• Title/Summary/Keyword: 인공근육

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Control of an Artificial Arm using Flex Sensor Signal (굽힘 센서신호를 이용한 인공의수의 제어)

  • Yoo, Jae-Myung;Kim, Young-Tark
    • Journal of the Korean Institute of Intelligent Systems
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    • v.17 no.6
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    • pp.738-743
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    • 2007
  • In this paper, a muscle motion sensing system and an artificial arm control system are studied. The artificial arm is for the people who lost one's forearm. The muscle motion sensing system detect the intention of motion from the upper arm's muscle. In sensing system we use flex sensors which is electrical resistance type sensor. The sensor is attached on the biceps brachii muscle and coracobrachialis muscle of the upper arm. We propose an algorithm to classify the one's intention of motions from the sensor signal. Using this algorithm, we extract the 4 motions which are flexion and extension of the forearm, pronation and supination of the arm. To verify the validity of the proposed algorithms we made experiments with two d.o.f. artificial arm. To reduce the control errors of the artificial arm we also proposed a fuzzy PID control algorithm which based on the errors and error rate.

Trajectory tracking controls for a robot manipulator with artificial muscles (인공 고무 근육을 이용한 로보트 메니퓨레이터의 선형 궤도 추적 제어)

  • ;Watanabe, Keigo;Nakamura, Masatoshi
    • 제어로봇시스템학회:학술대회논문집
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    • 1992.10a
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    • pp.642-646
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    • 1992
  • Trajectory tracking control problems are described for a two-link robot manipulator with artificial rubber muscle actuators. Under the assumption that the so-called independent joint control is applied to the control system, the dynamic model for each link is identified as a linear second-order system with time-lag by the step response. Two control laws such as the feedforward and the computed torque control methods, are experimentally applied for controlling the circular trajectory of an actual robot manipulator.

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Motor and Sensor Technology for Intelligent Robots (지능형 로봇 부품 기술 동향)

  • Kim, H.J.;Yoon, H.S.
    • Electronics and Telecommunications Trends
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    • v.22 no.2 s.104
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    • pp.58-69
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    • 2007
  • 지능형 로봇은 우리 인간의 삶의 공간으로 한층 접근하고 있으며, 앞으로 미래 산업에 큰 비중을 차지할 것이라 예상된다. 이에 지능형 로봇의 구현에 필수적인 부품 기술을 구동기와 센서 기술을 중심으로 살펴본다. 구동기 기술로는 PMDC, BLDC, 스테핑 모터, 초음파 모터와 최근 연구실을 중심으로 많이 연구되는 인공 근육에 대해 살펴본다. 센서기술로는 가속도 센서, 각속도 센서, 초음파 센서, 청각 센서, 시각 센서, 액티브 비컨 센서, 그리고 촉각 센서를 살펴본다. 부품 기술들의 간단한 원리와 종류 그리고 기술동향을 살펴봄으로써 지능형 로봇 산업에서 중요하게 사용될 부품들을 정리해본다.

A Study on Position and Force Control of A Robot Manipulator with Artificial Rubber Muscle (고무인공근 로보트 매니퓨레이터의 위치 및 힘 제어에 관한 연구)

  • Jin, Sang-Ho;Watanabe, Keigo;Lee, Suck-Gyu
    • Journal of the Korean Society for Precision Engineering
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    • v.12 no.1
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    • pp.97-103
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    • 1995
  • This paper describes position and force hybrid control for a robot manipulator with artificial rubber muscle actuators. The controller using two control laws such as PID control and fuzzy logic control methods is designed. This paper concludes to show the effectiveness of the proposed controller by some experiments for a two-link manipulator.

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An Experiments and Characteristics Analysis of the Fluidic Muscle Cylinder (Fluidic Muscle 실린더의 특성 해석 및 실험)

  • Huh, Shin;Kim, Dong-Soo;Kim, Wan-Doo;Bae, Sang-Kyu
    • Proceedings of the KSME Conference
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    • 2004.11a
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    • pp.974-979
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    • 2004
  • The fluidic muscle cylinder consist of an air bellows tube, flanges and lock nuts. It's features are softness of material and motion, simplicity of structure, low production cost and high power efficiency. In this study, we carried out the finite element modelling and analysis about the main design variables such as contraction ration and force, diameter increment of fluidic muscle cylinder. On the basis of finite element analysis, the prototype of fluidic muscle cylinder was manufactured and tested. Finally, we compared the results between the test and the finite element analysis.

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Theoretical Analysis of Carbon Nanotube Actuators (탄소나노튜브 작동기의 이론적 해석)

  • Park C.H.;Park H.C.;So H.K.;Jung B.B.
    • Proceedings of the Korean Society of Precision Engineering Conference
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    • 2005.06a
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    • pp.927-931
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    • 2005
  • Carbon nanotube actuator, working under physical conditions (in aqueous solution) and converting electrical energy into mechanical energy directly, can be a good substitute for artificial muscle. The carbon nanotube actuator simulated in this paper is an isotropic cantilever type with an adhesive tape which is sandwiched between two single-walled carbon nanotubes. For predicting the static and dynamic characteristic parameters, the analytical model for a 3 layer bimorph carbon nanotube actuator is developed by using Euler-Bernoulli beam theory. The governing equation and boundary conditions are derived from energy principles. The induced displacements of the theoretical model are presented in order to investigate the performance of the carbon nanotube actuator with different control voltages. The developed model presents invaluable means for designing and predicting the performance of carbon nanotube actuator that can be used in artificial muscle applications.

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Treatment of Bilateral Diaphragmatic Paralysis after Resection of Thymic Carcinoma -One case report- (흉선암 절제술 후 발생한 양측성 횡격막 마비의 치유 -1예 보고-)

  • 김재욱;김승우;류지윤;김욱성;장우익;진재용;김민경;김태식;김연수
    • Journal of Chest Surgery
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    • v.36 no.12
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    • pp.985-990
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    • 2003
  • Bilateral diaphragmatic paralysis is a rare disease. It is caused by trauma, cardiothoracic surgery, neuromuscular disorders, corvical spondylosis, and infection. A 60 year-old male patient developed bilateral diaphragmatic paralysis after an on-bloc resection of thymic carcinoma which invaded the right upper lobe, pericardium, superior vena cava and innominate vein. Severe respiratory difficulty developed and ventilator weaning was impossible. We performed bilateral diaphragmatic plication. After the operation, satisfactorily ventilator weaning and sleeping in supine position were possible; therefore, we report this case.

Nano Carbon Material Based Electrochemical Actuators (탄소 나노 재료 기반의 전기-화학적 구동기)

  • Cha, Ju-Young;Kang, In-Pil
    • Journal of the Korean Society for Precision Engineering
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    • v.28 no.11
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    • pp.1251-1258
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    • 2011
  • With the help of nanoscale materials like carbon nanotube (CNT), there is the potential to develop new actuators that will provide higher work per cycle than previous actuator technologies, and generate much higher mechanical strength. In this study, the electrochemical actuation characteristics of nano carbon materials were experimentally studied to develop electrochemical actuators. The electrochemical actuators were composed of aqueous NaCl electrolyte and their actuating electrodes were made of multi-walled carbon nanotube (MWCNT)/polystyrene composite and graphene respectably. Actuation is proportional to charging transfer rate, and the electrolysis with an AC voltage input has very complex characteristics. To quantify the actuation property, the strain responses and output model were studied based on electrochemical effects between the nano carbon films and the electrolyte.

Multiple Simultaneous Specification Control of Antagonistic Actuation by Pneumatic Artificial Muscles (공압형 인공근육으로 구동되는 상극구동의 다중 동시 사양 제어)

  • Kang, Bong-Soo
    • The Journal of Korea Robotics Society
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    • v.6 no.1
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    • pp.34-41
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    • 2011
  • This paper presents a frequency-response test performed on an antagonistic actuation system consisting of two Mckibben pneumatic artificial muscles and a pneumatic circuit. A linear model, capable of estimating the dynamic characteristics of the antagonistic system in the operating range of pneumatic artificial muscles, was optimally calculated based on frequency-response results and applied to a multiple simultaneous specification control scheme. Trajectory tracking results showed that the presented multiple simultaneous specification controller, built experimentally by three PD typed sample controllers, satisfied successfully all required control specifications; rising time, maximum overshoot, steady-state error.