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Design of Intelligent Filter for Telerobotic System
GAPONOVIGOR,최성주,조현찬 한국지능시스템학회 2008 INTERNATIONAL JOURNAL of FUZZY LOGIC and INTELLIGE Vol.8 No.2
In this paper, intelligent filtering methodology for masterarm translation signal is proposed. Fidelity and stability are contradicting factors in teleoperation. Human hand trembling filtering is one of the problems in telemanipulation field. During every operation the hand has a certain vibration that can affect the quality of teleoperation, especially in carrying FPD (Flat Panel for Display), nanomanipuation and other precise tasks. It is very important to study the kinesthetic perception of the human and to optimize the teleoperation system accordingly. To cancel out the influence of humans hand vibration the signal from the masterarm should be filtered. One of the feasible solutions is to use an intelligent filter based on fuzzy logic, which is a very flexible instrument. Applying intelligent filtering methodology, we can use some heuristic methods to solve the filtering problem.
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GAPONOVIGOR,조현찬,전홍태 대한전자공학회 2013 전자공학회논문지 Vol.50 No.11
This paper presents a comparative study on application of Routh-Hurwitz and Llewellyn absolute stability criteria to a scaled telerobotic system. The dynamic equations of the telerobotic system are given, and the transfer function of the system is obtained for further stability analysis. The stable margins of controller gains are obtained using both stability analysis methods, and the differences in the results are described and explained. The paper is concluded by a numerical example verifying performed stability analysis.
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Auxilio: A Portable Cable-Driven Exosuit for Upper Extremity Assistance
GAPONOVIGOR,유지환,Dmitry Popov,이승준 제어·로봇·시스템학회 2017 International Journal of Control, Automation, and Vol.15 No.1
This paper introduces a fully portable, lightweight exosuit-type device for shoulder and elbow assistance. The main motivation of this research was to design a portable upper limb exosuit capable to assist dynamic rehabilitationtasks where patient can involve trunk motions and overground movements (e.g., during pick-and-placetasks). The proposed system provides assistance for shoulder flexion and abduction, as well as for elbow flexion. The mechanism is driven by DC motors which are worn on the wearer’s back, and the power is transferred fromthe actuators to the arm by means of cable-driven transmission. The unique features of the proposed exosuit arethe absence of rigid links or joints around the arm, high compliance and portability. This paper describes operatingprinciple and kinematic model of the proposed exosuit and provides force analysis and experimental evaluation ofthe manufactured device. As the result of this work, we performed a simulation of rehabilitation scenario with thedeveloped wearable prototype.
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Telerobot System for Carrying FPD
Gaponov Igor,조현찬,김종원,Totorkulov Khalis,최성주 한국지능시스템학회 2007 한국지능시스템학회 학술발표 논문집 Vol.17 No.1
In this paper, intelligent filtering methodology for masterarm translation signal is proposed. Fidelity and stability are contradicting factors in teleoperation. Human hand trembling filtering is one of the problems in telemanipulation field. During every operation the hand has a certain vibration that can affect the quality of teleoperation, especially in carrying FPD (Flat Panel for Display), nanomanipuation and other precise tasks. It is very important to study the kinesthetic perception of the human and to optimize the teleoperation system accordingly. To cancel out the influence of human’s hand vibration the signal from the masterarm should be filtered. One of the feasible solutions is to use an intelligent filter, which is a very flexible instrument. Applying intelligent filtering methodology, we can use some heuristic methods to solve the filtering problem.
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