http://chineseinput.net/에서 pinyin(병음)방식으로 중국어를 변환할 수 있습니다.
변환된 중국어를 복사하여 사용하시면 됩니다.
이희돈(Hee Don Lee),한창수(Chang Soo Han) Korean Society for Precision Engineering 2011 한국정밀공학회지 Vol.28 No.11
Mechanisms of the robot system should be developed according to the task. In this study, we propose improving adaptability of the robot mechanism with the modularized joint mechanism. Adaptability is the measure of the system ability to cope with change or uncertainty. Modular type joint has been widely used in development of various robots including reconfigurable robots. To build robotic systems more flexibly and quickly with low costs of manufacturing and maintenance, we have designed a modular type joint with one degree of freedom for general purpose. This module is designed to be compact, light-weight and self-controlled. In this design, we consider the kinematics and dynamics properties of the modular type joint.
인체 능력 향상을 위한 하지 외골격 시스템의 기술 동향
이희돈(Hee-Don Lee),한창수(Chang-Soo Han) 제어로봇시스템학회 2014 제어·로봇·시스템학회 논문지 Vol.20 No.3
The purpose of this paper is to review recent developments in lower limb exoskeletons. The exoskeleton system is a human-robot cooperation system that enhances the performance of the wearer in various environments while the human operator is in charge of the position control, contextual perception, and motion signal generation through the robot’s artificial intelligence. This system is in the form of a mechanical structure that is combined to the exterior of a human body to improve the muscular power of the wearer. This paper is followed by an overview of the development history of exoskeleton systems and their three main applications in military/industrial field, medical/rehabilitation field and social welfare field. Besides the key technologies in exoskeleton systems, the research is presented from several viewpoints of the exoskeleton mechanism, human-robot interface and human-robot cooperation control.
이희돈(Hee-Don Lee),유승남(Seung-Nam Yu),고광진(Kwang-Jin Ko),한창수(Chang-Soo Han) 대한기계학회 2007 대한기계학회 춘추학술대회 Vol.2007 No.5
Generally, development of a robot capable of fast movements or high payloads is progressed by the analysis of dynamic characteristics, DOF positioning, actuator selection, structure of links, and so on. This paper highlights the design of a robot manipulator handled by a human for man-machine cooperation. The requirements of the proposed system include its having multi-DOF(Degree of Freedom)and the capacity for a high payload in the condition of its maximum reach. The primary investigation factors are motion range, performance within the motion area, and reliabilityduring the handling of heavy materials. Traditionally, the mechanical design of robots has been viewed as a problem of packaging motors and electronics into a reasonable structure. This process usually transpires with heavy reliance of designerexperience. Not surprisingly, the traditional design process contains no formally defined rules for achieving desirable results, as there is little opportunity for quantitative feedback during the formative stages. This work primarily focuses on the selection of proper joint types and link lengths, considering a specific task type and motion requirements of the heavy material handling.
근 부피 센서를 이용한 인체 팔꿈치 관절의 동작 토크 추정
이희돈(Hee Don Lee),임동환(Dong Hwan Lim),김완수(Wan Soo Kim),한정수(Jung Soo Han),한창수(Chang Soo Han),안재용(Jae Yong An) Korean Society for Precision Engineering 2013 한국정밀공학회지 Vol.30 No.6
This study uses a muscle activation sensor and elbow joint model to develop an estimation algorithm for human elbow joint torque for use in a human-robot interface. A modular-type MVS (Muscle Volume Sensor) and calibration algorithm are developed to measure the muscle activation signal, which is represented through the normalization of the calibrated signal of the MVS. A Hill-type model is applied to the muscle activation signal and the kinematic model of the muscle can be used to estimate the joint torques. Experiments were performed to evaluate the performance of the proposed algorithm by isotonic contraction motion using the KIN-COM® equipment at 5, 10, and 15Nm. The algorithm and its feasibility for use as a human-robot interface are verified by comparing the joint load condition and the torque estimated by the algorithm.
임동환(Dong Hwan Lim),이희돈(Hee Don Lee),김완수(Wan Soo Kim),한정수(Jung Soo Han),한창수(Chang Soo Han),안재용(Jae Yong An) Korean Society for Precision Engineering 2013 한국정밀공학회지 Vol.30 No.8
There has been much recent research interest in developing numerous kinds of human-machine interface. This field currently requires more accurate and reliable sensing systems to detect the intended human motion. Most conventional human-machine interface use electromyography (EMG) sensors to detect the intended motion. However, EMG sensors have a number of disadvantages and, as a consequence, the human-machine interface is difficult to use. This study describes a muscle volume sensor (MVS) that has been developed to measure variation in the outline of a muscle, for use as a human-machine interface. We developed an algorithm to calibrate the system, and the feasibility of using MVS for detecting muscular activity was demonstrated experimentally. We evaluated the performance of the MVS via isotonic contraction using the KIN-COM<SUP>®</SUP> equipment at torques of 5, 10, and 15 Nm.
건설작업자의 근력지원을 위한 외골격 모듈의 동작의지신호 생성 및 타당성 검증
이승훈(Seung-Hoon Lee),유승남(Seung-Nam Yu),이희돈(Hee-Don Lee),장재호(Jae-Ho Jang),한창수(Chang-Soo Han),한정수(Jung-Soo Han) 대한기계학회 2008 대한기계학회 춘추학술대회 Vol.2008 No.11
Powered robotic exoskeletons are currently under development for assisting or supporting human muscle power. Many applications using this system for the purpose of national defense system, medical support, and construction industry are now frequently introduced. In this paper, we proposed the exoskeletal wearable robotics for construction workers. First, we analyzed general work conditions at the construction site and set up target tasks through the datum. Then dominant muscles’ activity which is related with the defined target tasks was checked up. Herein, wearers’ intent signal generation methodology was introduced in order to effectively activate the proposed system. In the final part of this paper, we evaluated the capability and feasibility of the exoskeletal robotics by the electromyography (EMG) signal variance; demonstrated that robotic exoskeletons controlled by muscle activity could be useful way of assisting with construction workers.
4족 견마형 로봇의 동작 생성 및 제어에 관한 실험적 연구
고광진(Kwang-jin Ko),유승남(Seung-nam Yu),이희돈(Hee-don Lee),한창수(Chang-soo Han) 대한기계학회 2007 대한기계학회 춘추학술대회 Vol.2007 No.5
Quadruped robot is very useful mechanism for a various area. Recently, home entertainment and military robots adapted quadruped platform and useful function have been introduced. Our goal is the development of quadruped robot locomotion for any type of ground included to sloping one and irregular terrain. This paper, as a first step, deals with design and construction of quadruped robot walking on the flat ground. The most important factor of quadruped robot is stability of locomotion. At first, we introduce the developed quadruped robot based on dynamic simulation and experimental study of general gait algorithm. Finally, propose unique locomotion proper to our mechanism. Future work of this study is the performance test and analysis on the ground of various conditions and proposes the improved mechanism and gait algorithm.