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Shunsuke Kumagai,Koki Matsumoto,Atsuo Takanishi,Hun-ok Lim 제어로봇시스템학회 2016 제어로봇시스템학회 국제학술대회 논문집 Vol.2016 No.10
This paper describes the mechanism of a human-friendly robot. The robot consists of two arms, a body and a mobile base. An air cushion bag is developed to cover the entire exterior of the robot. It can reduce the generated impact forces in a collision between any part of the robot and a human. A passive collision suppression mechanism is also developed to deal with greater impact forces. The suppression mechanism is installed in the pitch axis of the elbow and the yaw axis of the waist. The base consists of four omnidirectional wheels, enabling movement in any direction. Moreover, the control method for the base is discussed in this study. Using the robot, collision experiments are conducted and the effectiveness of the robot mechanism and the control method is verified.
New Collision Force Suppression Mechanism and Base Control of Human-Friendly Robot
Naoto Tanaka,Takayuki Iwama,Shunsuke Kumagai,Atsuo Takanishi,Hun-ok Lim 제어로봇시스템학회 2018 제어로봇시스템학회 국제학술대회 논문집 Vol.2018 No.10
This paper describes a human-friendly robot capable of securing human safety in human-robot collisions. The upper body of the robot has 11 DOFs, including 3 DOFs in the waist, 2 DOFs in each shoulder, 1 DOF in each elbow and 1 DOF in each hand. The upper body is mounted on the base with four omnidirectional wheels. A new light-weight collision force suppression mechanism that is able to operate with very little backlash was developed and was installed at the elbow of the human-friendly robot. The suppression mechanism consists a drum, a clutch gear, two release air bag, two stopper linings, and four compression springs. Also, a base control method to secure human safety is discussed. Through collision experiments, the effectiveness of the collision force suppression mechanism and control method is verified.
( Shuntaro Nejima ),( Ken Kumagai ),( Shunsuke Yamada ),( Masaichi Sotozawa ),( Yutaka Inaba ) 대한슬관절학회 2023 대한슬관절학회지 Vol.35 No.-
Background To evaluate the expected postoperative total leg length change using preoperative radiographs during surgical planning of four different methods of double level osteotomy (DLO). Methods This study included 34 patients (44 knees) who underwent DLO for varus knee osteoarthritis. Surgical planning was performed so that the postoperative weight bearing line ratio was 62.5%. In DLO, lateral closed or medial open wedge distal femoral osteotomy (LCWDFO, MOWDFO) was performed so that the postoperative mechanical lateral distal femoral angle was 85°, and residual deformity was corrected with medial open or lateral closed wedge high tibial osteotomy (MOWHTO, LCWHTO). Pre- and surgical planning X-rays in the one-leg standing position were compared to assess the change in leg length, and the factors affecting it, in the various surgical groups. The proportion of cases in which Δ total leg length was greater than 6 mm (symptomatic change) was investigated. Results The mean postoperative total leg length increased significantly with LCWDFO + MOWHTO, MOWDFO + MOWHTO, and MOWDFO + LCWHTO, while it decreased with LCWDFO + LCWHTO. The proportion of cases with a postoperative total leg length change > 6 mm was 72.7%, 2.3%, 100%, and 6.8% in LCWDFO + MOWHTO, LCWDFO + LCWHTO, MOWDFO + MOWHTO, and MOWDFO + LCWHTO, respectively. In addition, the preoperative hip-knee-ankle angle correlated negatively with the postoperative total leg length change in LCWDFO + MOWHTO, MOWDFO + MOWHTO, and MOWDFO + LCWHTO, but not in LCWDFO + LCWHTO. Conclusions MOWDFO + MOWHTO had the largest postoperative leg length change and MOWDFO + LCWHTO had the smallest. Symptomatic leg length change (> 6 mm) should be considered in MOWDFO + MOWHTO and LCWDFO + MOWHTO.