Korean Journal of Computational Design and Engineering (한국CDE학회논문집)

Society for Computational Design and Engineering (한국CDE학회)
권호 표지

Conceptual Design of a Work Support Robot for the Prevention of Musculoskeletal Disorders in Shipbuilding

근골격계 질환 예방을 위한 조선용 작업 지원 로봇의 개념 설계

  • 노명일 (울산대학교 조선해양공학부) ;
  • 이규열 (서울대학교 조선해양공학과 및 해양시스템공학연구소) ;
  • 이정우 (서울대학교 조선해양공학과 대학원) ;
  • 이재승 (대우조선해양 자동화연구소)
  • Published : 2009.04.30
Download PDF
⟨ Previous Next ⟩

Abstract

During manual work in shipbuilding such as blasting, grinding, and so on, a large force is acted on the body of a worker. As a result, this work induces musculoskeletal disorders of the worker and it also induces severe social problems. To solve this problem, we are developing a work support robot for the prevention of musculoskeletal disorders in shipbuilding. In this study, a result of conceptual design of this robot is presented. A worker can perform the blasting work with a small force using this robot which can lessen the force acting on the body of the worker.

Keywords

References

  1. 대한산업안전협회, "근골격계 질환 예방", 안전 교육 Sheet, pp.1-4, 2006
  2. 한국산업안전공단, "근골격계 질환 예방 코너", http://www.kosha.or.kr/health/business99/kind_kind.jsp?menuId=1, 2009
  3. DSME(Daewoo Shipbuilding and Marine Engineering) 자동화연구소, 서울대학교 로봇팀(RoboSYS: Robot Systems In SNU), 전처리 작업 분석, Technical Report, 2005
  4. Kasaoka, K. and Sankai, Y., "Predictive Control Estimating Operator's Intention for Stepping-up Motion by Exo-Sckeleton Type Power Assist System HAL", Proceedings of the 2001 IEEE/RSJ(International Conference on Intelligent Robots and Systems), Maul, Hawaii, USA, pp.1579-1853, October 29-November 3, 2001
  5. Lee, S. and Sankai, Y., "Power Assist Control for Walking Aid with HAL-3 Based on EMG and Impedance Adjustment around Knee Joint", Proceedings of the 2002 IEEE/RSJ(International Conference on Intelligent Robots and Systems), Lausanne, Switzerland, pp. 1499-1504, September 30-0ctober 4,2002
  6. Hayashi, T., Ohm, M. and Sankai, Y., "Construction of a Mind Model for Human-Robot Cooperation", Proceedings of the 2002 IEEE SMC(Systems, Man, and Cybernetics), Hammamet, Tunisia, Vol. 5, pp. 1-6, October 6-9, 2002
  7. Kawamoto, H. and Sankai, Y., "Comfortable Power Assist Control Method for Walking Aid by HAL- 3", Proceedings of the 2002 IEEE SMC(Systems, Man, and Cybernetics), Hammamet, Tunisia, Vol. 4, pp. 6-11, October 6-9, 2002
  8. Kawamoto, H., Kanbe, S. and Sankai, Y., "Power Assist Method for HAL-3 Estimating Operator's Intention Based on Motion Information", Proceedings of the 2003 IEEE International Workshop on Robot and Human Interactive Communication, Millbrae, California, USA, pp.67-72, October 31-November 2, 2003
  9. Kawainot, H., Lee, S. W., Kanbe, S. and Sankai, Y., "Power Assist Method for HAL-3 using EMGbased Feedback Controller", Proceedings of the 2003 IEEE International Workshop on Robot and Human Interactive Communication, Millbrae, California, USA, pp.l648-1653, 2003
  10. Lee, S. and Sankai, Y., "The Natural FrequencyBased Power Assist Control for Lower Body with HAL-3", Proceedings of the 2003 IEEE International Workshop on Robot and Human Interactive Communication, Millbrae, California, USA, pp. 1642-1647, 2003
  11. Hayashi, T., Kawamoto, H. and Sankai, Y., "Control Method of Robot Suit HAL Working as Operator's Muscle Using Biological and Dynamical Information", Proceedings of the 2005 IEEE/RSJ(International Conference on Intelligent Robots and Systems), Alberta, Canada, pp. 3063-3068, August 2-6, 2005
  12. IEEE Spectrum, "the RISE of the BODYBOTS", pp. 51-56, October, 2005
  13. CYBERDYNE Inc., http://www.cyberdyne.jp/English/index.html, 2009
  14. UC Berkeley Human Engineering Laboratory, http://bleex.me.berkeley.edu/bleex.htm, 2009
  15. Amundson, K., Raade, J., Harding, N. and Kazerooni, H., "Hybrid Hydraulic-Electric Power Unit for Field and Service Robots", Technical Report, University of California, Berkeley, pp. 1-6
  16. Zoss, A., Kazerooni, H. and Chu, A., "On the Mechanical Design of the Berkeley Lower Extremity Exoskeleton(BLEEX)", Technical Report, University of California, Berkeley, pp. 1-8
  17. Kazerooni, H., Racine, J. L., Huang, L. and Steger, R., "On the Control of the Berkeley Lower Extremity Exoskeleton(BLEEX)", Proceedings of the 2005 IEEE International Conference on Robotics and Automation( ICRA 2005), Barcelona, Spain, pp. 4353- 4360, April 18-22, 2005
  18. Zoss, A. and Kazerooni, H., "On the Mechanical Design of the Berkeley Lower Extremity Exoskeleton( BLEEX)", Proceedings of IMECE(International Mechanical Engineering Congress and Exposition), Orlando, USA, pp.I-8, November 5-11, 2005
  19. Zoss, A.B., Kazerooni, H. and Chu, A., "Biomechanical Design of the Berkeley Lower Extremity Exoskeleton(BLEEX)", IEEE/ASME Transactions On Mechatronics, Vol. 11, No.2, pp. 128-138, 2006 https://doi.org/10.1109/TMECH.2006.871087
  20. Kazerooni, H., Steger, R. and Huang, L., "Hybrid Control of the Berkeley Lower Extremity Exoskeleton( BLEEX)", International Journal Of Robotics Research, Vol. 25, No. 5-6, pp. 561-573, 2006 https://doi.org/10.1177/0278364906065505
  21. Ghan, 1. and Kazerooni, H., "System Identification for the Berkeley Lower Extremity Exoskeleton( BLEEX)", Proceedings of the 2006 IEEE International Conference on Robotics and Automation (ICRA 2006), Orlando, USA, pp.3477-3484, May 15-19, 2006
  22. Steger, R., Kim, S. H. and Kazerooni, H., "Control Scheme and Networked Control Architecture for the Berkeley Lower Extremity Exoskeleton(BLEEX)", Proceedings of the 2006 IEEE International Conference on Robotics and Automation(ICRA 2006), Orlando, USA, pp.3469-3476, May 15-19, 2006
  23. Fontaine, E. I., "A Laboratory Demonstration of a Parallel Robotic Mechanism with Integrated EPAM Actuators", BS Thesis, Massachusetts Institute of Technology, 2002
  24. Wingert, A., Lichter, M., Dubowsky, S. and Hafez, M. "Hyper-Redundant Robot Manipulators Actuated by Optimized Binary Dielectric Polymers", Proceedings of the 2002 SPIE Smart Structures and Materials Symposium, San Diego, USA, Vol. 4695, pp.415-423, March 17-21, 2002
  25. Wingert, A., Lichter, M. D. and Dubowsky, S., "On the Kinematics of Parallel Mechanisms with BiStable Polymer Actuators", Proceedings of the 8th International Symposium on Advances in Robot Kinematics, Barcelona, Spain, pp. 303-310, June 24-28, 2002
  26. Bolzmacher, C., Hafez, M., Khoudja, M. B., Bernardoni, P. and Dubowsky, S., "Polymer-based Actuators for Virtual Reality Devices", Proceedings of the 2004 SPIE Conference on Smart Structures and Materials: Electroactive Polymer Actuators and Devices(EAPAD), San Diego, USA, Vol. 5385, pp.281-289, March 14-18, 2004
  27. Vogan, J., Kacher, D., Wingert, A., Hafez, M., Plante, J. S., Jolesz, F. and Dubowsky, S., "Manipulation in MRI Devices Using Electrostrictive Polymer Actuators: With an Application to Reconfigurable Imaging Coils", Proceedings of the 2004 IEEE International Conference on Robotics and A utomation(ICRA 2004), New Orleans, USA, pp. 2498-2504, April 26-May 1, 2004
  28. Dubowsky, S., Iagnemma, K., Liberatore, S., Lambeth, D., Plante, 1. S. and Boston, P., "A Concept Mission: Microbots for Large-Scale Planetary Surface and Subsurface Exploration", Proceedings of the 2005 Space Technology and Applications International Forum (STAIF), Albuquerque, USA, pp. 1449-1458, February 13-17, 2005 https://doi.org/10.1063/1.1867276
  29. 산업자원부 기술표준원, 제 5차 한국인 인체 치수 조사 사업((SizeKorea) 보고서, 2004
  30. 고대현, "그래픽스 하드웨어에 기반한 형상의 골격 구동 변형", 2005년 한국CADCAM학회 학술발표회, pp. 237-242, 평창, 2005.1.27-29
  31. 이성수, "인간 근골격계의 모델링과 재활에의 응용 가능성", 한국CADCAM학회지, Vol. 13, No. 3, pp. 9-13, 2007
  32. 이중현, 이영신, 이해동, "세 가지 주요 검도 공격 동작에서의 근-골력 응력과 변형률 해석에 관한 연구", 2008년 한국CADCAM학회 학술발표회, pp. 23-32, 평창, 2008.1.31-2.2
  33. 박성호, 장재칠, 이건우, 김다니엘, "기능 보형재의 요추 삽입 영향 평가를 위한 근골격계 해석", 2008년 한국CADCAM학회 학술발표회, pp. 102-109, 평창, 2008.1.31-2.2
  34. 황진상, 문두환, 김병철, 김준환, 한순흥, "제품 설계 협업 환경에서 골격 모델을 이용한 기업 지적 자산의 보완", 2008년 한국CADCAM학회 학술발표회, pp. 349-358, 평창, 2008.1.31-2.2