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외력기반 사용자 동작의도 반영형 상지 운동로봇 모션제어 알고리즘 검증
엄성훈(Sunghoon Eom),이승열(Seungyeol Lee),문전일(Joen Il Moon) 대한기계학회 2015 대한기계학회 춘추학술대회 Vol.2015 No.11
This paper describes the motion control algorithm to manipulate an upper limb exercise robot that can be reflected user motion intention represented with human power. In particular, the motion control algorithm contains an admittance controller to mediate relation between human power and desired robotic trajectory. The proposed algorithm is verified with a laboratory developed 6 DOF upper limb exercise robot.
능동형 상지 운동 로봇을 위한 로드셀 기반 사용자 동작 의도 신호 생성기법 제안
이주현(Juhyeon Lee),엄성훈(Sunghoon Eom),문전일(Jeon-Il Moon),이승열(Seungyeol Lee) 대한기계학회 2015 대한기계학회 춘추학술대회 Vol.2015 No.11
This paper suggests Load-cell sensor based recognition of user motion intention for active upper limb exercise robots reflected user motion intention. In particular, we present a method of understanding user motion intention using combination of multiple Load-cell sensors for separating user’s condition and signal pre-processing for force information delivery to robot systems.