• Journal of the Korean Society for Precision Engineering
• /
• v.28 no.4
• /
• pp.455-462
• /
• 2011

This paper is about the design of a new gravity compensator for the lower body exo-skeleton device. The exo-skeleton devices is for increasing the torque of the human body joint for the purpose of helping the disabled, workers in the industry, and military soldiers. So far, most of studied exo-skeleton devices are actuated by the motors, but motors are limited in energy such that a short durability is always a big problem. In this paper, a new gravity compensator is proposed to reduce the torque load applied to human body joints due to gravity. The gravity compensator is designed using a tortional bar spring, and its structure and characteristics are studied through the test and computer simulation. A design concept on the exo-skeleton device using the gravity compensator is presented. An analysis and computer simulation on the torque reduction of the proposed exo-skeleton device that applies and non-applies the gravity compensator are performed.

• Journal of the Korean Society of Manufacturing Process Engineers
• /
• v.21 no.8
• /
• pp.9-18
• /
• 2022

As the COVID-19 continues, the demand for robotic technology that can be applied in face-to-face tasks such as delivery and transportation, is increasing. Although these technologies have been developed and applied in various industries, the robots can only be operated in a tidy indoor environment and have limitations in terms of payload. To overcome these problems, we developed a 2 degree of freedom(DOF) environmental adaptive robot leg with a double 1-DOF counterbalance mechanism (CBM) based on wire roller. The double 1-DOF CBM is applied to the two revolute joints of the proposed robot leg to compensate for the weight of the mobile robot platform and part of the payload. In addition, the link of the robot leg is designed in a parallelogram structure based on a belt pulley to enable efficient control of the mobile platform. In this study, we propose the principle and structure of the CBM that is suitable for the robot leg, and design of the counterbalance robot leg module for the environment-adaptive control. Further, we verify the performance of the proposed counterbalance robot leg by using dynamic simulations and experiments.

• Journal of the Korean Society for Aeronautical & Space Sciences
• /
• v.45 no.2
• /
• pp.106-113
• /
• 2017

Attitude determination algorithms for aircraft and land vehicles use earth gravitational vector and geomagnetic vector; hence, magnetometers and accelerometers are employed. In dynamic situation, the output from accelerometers includes not only gravitational vector but also motional acceleration, thus it is hard to determine accurate attitude. The acceleration compensation method treated in this paper solves the problem to compensate the specific force vector for motional acceleration calculated by a GPS receiver. This paper analyzed the error from the corrected vector regarded as a constant by conventional acceleration compensation method, and improve the error by rederivation from measurements. The analyzed error factors and improvements by the proposed algorithm are verified by computer simulations.

• The Journal of Korean Physical Therapy
• /
• v.9 no.1
• /
• pp.177-184
• /
• 1997

1. The human body is the unification related to the powerful fascial network, I think. 2. Myofascial not only prevent and support the human body structure curdling but also keep the physical balance by dispersing traumatization properly. 3. Myofascial restriction will be developed into muscle deficiency and cause pains without releasing the muscle tension and the spasm. 4. Myofascial restriction affect and change the physical posture by losing the muscle elasticity and flexibility and by losing muscle supporting ability from gravitation. 5. The partial myofascial restriction affect the muscle and the adjoining joint supporting gravitation and cause the unbalance of the entire body.

• Journal of Institute of Control, Robotics and Systems
• /
• v.22 no.9
• /
• pp.733-737
• /
• 2016

In this paper, we propose a mechanism that can compensate for gravity in a robot manipulator. Industry robots generate torque due to carrying heavy weight. For this reason, the robots need high specification motors, which increases the prices of the robots and their production costs. In order to resolve these problems, a mechanism for gravity compensation has been developed using a spring and wire system. But this system has problems related to wire stretching. A winding mechanism is therefore used to supplement this drawback of the wire. The robot used was developed by the 1-DOF system. Analysis was performed for the performance of the mechanism. Experiments were conducted to compare simulation results and experimental results.

• Proceedings of the Korean Society of Precision Engineering Conference
• /
• 1996.04a
• /
• pp.393-397
• /
• 1996

A stewart platform-based force/torque sensor with 6 elastic legs was designed and manufactured Kinematic design parameters were determined so that the force/torque sensor might have the isotropic force/torque properities. In a force/torque analysis, it was used the solution of forward kinematics by linearization of the solution of the inverse kinematics. The performance of te force/torque sensor was investigated by measurement experiments. The gravity compensation was conducted to reduce the force and torque effects by the weights of the upper plate, joints and other sensor parts.

• The Journal of Korea Robotics Society
• /
• v.11 no.4
• /
• pp.242-247
• /
• 2016

A robot manipulator handling a heavy weight requires high-capacity motors and speed reducers, which increases the cost of a robot and the risk of injury when a human worker is in collaboration with a robot. To cope with this problem, we propose a collaborative manipulator equipped with a counterbalance mechanism which compensates mechanically for a gravitational torque due to the robot mass. The prototype of the manipulator was designed on the basis of a four-bar linkage structure which contains active and passive pitch joints. Experimental performance evaluation shows that the proposed robot works effectively as a collaborative robot.

• Journal of the Korean Society of Mechanical Technology
• /
• v.13 no.4
• /
• pp.31-36
• /
• 2011

Smart Door(SD) is a human friendly power-assisted door system for passenger car doors. It offers comfort and safety to passengers and drivers by supplying additional power. In this study, dynamic system model and the equation of motion derivation are derived. And we propose the disturbance observer based collision detection algorithm for safety when opening the door. A disturbance caused by collision has a fast response compared to a friction, uncertainties and so on. The main idea this study is to estimate a variation of disturbance for stably and effectively detecting a collision. In order to evaluate a performance of collision detection, an experiment set up is constructed. The experimental results validate the usefulness of the proposed collision detection algorithm.

• Journal of the Korean Society for Precision Engineering
• /
• v.14 no.1
• /
• pp.78-83
• /
• 1997

The paper presents the experimental analysis of a Stewart platform-based force-torque senor. The closed-form solution of forward kinematics of the Stewart platform is derived approximately by way of a linearization technique, and the solution is used in the force analysis of the force-torque sensor. An exper- mental studies show that the proposed method including gravity compensation algorithm is valid for Stew- art platform-based force-torque sensors. The performance of the developed force-torque sensor is evaluated in view of accuracy and linearity in measurements.

• Economic and Environmental Geology
• /
• v.18 no.4
• /
• pp.309-320
• /
• 1985

The crustal structure of the southern part of the Korean peninsula has been investigated based on the results of processing and anlaysis of gravity data. The processing techniques involve i) seperation of regional and residual anomalies by polynomial fittings, ii) power spectral analyses to determine the mean depth to the crustal base, iii) a filtering operation called "high-cut filtering and resampling," and iv) downward continuation to determine the undulation of the crustal base. The Bouguer anomalies show a lineation in the NE-SW direction which is the same as that of most mountains and tectonic lines of this area. The mean crustal depth is found to be 34km. The depth of the crustal base is varying in the estimated range of 26km to 36km with a thinner crust below the east coast than that of the west coast. The relief of the crustal base is appeared to be correlated with the regional surface topography. The linear regression relations computed between elevations and gravity anomalies indicate that the crust of this area seems to be not in perfect isostatic equilibrium but a little undercompensated state.