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Development of the Hybrid Type Robot Using a Pneumatic Actuator For Physical Therapy Of Ankylosis  

최현석 (한양대학교 정밀기계공학과)
최철우 (LG전자)
한창수 (한양대학교 기계정보경영학부)
한정수 (한성대학교 기계시스템공학부)
Publication Information
Journal of Biomedical Engineering Research / v.24, no.2, 2003 , pp. 127-132 More about this Journal
Abstract
In this paper. the pneumatic service robot with a hybrid type is developed. A pneumatic has the advantages of good compliance , high Payload-to-weight and payload-to-volume ratios. high speed and force capabilities. Using pneumatic actuators. which have low stiffness. the service robot can guarantee safety. By suggesting a new serial-parallel hybrid type for the service robot which separates into Positioning motion and orienting motion, we can achieve large workspace and high strength-to-moving-weight ratio at the same time. A sliding mode controller can be designed for tracking the desired output using the Lyapunov stability theory and structural properties of pneumatic servo systems. Through many experiments of circular trajectory. the Pneumatic service robot is evaluated and verified.
Keywords
Rehabilitation; Pneumatic robot; Hybrid type robot; Sliding mode control; Shoulder joint;
Citations & Related Records
Times Cited By KSCI : 1  (Citation Analysis)
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