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김종권 ( Jongkwon Kim ),정영지 ( Yeongjee Chung ) 한국정보처리학회 2019 한국정보처리학회 학술대회논문집 Vol.26 No.2
드론을 이용한 영상 촬영이 대두되고 있는 현재에 효율적으로 영상을 전송하기 위한 대역폭이나 네트워크 시스템을 연구해야할 필요성이 있으며 2대 이상의 멀티 드론을 동기화 및 군집화 시키기 위한 라우팅 프로토콜을 설계하려 한다.
BLDC 모터 및 유압식 브레이커 기반의 하이브리드 동력의지 개발
이희태(Huitae Lee),조현석(Hyunseok Cho),김종권(jongkwon Kim),박진국(Jinkuk Park),장윤희(Yoonhee Chang),강정선(Jungsun Kang),최종문(Jongmoon Choi),박세훈(Sehoon Park) 제어로봇시스템학회 2021 제어·로봇·시스템학회 논문지 Vol.27 No.10
The purpose of this study was to develop a hybrid-powered prosthetic knee and ankle (power leg) using the brushless DC (BLDC) modules and hydraulic breakers of stance and swing phase control. The system comprised BLDC motors for the swing phase control unit and hydraulic cylinders for the stance phase control unit. An individual could walk using a low-power battery for a longer time than with a fully active or powered prosthetic leg. Moreover, the individual could walk by applying less kicking force. More stable lateral symmetry was exhibited than a prosthesis of stance phase control type. The gait algorithm is classified into five gait events using the inertial and load sensors: heel contact, heel rise, toe-off, swing flexion, and swing extension. We controlled the hydraulic breaker’s resistance force at each gait event and generated gait motion using the BLDC motors. The reliability of the system was evaluated by a transfemoral amputee subject. By comparing the gait character between the power leg and the stance phase control type prosthesis, we confirmed that the power leg improved the center of pressure (COP) of the lateral symmetry by about 71% from the center.
박세훈(Se Hoon Park),홍범기(Beomki Hong),김종권(Jongkwon Kim),홍응표(Eyong Pyo Hong),문무성(Mu-Seong Mun) 제어로봇시스템학회 2011 제어·로봇·시스템학회 논문지 Vol.17 No.8
An essential consideration to differentiate prosthetic hand from robot hand is its convenience and usefulness rather than high resolution or multi-function of the robot hand. Therefore, this study proposes a myoelectric hand with a 2 DOF auto wrist module which has 6 essential functions of the human hand such as open, grasp, pronation, supination, extension, flexion, which improves the convenience of the daily life. It consists of the 3 main parts, the myoelectric sensor for input signal without additional attachment to operate the prosthetic hand, hand mechanism with high-torqued auto-transmission mechanism and self-locking module which guarantee the safety under the abrupt emergency and minimum power consumption, and dual threshold based controller to make easy for adopting the multi-DOF myoelectric hand. We prove the validity of the proposed system with experimental results.