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Vibration Adaptive Vision Inspection System
Kap-Ho Seo,Yongsik Park,Sungjo Yun,Sungho Park,Jeong Woo Park 제어로봇시스템학회 2014 제어로봇시스템학회 국제학술대회 논문집 Vol.2014 No.10
Disturbance vibration reduction is critical in many applications using machine vision. The off-focusing or blurring error caused by vibration degrades its performance. Instead of going with the more familiar approach like vibration absorber, a real-time disturbance estimation and avoidance is proposed. Instantaneous motion due to the disturbance is sensed by an attitude heading reference system (AHRS) module. Modeling of periodic vibration is done to provide better performance. According to its modeling, the algorithm for vibration avoidance was described.
Gait Pattern Generation for Robotic Gait Rehabilitation System on Treadmill
Kap-Ho Seo,Yongsik Park,Sungjo Yun,Sungho Park,Kwang-Woo Jeon,Jungsoo Jun,Dae Hee Kim 제어로봇시스템학회 2014 제어로봇시스템학회 국제학술대회 논문집 Vol.2014 No.10
Robotic gait rehabilitation devices enable efficient and convenient gait rehabilitation by mimicking the functions of physical theraphists. In manual gait rehabilitation training, physical theraphists have patients practice and memorize normal gait patterns by applying assistive torque to the patient’s joint once the patient’s gait deviates from the normal gait. Thus, one of the most important factors in robotic gait rehabilitation devices is to determine the assistive torque to the patient’s joint during rehabilitation training. In order to calculate the assistive torque, the desired gait trajectory for affected leg should be determined. This reference trajectory is obtained from his healthy leg. The obtained signal has many noisy factors. Therefore, after conditioning the signal, the suitable pattern is applied to the developed system. This procedure is called ”gait pattern generation” in this paper. It is described and discussed in detail.