• Journal of Institute of Control, Robotics and Systems
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• v.18 no.3
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• pp.181-187
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• 2012

Horse riding is widely recognized as a valuable form of education, exercise and therapy. But, the injuries observed in horse riding range from very minor injuries to fatalities. In order to reduce these injuries, the effective horseback riding simulator is required. In this paper, we proposed the implementation method of horse gait and riding aids for horseback riding robot simulator HRB-1. For implementation of horse gait to robot simulator, we gathered and modified real motion data of horse. We obtained two main frequencies of each gait by frequency analysis, and then simple sinusoidal functions are acquired by genetic algorithm. In addition, we developed riding aids system including hands, leg, and seat aids. With the help of a developed robotic system, beginners can learn the skill of real horse riding without the risk of injury.

• International Journal of Korean Welding Society
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• v.1 no.1
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• pp.31-38
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• 2001

For the horizontal fillet welding with one plate in a vertical position, there will be a higher tendency of weld metal falling down rather than for the butt-welding in flat position. Such phenomenon could bring about the overlap or deflection of weld pool, and consequently induce the poor mechanical strength of weldments. Therefore, a precise position control of welding torch in conjunction with the weld qualify plays an important role in welding robot applications. In the present study, an experimental method was proposed for deriving a mathematical model between the leg length and the welding conditions. Finally, an algorithm was proposed for weld seam tracking and improvement of the weld quality. The reliability of the proposed algorithm was evaluated through various experiments, which showed that the proposed algorithm can be very effective for tracking the weld line and simultaneously achieving the sound weld bead.

• Proceedings of the KIEE Conference
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• 2001.11c
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• pp.87-90
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• 2001

This paper presents a design of new type biped robot and dynamic walking simulation for this system. The robot is distinguished from other one by which has a parallel mechanism type trunk and lead-screw type actuators to drive the joints of the trunk, knee and ankle. The basic consideration on the design is that it is able to accommodate itself to human's daily environments without any other modification of around and also to operate its upper limbs more smoothly with a spine functional trunk. It is designed according to a human with about 130 cm height and about 30 kg weight. And it also is able to dynamically walk on an even ground. It has constructed with total 14 DOFs which have two legs, a hip, and a trunk. The joints of each leg and trunk are adopted with a parallel structure which has good kinematic characteristics and take light weight. To test of the capacity of joint actuators and to analysis of the dynamic properties of the biped robot, optimized trunk trajectory is determined by means of an approximated FFT method based on ZMP criteria, and dynamic simulation is performed using DADS with a 1.1 time/step velocity on the even ground during four steps.

• The Journal of Korea Robotics Society
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• v.19 no.2
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• pp.159-168
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• 2024

Lower limb amputees are increasing due to various reasons. It is difficult for lower limb amputees to walk without an assistive device such as a prosthetic leg. In this paper, an electronically controlled knee-type prosthetic leg with a 4-bar linkage structure for lower limb amputees was developed. The knee-type prosthetic leg has a 4-bar linkage structure and assists walking by using an integrated drive module. The torque is 90 Nm, the rotation speed is up to 120 deg, and it weight 1.9 kg, so it is lighter than a commercial prosthetic leg, so it can be used for a long time because there is less fatigue when walking. An integrated control board was developed by applying various sensors and microprocessor. The motor drive and encoder are built into the integrated drive module. The integrated control board and integrated drive module communicate using CAN. When a lower limb amputee wears a knee-type prosthetic leg and walks, it shows a shape similar to the swing phase graph of a normal people, and it is possible to walk naturally while walking.

• 제어로봇시스템학회:학술대회논문집
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• 2004.08a
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• pp.1539-1543
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• 2004

This paper describes platform overview, system integration and dynamic walking control of the humanoid robot, KHR-2 (KAIST Humanoid Robot - 2). We have developed KHR-2 since 2003. KHR-2 has totally 41 DOF (Degree Of Freedom). Each arm including a hand has 11 DOF and each leg has 6 DOF. Head and trunk also has 6 DOF and 1 DOF respectively. In head, two CCD cameras are used for eye. In order to control all joints, distributed control architecture is adopted to reduce the computation burden of the main controller and to expand the devices easily. The main controller attached its back communicates with sub-controllers in real-time by using CAN (Controller Area Network) protocol. We used Windows XP as its OS (Operating System) for fast development of main control program and easy extension of peripheral devices. And RTX, HAL(Hardware Abstraction Layer) extension program, is used to realize the real-time control in Windows XP environment. We present about real-time control of KHR-2 in Windows XP with RTX and basic walking control algorithm. Details of the KHR-2 are described in this paper.

• The Journal of the Korea institute of electronic communication sciences
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• v.17 no.3
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• pp.537-542
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• 2022

There is a limit to the current indoor air quality (IAQ) monitoring method using fixed sensors and devices. A mobile robot for IAQ monitoring was developed by mounting IAQ monitoring sensors on a small multi-legged robot to minimize vibration and protect the sensors from vibration while robot moves. The developed mobile robot used a simple gait mechanism to enable the robot to move forward, backward, and turns only with the combination of forward and reverse rotation of the two DC motors. Due to the simple gait mechanism, not only IAQ data measurements but also gait motion control were processed using a single Arduino board. Because the mobile robot has small number of electronic components and low power consumption, a relatively low-capacity battery was mounted on the robot to reduce the weight of the battery. The weight of mobile robot is 1.4kg including links, various IAQ sensors, motors, and battery. The gait and turning speed of the mobile robot was measured at 3.75 cm/sec and 14.13 rad/sec. The maximum height where the robot leg could reach was 33 mm, but the mobile robot was able to overcome the bumps up to 24 mm.

• 제어로봇시스템학회:학술대회논문집
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• 2000.10a
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• pp.248-248
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• 2000

본 연구는 조선 소조립, 판넬조립 등의 공정에서 발생되는 필렛 용접 부위의 용접 자동화를 위한 로봇 시스템 개발에 관한 연구이다. 조선등의 중공업 분야에서는 작업이 중량이고 대형임에 따라 로봇이 부재의 특정위치로 이동하여 작업해야 한다. 또한 작업대상의 형상이나 치수가 매번 변경됨에 따라 이에 능동적으로 대처할 수 있어야 한다. 본 연구에서는 두 대의 로봇(2대x6축=12축)이 다축 문형 캔트리(4축)에 장착된 조선용 필렛용접 로봇 시스템(16축)을 개발하였다. 필렛용접부재를 중심으로 두 대의 로봇이 양쪽을 동시에 용접하는 방식으로 고속회전토치를 적용하여 위빙동작없이 원하는 용접각장(Leg Length)을 생성할 수 있다. 캔트리 시스템은 PC 기반의 별도 제어기로 구성하여 두 대의 로봇 제어기와 신호 입출력에 의해 동시동작이 가능하도록 하였으며, 작업장에 놓인 부재의 위치오차를 보장하기 위하여 시각센서를 적용하였다. 용접시작점의 위치보정을 위한 시작점 검출을 위해접촉센서(Touch Sensor)를 적용하였으며, 용접선 추적을 위해서 아크센서(Arc Sensor)를 적용하였다. 본 시스템 2000년 1월 제작 설치가 완료되어 현재 성능 테스트가 완료된 상태로 향후 생산현장에 적용될 계획이다.

• Journal of the Korea Academia-Industrial cooperation Society
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• v.11 no.1
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• pp.159-165
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• 2010

The moving object monitoring and transforming personal robot system based on remote controls is designed and implemented, and the performance of the system is analyzed in this paper. The major considering factors in the system design are such as 1) the control scheme design (button based and the remote control schemes); 2) the operation modes design (wheel driving mode/pedestrian mode/auto driving mode/observation mode); 3) the remote control function design; 4) the design of the monitoring function of the changes in neighbor environments; 5) the design of the detection of obstruction. From the experiments, it is assured that the developed personal robot can walk to the grounds that covered with doorsill or electric wires in indoors by control the leg articulations, and can escape from the obstruction using three infrared sensors in the 30cm*30cm obstruction styled space under the auto driving mode.

• The Journal of Korean Physical Therapy
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• v.33 no.5
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• pp.231-237
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• 2021

Purpose: This study sought to investigate the effects of robot-assisted gait training on balance in total hip arthroplasty (THA) patients after bilateral avascular necrosis (AVN). Methods: This case study in two patients utilized an 'A-B-A' single-subject experimental design that included five days of pre-intervention, followed by five days of intervention, and five days of post-intervention. The intervention involved the use of a standing inclined robot (R-bot) for 15 minutes. The outcome measures were evaluated using the Functional Reaching Test (FRT), Time Up to Go (TUG), and the Modified One Leg Standing Test (OLST). Results: Patient 1 showed improvement based on data gathered from baseline A to intervention period B, with results as follows: FRT improved from 27.7 cm to 41.28 cm, OLST LT from 14.03 seconds to 67.37 seconds, OLST RT from 2.94 seconds to 35.97 seconds, and TUG from 12.96 seconds to 7.82 seconds. Patient 2 also showed improvement from baseline A to intervention period B, with results as follows: FRT improved from 17.18 cm to 24.3 cm, OLST LT from 11.53 seconds to 52.01 seconds, OLST RT from 12.99 seconds to 62.19 seconds, and TUG from 27.31 seconds to 12.99 seconds. Conclusion: Based on the results of this study, robotic rehabilitation during the early stages after surgery is effective for promoting balance in patients who have undergone THA due to bilateral AVN.

• Proceedings of the KSME Conference
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• 2004.11a
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• pp.579-584
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• 2004

In this paper, we present the mechanical, electrical system design and system integration of controllers including sensory devices of the humanoid, KHR-2 (KAIST Humanoid Robot - 2). We have developed KHR-2 since 2003. Total number of DOF of KHR-2 is 41. Each arm including a hand has 11 DOF and each leg has 6 DOF. Head and trunk also has 6 DOF and 1 DOF respectively. In head, two CCD cameras are used for eye. To control all axes efficiently, distributed control architecture is used to reduce computation burden of main controller and to expand devices easily. So we developed the sub-controller as a servo motor controller and a sensor interfacing devices using microprocessor. The main controller attached its back communicates with sub-controllers in real-time by CAN (Controller Area Network) protocol. We used Windows XP as its OS (Operation System) for fast development of main control program and easy extension of peripheral devices. And RTX HAL extension commercial software is used to realize the real-time control in Windows XP environment.