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상하지가 연동된 보행재활 로봇의 제어 및 VR 네비게이션
본단노반디(Bondhan Novandy),윤정원(Jungwon Yoon) 제어로봇시스템학회 2009 제어·로봇·시스템학회 논문지 Vol.15 No.3
This paper explains a control and navigation algorithm of a 6-DOF gait rehabilitation robot, which can allow a patient to navigate in virtual reality (VR) by upper and lower limbs interactions. In gait rehabilitation robots, one of the important concerns is not only to follow the robot motions passively, but also to allow the patient to walk by his/her intention. Thus, this robot allows automatic walking velocity update by estimating interaction torques between the human and the upper limb device, and synchronizing the upper limb device to the lower limb device. In addition, the upper limb device acts as a user-friendly input device for navigating in virtual reality. By pushing the switches located at the right and left handles of the upper limb device, a patient is able to do turning motions during navigation in virtual reality. Through experimental results of a healthy subject, we showed that rehabilitation training can be more effectively combined to virtual environments with upper and lower limb connections. The suggested navigation scheme for gait rehabilitation robot will allow various and effective rehabilitation training modes.
Jungwon Yoon,Novandy, B.,Chul-Ho Yoon,Ki-Jong Park IEEE 2010 IEEE/ASME transactions on mechatronics Vol.15 No.2
<P>This paper presents a 6-DOF gait rehabilitation robot that allows patients to update their walking velocity on various terrain types and navigate in virtual environments (VEs) through upper and lower limb connections. This robot is composed of an upper limb device, a sliding device, two footpad devices, and a body support system. The footpad device on the sliding device generates 3-DOF spatial motions on the sagittal plane for each foot. This allows the generation of various terrain types for diverse walking training. The upper limb device allows users to swing their arms naturally through the use of a simple pendulum link with a passive prismatic joint. Synchronized gait patterns for this robot are designed to represent a normal gait with upper and lower limb connections. To permit patients to walk at will, this robot allows walking velocity updates for various terrain types by estimating the interaction torques between the human and the upper limb device, and synchronizing the lower limb device with the upper limb device. In addition, the patient is able to navigate in VEs by generating turning commands with switches located in the handles of the upper limb device. Experimental results using a healthy subject show that the user can update the walking velocity on level ground, slopes, and stairs through upper and lower limb connections. In addition, the user could navigate in the VEs with walking velocity updates and turning input command allowing various rehabilitation training modes. During a pilot clinical test, a hemiplegic patient could use the suggested gait rehabilitation robot with a slow walking speed. The rehabilitation plan was also suggested for the patient and the possible therapeutic effects of the suggested rehabilitation robot system are discussed.</P>
윤정원(Jungwon Yoon),본단노반디(Bondhan Novandy),크리스티앤드(Christiand) 제어로봇시스템학회 2008 제어·로봇·시스템학회 논문지 Vol.14 No.7
This paper proposes a new rehabilitation robot with upper and lower limb connections for gait training. As humans change a walking speed, their nervous systems adapt muscle activation patterns to modify arm swing for the appropriate frequency. By analyzing this property, we can find a relation between arm swinging and lower limb motions. Thus, the lower limb motion can be controlled by the arm swing for walking speed adaptation according to a patent’s intension. This paper deals with the design aspects of the suggested gait rehabilitation robot, including a trajectory planning and a control strategy. The suggested robot is mainly composed of upper limb and lower limb devices, a body support system. The lower limb device consists of a slider device and two 2-dof footpads to allow walking training at uneven and various terrains. The upper limb device consists of an arm swing handle and switches to use as a user input device for walking. The body support system will partially support a patient’s weight to allow the upper limb motions. Finally, we showed simulation results for the designed trajectory and controller using a dynamic simulation tool.
이종민(Jong-Min Lee),송석균(Seok-Gyun Song),최정주(Jeong-Ju Choi),본단(Bondhan Novandy),김수진(Su-Jin Kim),이동윤(Dong-Yoon Lee),남성호(Sung-Ho Nam),이석우(Seok-Woo Lee),재태진(Tae-Jin Je) 대한기계학회 2008 대한기계학회 춘추학술대회 Vol.2008 No.5
The micro pattern machining on the surface of wide mold is not easy to be simulated by conventional software. In this paper, a software is developed for micro patten cutting simulation. The 3d geometry of v-groove, rectangular groove, pyramid and pillar patterns are visualized by C++ and OpenGL library. The micro cutting force is also simulated for each pattern.
미세패턴 선삭에서 공구 공작물 세팅오차에 의한 가공오차 예측
송석균(Seok-Gyun Song),이종민(Jong-Min Lee),최정주(Jeong-Ju Choi),본단(Bondhan Novandy),김수진(Su-Jin Kim),이동윤(Dong-Yoon Lee),남성호(Sung-Ho Nam),이석우(Seok-Woo Lee),제태진(Tae-Jin Je) 대한기계학회 2008 대한기계학회 춘추학술대회 Vol.2008 No.5
This research estimate the cutting error induced from tool and stock setting error when micro pattern is fabricated on the surface of roll mold. The precise turning center and diamond tool is used to cut micro v-shape groove pattern on the wide surface of roll mold. The setting error of tool or roll mold is important for precise cutting and this paper present the relation between setting error and cutting error by geometrical analysis.