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Intelligent Control System for Biorobotic Micromanipulator
이고르(Igor Gaponov),조현찬(Hyun-Chan Cho) 한국지능시스템학회 2009 한국지능시스템학회 학술발표 논문집 Vol.19 No.2
This paper suggests intelligent control algorithm implemented within biorobotic micromanipulator control system. The change of various environment parameters requires the change of corresponding robot controller gains in order to maintain required accuracy and overall stability of the system. We propose an intelligent control system which will choose desired controller parameters from pre-given gains set in order to maintain desired system performance. These gains sets are checked for being stable and robust beforehand basing on several stability criteria which guarantees the stability of control system.
신민규,최진하,Lim Joungpyo,Cho Sungwoo,Ha Taehyeong,Jeong Jae Hyun,최정우 나노기술연구협의회 2022 Nano Convergence Vol.9 No.24
There have been several trials to develop the bioactuator using skeletal muscle cells for controllable biobybird robot. However, due to the weak contraction force of muscle cells, the muscle cells could not be used for practical applica‑ tions such as biorobotic hand for carrying objects, and actuator of biohybrid robot for toxicity test and drug screen‑ ing. Based on reported hyaluronic acid-modified gold nanoparticles (HA@GNPs)-embedded muscle bundle on PDMS substrate, in this study for augmented actuation, we developed the electroactive nano-biohybrid actuator composed of the HA@GNP-embedded muscle bundle and molybdenum disulfide nanosheet (MoS 2 NS)-modified electrode to enhance the motion performance. The MoS 2 NS-modified Au-coated polyimide (PI) electrode to be worked in mild pH condition for viable muscle cell was utilized as supporting- and motion enhancing- substrate since it was electro‑ chemically active, which caused the movement of flexible PI electrode. The motion performance of this electroactive nano-biohybrid actuator by electrical stimulation was increased about 3.18 times compared with that of only HA@ GNPs embedded-muscle bundle on bare PI substrate. The proposed electroactive nano-biohybrid actuator can be applied to the biorobotic hand and biohybrid robot.
Load Carriage Effects on a Robotic Transtibial Prosthesis
Joseph Hitt,Thomas Sugar 제어로봇시스템학회 2010 제어로봇시스템학회 국제학술대회 논문집 Vol.2010 No.10
The purpose of this study was to investigate the kinetic and kinematic effects of load carriage while wearing a robotic transtibial prosthesis. Nine separate tests were conducted with a unilateral transtibial amputee test subject wearing the robotic foot-ankle prosthesis. The subject walked on a treadmill at 1.3 m/s with a back pack weighing 0 kg, 4.5 kg and 9 kg. Direct measurement of the kinematics and kinetics of the robotic prosthesis at varying loads and ankle joint stiffness using embedded sensors is presented. The test data suggest that the coping strategy for load carriage is one of kinetic variance and kinematic invariance for subjects using a powered, computer controlled foot-ankle prosthesis. The finding suggests that modulation of the spring stiffness as a function of load condition may reduce system energy expenditure by 10%.
쥐 수염을 모델로 하는 수염 촉각 센서의 물체 표면 거칠기 구별에 관한 연구
백승훈(Seunghun Baek),김대은(DaeEun Kim) 대한전자공학회 2010 電子工學會論文誌-SC (System and control) Vol.47 No.4
설치류는 수염을 통해서 물체를 인식하는 능력을 갖추고 있다. 단연 설치류뿐만 아니라 많은 수의 포유류가 사물을 인식하는데 수염을 이용하지만 특히 설치류는 수염을 통해서 마이크로미터 단위의 표면의 거칠기 차이도 구별 할 수 있다. 설치류는 수염을 앞, 뒤로 능동적으로 움직이며 물체의 모양이나 표면의 거칠기, 패턴 따위를 판별한다. 실제 쥐 수염에는 수염뿌리 가까운 모낭 안에 수많은 신경이 모여 있어서 수염이 떨리거나 구부러질 때의 신호를 받아들인다. 쥐의 이러한 능력을 모방하여, 본 논문에서는 마이크로폰을 이용하여 쥐 수염 센서를 제작하고 제작한 수염 센서를 통해 물체 표면의 거칠기에 대한 정보를 얻고자 한다. Rodents can recognize objects by using their whiskers. Not only rodents but also mammals use their whiskers to recognize objects. However, rodents can discriminate surface roughness in micrometer resolution throughout their whisker sensing. Rats can distinguish an target object's shape, roughness and surface pattern by moving their whisker back and forth freely. Mechanoreceptors surrounding the whisker in their follicle measure deflection and vibration of the whisker. In this paper, we designed biomimetic whiskers modeling rodent whiskers and showed the characteristic properties to extract the information of surface roughness.
백승훈,김대은 한국로봇학회 2009 로봇학회 논문지 Vol.4 No.1
Rodents, specially rats, can recognize distance and shape of an object and also pattern of the textures by using their whiskers. Mechanoreceptors surrounding the root of whisker in their follicle measure deflection of the whisker. Rats can move their whisker back and forth freely. This ability, called active whisking or active sensing, is one of characteristics of rat behaviours. Many researches based on the mechanism have been progressed. In this paper, we test a simple and accurate method based on deflection of the whisker: we designed biomimetic whiskers modeling after a structure of follicle using the microphone. The microphone sensor measures a mechanical vibration. Attaching an artificial whisker beam to the microphone membrane, we can detect a vibration of whisker and this can show the deflection amount of whisker indirectly.
김홍민(Hongmin Kim),진상록(Sangrok Jin),박수민(Sumin Park),김영수(Youngsoo Kim),김종원(Jongwon Kim) 대한기계학회 2015 대한기계학회 춘추학술대회 Vol.2015 No.11
Total Knee Arthroplasty is a surgery of replacing a knee joint with artificial implants. The objectives of the surgery is to restore and correct the lower limb mechanical axis and alleviate pain in the knee joint. Various robotic systems have been proposed to accomplish high accuracy of the alignment of the lower limb mechanical axis and therefore precise cutting of the femur and tibia. These robotic systems for TKA have drawbacks such as increased surgery time and limitation of surgeon’s direct intervention. These drawbacks mainly arises from using the end mill for the cut and adopting an automated scheme of the process. We propose a novel surgical robotic platform that is able to effectively guide the surgeons during TKA. The robotic platform accurately locates the planes of cut and positions the cutting jig. Surgeons use the oscillating saw which they have been using in the conventional surgery, thus the user experiences the familiar force feedback when making the cut, while greatly reducing the load of human resources and surgery time.