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Design of a Series Elastic Tendon Actuator Based on Gait Analysis for a Walking Assistance Exosuit
이희돈,문전일,강태훈 제어·로봇·시스템학회 2019 International Journal of Control, Automation, and Vol.17 No.11
Exosuits are wearable robots that enhance a person’s muscular strength from outside the body. Many exosuits use tendon actuators with multiple wires that work similarly to human muscles to minimize user unfamiliarity caused by the discrepancy between the human body’s degree of freedom and the influence of the mass of the exoskeleton. This paper describes the design of a series elastic tendon actuator (SETA) to be used in exosuits. The SETA performs the agonist and antagonist functions of human muscles using two internal wires as well as elastic elements (springs) to measure the human–robot interaction force and overcome differences in variations occurring between the wires. We defined design objectives and selected the main components based on biomechanical gait analysis to design a small SETA. Moreover, we conducted an experiment to verify the basic performance of our SETA design.
이희돈,한창수,이병규,김완수,길명수,한정수 한국정밀공학회 2012 International Journal of Precision Engineering and Vol.13 No.6
This paper proposes a human-robot cooperative control of exoskeleton robot assisting muscle strength of a human upper extremity when lifting or transporting heavy objects. When a human wears a robot, the motions of the human and robot generate interaction, which is called HRI (Human-Robot Interaction). To generate reference motion from the interaction force, a pHRI model was developed using virtual mechanical impedance, and an experimental method to determine the impedance parameters of the pHRI model was proposed. The controller was developed in such a way that the desired motion will be controlled using dynamic model-based compensation. To verify the proposed control method, it was applied to an exoskeleton robot with 6-DOF for both arms. Motion-following-performance experiment and muscle-strengthassisting-effect experiment were conducted using this robot. Experimental results, the wearer of the exoskeleton robot can handle a small force was the heavy object.
The Technical Trend of the Exoskeleton Robot System for Human Power Assistance
이희돈,한창수,김완수,한정수 한국정밀공학회 2012 International Journal of Precision Engineering and Vol.13 No.8
The exoskeleton robot system is a brand new type of human-robot cooperation system. It fully combines human intelligence and robot power so that robot intelligence and human operator’s power are both enhanced. Therefore, it achieves a highlevel performance that neither robots nor humans could achieve separately. This paper describes the basic exoskeleton concepts from biological systems to human-robot intelligent systems. It is followed by an overview of the development history of exoskeleton systems and their two main applications: human power assistance and human power augmentation. Besides the key technologies in exoskeleton systems, the research is presented from several viewpoints of the biomechanical design, system structure modeling, human-robot interaction, and control strategy.
이희돈,유승남,고광진,한창수 대한기계학회 2007 環境管理學會誌 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.