• Transactions of the Korean Society of Mechanical Engineers A
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• v.35 no.5
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• pp.503-515
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• 2011

We developed a walking-assistance robot for walking rehabilitation and assessed the kinematic characteristics of a prototype. The walking-assistance robot is composed of hip, knee, and ankle joints, and each joint is driven by a motor with a decelerator. The equations of angular displacement while walking were derived by theoretically analyzing human locomotion, and the calculated angular displacements were then applied to the robot controller. The output angular displacement of each joint was measured and compared with its input angular displacement in walking experiments on a treadmill at various walking speeds and strides. The differences between the input and output angular displacements are 5.22% for the hip and 2.97% for the knee joints, and it has been confirmed that the walking-assistance robot works well.

• Transactions of the Korean Society of Mechanical Engineers A
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• v.35 no.12
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• pp.1573-1578
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• 2011

In this study, a novel electromagnetic microrobot system with locomotion and drilling functions in threedimensional space was developed. Because of size limitations, the microrobot does not have actuator, battery, and controller. Therefore, an electromagnetic actuation (EMA) system was used to drive the robot. The proposed EMA system consists of three rectangular Helmholtz coil pairs in x-, y- and z-axes and a Maxwell coil pair in the z-axis. The magnetic field generated in the EMA coil system could be controlled by the input current of the EMA coil. Finally, through various experiments, the locomotion and drilling performances of the proposed EMA microrobot system were verified.

• Therapeutic Science for Rehabilitation
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• v.2 no.2
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• pp.21-36
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• 2013

Objective : The purpose of this study was to look at a systematic review on the effects of robot-assisted therapy on stroke rehabilitation in upper limbs. Through this comprehensive study, we have to compare the studies. Methods : We systematically examined papers published in journal from June 2012 to September 2012, using EMBASE, MEDLINE, etc. 12 studies(randomized controlled trials) were included in the analyses. Results : Selected 12 studies were Pedro score 2 or more. The primary outcome measure tools including tools for upper extremity function and activities daily of living were used. Through various intervention, Robot-assisted therapy maximizes the effectiveness of intervention. The effects of upper extremity function and functional ability(ADL) by robot-assisted therapy showed significant effect, but no difference exists between the robot-assisted therapy and conventional therapy groups in terms of upper extremity function and functional ability. Conclusions : Robot-assisted therapy has been widely used clinically for stroke patients to maximize the effect had been applied to various interventions. Robot-assisted therapy depending on the methods of intervention showed that the effect of difference. In the future study, the use of robot-assisted therapy applied to a variety of interventions is needed on occupational therapy.

• Journal of the Institute of Convergence Signal Processing
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• v.24 no.2
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• pp.126-133
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• 2023

In this study, electromyography was obtained in the six muscle areas that move the joints of the two legs, and by analyzing it, an exercise robot system capable of gait rehabilitation was proposed in consideration of the individual's muscle state. Through this, the system was constructed to prevent the effect of exercise from decreasing because the patient's will was not reflected when walking exercise was simply provided automatically. As a result of the evaluation of the developed system, it was confirmed that the pedestrian rehabilitation robot system manufactured through this study had performance suitable for the design requirements, and it was also confirmed that the usability evaluation was comprehensively satisfactory. The results of this study are thought to be of great help to patients who are having difficulty in gait rehabilitation, and are believed to be helpful in the development of electromyography signal-based gait robot systems.

• Transactions of the Korean Society of Mechanical Engineers A
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• v.36 no.12
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• pp.1497-1502
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• 2012

To manufacture a robot hand that essentially mimics the functions of a human hand, it is necessary to develop flexible actuators and sensors. In this study, we propose the design, manufacture, and performance verification of flexible actuators and sensors based on Electro Active Polymer (EAP). EAP is fabricated as a type of film, and it moves with changes in the voltage because of contraction and expansion in the polymer film. Furthermore, if a force is applied to an EAP film, its thickness and effective area change, and therefore, the capacitance also changes. By using this mechanism, we produce capacitive actuators and sensors. In this study, we propose an EAP-based capacitive sensor and evaluate its use as a robot hand sensor.

• ICROS
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• v.3 no.5
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• pp.38-42
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• 1997

본 고에서는 적응제어의 설계 기법의 연구 현황에 대해 살펴보았다. 매개변수 추정을 기반으로 적응제어기 설계 기법(Estimation-based Design Technique)은 자기동조제어를 시작으로 적응 최적제어 단계를 거쳐, 현재 다변수 적응예측제어로 발전하였고, 이는 화학공정 등 실제 플랜트에 응용될 가능성이 가장 높은 실용적인 설계기법으로 평가받고 있다. 그러나 비선형 시스템에 대한 적용 연구는 활발하지 못한 형편이다. 한편, 안정도 이론을 기반으로 적응 메카니즘을 설계하는 연구는 선형 시스템에 대한 적응제어 연구로 확장되어 현재 활발한 연구가 진행되고 있다. 앞으로 이에 대한 이론 연구가 한동안 지속될 것으로 전망된다. 그러나 이 방법은 실제 시스템에 적용시 적합한 형태로 불확실성을 모델링해야 하며 그 작업은 그리 용이하지 않을 것으로 판단된다. 그러나 부분적으로 이러한 응용연구에 대한 노력이 경주되어야 할 것이다. 비매개변수 추정방법은 적응제어 이론의 주 설계기법은 아니기 때문에 이론으로의 확장 연구는 그리 활발하지 못한 것으로 판단된다. 그러나 비교적 설계방법과 불확실성 모델링이 간단하여 실제 응용에 가장 용이하게 적용될 수 있을 것으로 생각된다.

• Transactions of the Korean Society of Mechanical Engineers A
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• v.40 no.10
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• pp.843-849
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• 2016

It has been shown that the adaptive grasp feature can be implemented by underactuated robotic hands with a minimal number of actuators. Following this approach, a new design of prosthetic hand is presented. A method is proposed for evaluating grasp performance using cylinders, spheres, and square bars of various sizes. The effects of the major design parameters were investigated experimentally and an improved design is proposed.

• Journal of Internet Computing and Services
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• v.14 no.4
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• pp.53-62
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• 2013

In cloud robotics, the model to share information efficiently is still a research challenge. This paper presents an information sharing model for cloud-enabled robots to collaborate and share intelligence. To provide the efficient message dissemination, an adaptive group communication based on multi-agent is proposed. The proposed algorithm uses a weight function for the link nodes to determine the significant links. The performance evaluation showed that the proposed algorithm produced minimal message overhead and was faster to answer queries because of the significant links compared to traditional group communication methods.

• Journal of the Korean Institute of Intelligent Systems
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• v.15 no.4
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• pp.451-456
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• 2005

In this paper, we propose the navigation control method for intelligent robot using messy genetic algorithm. The fuzzy controller design for navigation of the intelligent robot was dependant on expert's knowledge. But, the parameters of the fuzzy logic controller obtained from expert's control action may not be outimal. In this paper, to solve the above problem, we propose the identification method to automatically tune the number of fuzzy rule and parameters of memberships of fuzzy controller using mGA. Finally, to show and evaluate the generality and feasibility of the proposed method, we provides some simulations for wall following navigation of intelligent robot.

• Proceedings of the Korean Institute of Information and Commucation Sciences Conference
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• 2021.10a
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• pp.511-513
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• 2021

In this study, digital twin technology and block chain technology are used to provide. A learning method was suggested. The medium used in this study is a 6-axis robot released by Denso, and the operating coordinates of the equipment can be converted into data through the data displayed on each axis. In addition, the results of the practice can be stored in the blockchain to ensure the confidentiality and integrity of the evaluation. The method proposed in this study is expected to be of great help to practical classes in specialized high schools even in the COVID-19 pandemic.