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DC 모터 기반의 능동형 의족 시스템 프로토 타입 개발 및 제어
김원식(W. S. Kim),김석윤(S. Y. Kim),이영삼(Y. S. Lee) 한국재활복지공학회 2013 한국재활복지공학회 학술대회논문집 Vol.2013 No.10
In this paper, we describe the structure of a lab-built powered knee prosthesis, developed as a protype, and deal with the control of it. The prosthesis is built on the basis of previous researches and it adopts the slider-crank mechanism to manipulate the knee joint. We divide the gait phase into five stages and use a finite state machine (FSM) to generate a torque reference needed for each stage. We also propose to use a position-based impedance controller for driving the powered knee prosthesis stably. We perform some walking experiments at fixed speeds in order to show the features of the built powered prosthesis. The experimental results show that our prosthesis exhibits similar knee angle trajectories to those of healthy people.
로봇 팔의 뇌 신호로부터 유도된 3D 좌표 추적을 위한 Guidance Law 적용에 관한 연구
김윤재,박성우,김원식,염홍기,서한길,이용우,방문석,정천기,오병모,김준식,김유단,김성완,Kim, Y.J.,Park, S.W.,Kim, W.S.,Yeom, H.G.,Seo, H.G.,Lee, Y.W.,Bang, M.S.,Chung, C.K.,Oh, B.M.,Kim, J.S.,Kim, Y.,Kim, S. 대한의용생체공학회 2014 의공학회지 Vol.35 No.3
It is being tried to control robot arm using brain signal in the field of brain-machine interface (BMI). This study is focused on applying guidance laws for efficient robot arm control using 3D coordinates obtained from Magnetoencephalography (MEG) signal which represents movement of upper limb. The 3D coordinates obtained from brain signal is inappropriate to be used directly because of the spatial difference between human upper limb and robot arm's end-effector. The spatial difference makes the robot arm to be controlled from a third-person point of view with assist of visual feedback. To resolve this inconvenience, guidance laws which are frequently used for tactical ballistic missile are applied. It could be applied for the users to control robot arm from a first-person point of view which is expected to be more comfortable. The algorithm which enables robot arm to trace MEG signal is provided in this study. The algorithm is simulated and applied to 6-DOF robot arm for verification. The result was satisfactory and demonstrated a possibility in decreasing the training period and increasing the rate of success for certain tasks such as gripping object.
김원식,한승로,손성경,박창식,양윤석 충남대학교 형질전환복제돼지연구센터 2007 논문집 Vol. No.10
In addition to the removal of dying or dead lutein cells by phagocytosis in many species, macrophages exert both luteotropic effect during maturation period and luteolytic effect during degenerative period via mediating autocrine/paracrine actions of self-producing cytokines in the corpus luteum. In this experiment, immunohistochemical and transmission electron microscopic (TEM) studies were performed to observe the morphologic changes of luteal macrophages during luteolysis. A small number of macrophages and low immunoreactivity were present at the mature stage. The number of macrophages and immunoreactivity gradually increased along the advance of luteolysis. Two subtypes of macrophages could be observed through TEM observation. One type of macrophage located between the large lutein cells contained no lipid droplets in their cytoplasm at mature stage. The other type of macrophage located near the blood vessels contained many lipid droplets in their cytoplasm during luteolysis. Particularly, no phagocytic macrophages were observed, which suggested the macrophages in the porcine corpus luteum did not involve in the phagocytotic elimination of dying lutein cells.