim),김석윤(S. Y. Kim),이영삼(Y. S. Lee) 한국재활복지공학회 2013 한국재활복지공학회 학술대회논문집 Vol.2013 No.10
In this paper, we describe the structure of a lab-built powered knee prosthesis, developed as a protype, and deal with the control of it. The prosthesis is built on the basis of previous researches and it adopts the slider-crank mechanism to manipulate the knee joint. We divide the gait phase into five stages and use a finite state machine (FSM) to generate a torque reference needed for each stage. We also propose to use a position-based impedance controller for driving the powered knee prosthesis stably. We perform some walking experiments at fixed speeds in order to show the features of the built powered prosthesis. The experimental results show that our prosthesis exhibits similar knee angle trajectories to those of healthy people.
부착형 침상머리 각도 모니터링 시스템 개발 및 성능 분석
경기영(G. Y. Gyeong),박영상(Y. S. Park),이영삼(Y. S. Lee) 한국재활복지공학회 2014 재활복지공학회논문지 Vol.8 No.3
본 논문은 적절한 침상머리 각도 상승을 유지하여, 인공호흡기 관련 폐렴을 예방하기 위한 의료 보조기구인 부착형 침상머리 각도 모니터링 시스템의 개발 및 성능 분석에 대한 것이다. 개발한 침상머리 각도 모니터링 시스템의 주 기능은 가시적인 침상머리 각도 디스플레이를 통하여 효과적으로 환자의 체위를 유지하도록 도움을 주며, 데이터의 수집을 통하여 환자의 증세 호전 혹은 악화와 연관된 환자의 체위에 대한 데이터베이스를 확보하는 것이다. 시스템은 손쉬운 이동을 위하여 부착형으로 구현하였으며, 데이터베이스로 활용하기 위해 휴리스틱 기법이 혼용된 FIR Filter를 사용하여 노이즈를 제거한다. 성능 분석을 위하여 광학식 엔코더와 침상머리 각도 모니터링 시스템의 측정값을 비교한다. In this paper, we develop an attachable head of bed(HOB) monitoring system, which can prevent ventilator associated pneumonia(VAP), and analyze the performance of the developed HOB monitoring system. The main purpose of the HOB monitoring system is to support visible HOB display for keeping patients’ position effectively and collect data for analysis of the relation between HOB elevation and patients’ symptom. The HOB monitoring system is developed in attached-type and uses an FIR filter with heuristic logic to remove the unwanted noise. The optical encoder is used for the performance analysis of the developed HOB monitoring system.
경기영(G. Y. Gyeong),박재헌(J. H. Park),이영삼(Y. S. Lee) 한국재활복지공학회 2014 한국재활복지공학회 학술대회논문집 Vol.2014 No.11
In this paper, we present an overview of the powered knee prosthesis system based on BLDC motor. The presented powered prosthesis has 1 degree of freedom in knee joint configured as a slider crank. The system uses an absolute encoder for the position-based impedance control, a load cell to measure the knee torque, and two FSR sensors to check the distribution of foot pressure. We describe the method of the powered prosthesis control and propose the new objectives with the main control problems.