• Journal of rehabilitation welfare engineering & assistive technology
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• v.8 no.2
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• pp.73-78
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• 2014

In this paper we propose a wearable elbow rehabilitation robot applied the mirror therapy for elbow rehabilitation. To implement the mirror therapy, a data suit for measuring healthy elbow motion is developed. A powered elbow exoskeleton wearing in paralyzed arm is controlled by the measured data from the healthy elbow motion. In experiments, the elbow rehabilitation exercise by the mirror therapy is performed. From the experimental results we show the wearable exercise robot including the data suit is applicable to the mirror therapy for elbow rehabilitation.

• Proceedings of the Korean Society of Precision Engineering Conference
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• 2012.05a
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• pp.269-270
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• 2012

• Proceedings of the Korean Society of Precision Engineering Conference
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• 2012.10a
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• pp.197-198
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• 2012

• Proceedings of the Korean Society of Precision Engineering Conference
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• 2012.10a
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• pp.213-214
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• 2012

• Proceedings of the Korean Society of Precision Engineering Conference
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• 2013.05a
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• pp.393-394
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• 2013

• Proceedings of the Korean Society of Precision Engineering Conference
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• 2013.05a
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• pp.867-868
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• 2013

• Proceedings of the Korea Information Processing Society Conference
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• 2002.11c
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• pp.2431-2434
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• 2002

본 논문에서는 전체 영역 경로 계획인 CCPP(Complete Coverage Path Planning)를 이용해 전 청소 영역을 청소하는 방법을 나타내고 청소영역을 해석 하였다. 그리고, Template방법에 CD(Cell Decomposition)을 접목시킨 방법을 이용해 청소영역을 청소 후 재 경로계획으로 청소 안된 영역을 효율적으로 청소하는 방법을 연구하였다. 또한 청소기의 회전 및 직선 모션에 따른 청소 영역을 비교 해석해 최적 시간과 거리에 따른 경로 계획을 살펴보았다.

• Proceedings of the Korean Society for Noise and Vibration Engineering Conference
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• 2010.05a
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• pp.246-247
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• 2010

• Proceedings of the Korean Society for Emotion and Sensibility Conference
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• 2008.10a
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• pp.98-101
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• 2008

The goal of this paper is to select and analyze the sound for robot which can help and serve the big retail market, as the part of research for design foundation development of Human Robot Interface. The sounds which are related with activity, such as thanks, reject, agony,absurdity, gladness, approval, were selected among targeted sounds with 2 step SD method. The result for using Quantitative analysis model-3 with psychological similar degree of selected sound was argued with 'the brightness of sound' and 'violent of sound'.

• The Journal of the Korea institute of electronic communication sciences
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• v.7 no.2
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• pp.381-389
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• 2012

This paper proposes a method which corrects location data of GPS for navigation of outdoor mobile robot. The method uses a Bayesian filter approach called the particle filter(PF). The method iterates two procedures: prediction and correction. The prediction procedure calculates robot location based on translational and rotational velocity data given by the robot command. It incorporates uncertainty into the predicted robot location by adding uncertainty to translational and rotational velocity command. Using the sensor characteristics of the GPS, the belief that a particle assumes true location of the robot is calculated. The resampling from the particles based on the belief constitutes the correction procedure. Since usual GPS data includes abrupt and random noise, the robot motion command based on the GPS data suffers from sudden and unexpected change, resulting in jerky robot motion. The PF reduces corruption on the GPS data and prevents unexpected location error. The proposed method is used for navigation of a mobile robot in the 2011 Robot Outdoor Navigation Competition, which was held at Gwangju on the 16-th August 2011. The method restricted the robot location error below 0.5m along the navigation of 300m length.