대한의용생체공학회:학술대회논문집 (Proceedings of the KOSOMBE Conference)

대한의용생체공학회 (The Korean Society of Medical and Biological Engineering)
권호 표지

재활 보조 시스템 제어를 위한 힘 반향 조이스틱 기법에 관한 연구

A Study on the Force Reflection Joystick Method or controlling Rehabilitation Assisting System

  • Hong, J.P. (Dept. of Electronic Eng., Inha Univ.) ;
  • Lee, E.H. (Dept. of Information and Electronic Eng., Konyang Univ.) ;
  • Kim, B.S. (Robot Development Team, Korea Atomic Energy Research Institute) ;
  • Kim, S.H. (Robot Development Team, Korea Atomic Energy Research Institute) ;
  • Hong, S.H. (Dept. of Electronic Eng., Inha Univ.)
  • 발행 : 1997.11.28
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초록

In this paper, we proposed force reflection method using joystick or controlling rehabilitation assisting mobile robot. We defined reflected orce equation as two terms. One is distance between mobile robot and obstacle, the other is speed of rehabilitation assisting robot. And we found the each gain value which guarantees stable navigation of robot. And we experimented simulation with simulation program supporting virtual 2-D map. Through the experiments, we confirmed force reflection algorithm is efficient when controlling rehabilitation assisting robot.

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