• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 2002년도 ICCAS
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• pp.49.5-49
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• 2002

$\textbullet$ Developing "muscle shit" providing muscular support $\textbullet$ Based on a new concept: wearable robot $\textbullet$ Be applicable directly to human $\textbullet$ McKibben artificial muscles are sewn into a garment

• 대한기계학회논문집A
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• 제35권5호
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• pp.533-541
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• 2011

본 연구에서는 공압형 인공근육으로 이루어진 회전관절의 동적 특성을 파악하기 위해서 두 개의 공압형 인공근육으로 이루어진 상극구동 시스템의 주파수 응답특성실험을 수행하였다. 인공근육의 작동범위에서 수행한 주파수 응답결과에 최적으로 근사할 수 있는 선형모델을 추정하고 이를 이용하여 회전관절의 움직임을 정밀하게 제어할 수 있는 모델에 기초한 제어법칙을 제시하였다. 사각파, 정현파 기준궤적에 대한 회전관절의 추종실험을 수행한 결과 선형 추정모델에 의한 보상효과와 피드벡 이득에 의한 추종오차 제거효과를 통해서 우수한 궤적 추정성능을 보였다.

• 제어로봇시스템학회논문지
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• 제16권10호
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• pp.948-956
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• 2010

The purpose of this study was to test the effectiveness of a prototype KAFO (Knee-Ankle-Foot Orthosis) powered by two artificial pneumatic muscles during walking. We had previously built powered AFO (Ankle-Foot Orthosis) and KO (Knee Orthosis) and used it effectively in studies on assistance of plantaflexion and knee extension motion. Extending the previous study to a KAFO presented additional challenges related to the assistance of gait motion for rehabilitation training. Five healthy males were performed gait motion on treadmill wearing KAFO equipped with artificial pneumatic muscles to power ankle plantaflexion and knee extension. Subjects walked on treadmill at 1.5 km/h under four conditions without extensive practice: 1) without wearing KAFO, 2) wearing KAFO with artificial muscles turned off, 3) wearing KAFO powered only in plantaflexion under feedforward control, and 4) wearing KAFO powered both in plantaflexion and knee extension under feedforward control. We collected surface electromyography, foot pressure and kinematics of ankle and knee joint. The experimental result showed that a muscular strength of wearing KAFO powered plnatarfexion and knee extension under feedforward control was measured to be lower due to pneumatic assistance and foot pressure of wearing KAFO powered plnatarfexion and knee extension under feedforward control was measured to be greater due to power assistance. In the result of motion analysis, the ankle angle of powered KAFO in terminal stance phase was found a peak value toward plantaflexion and there were difference of maximum knee flexion range among condition 2, 3 and 4 in mid-swing phase. The current orthosis design provided plantaflexion torque of ankle jonit in terminal stance phase and knee extension torque of knee joint in mid-swing phase.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 1992년도 한국자동제어학술회의논문집(국내학술편); KOEX, Seoul; 19-21 Oct. 1992
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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.

• 대한전기학회논문지
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• 제43권3호
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• pp.485-492
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• 1994

Trajectory tracking control porblems 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 mainpulator.

• 전자공학회논문지
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• 제53권4호
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• pp.142-148
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• 2016

최근 다양한 생체신호를 이용한 사용자 인식 방법들이 연구되고 있으며 그 중에 보행을 기반으로 한 사용자 인식 방법이 활발하게 연구되고 있다. 본 논문에서는 사람이 보행할 때 사용되는 허벅지 근육의 EMG(Electromyography) 신호를 기반으로 사용자를 인식하는 방법을 제안하였다. 근전도 신호의 RMS, MAV, VAR, WAMP, ZC, SSC, IEMG, MMAV1, MMAV2, MAVSLP, SSI, WL를 특징으로 산출하여 ANN(Artificial Neural Network) 분류기를 통해 사용자를 인식한다. 사용자 인식에 적합한 근육과 특징을 선별하기 위해서 근육 및 특징별 인식률을 비교한 결과 대퇴직근, 반건양근, 외측광근이 사용자 인식에 적합한 근육으로 나타났으며, MAV, ZC, IEMG, MMAV1, MAVSLP 특징이 사용자 인식에 적합한 특징으로 나타났다. 실험결과 모든 특징들과 채널들을 사용했을 때의 인식률은 평균 99.7%을 보였고 사용자 인식에 적합하다고 판단되는 3개의 근육, 5개의 특징을 사용했을 때의 인식률은 평균 96%을 보였다. 따라서 사용자의 보행에 따른 EMG 신호 기반 사용자 인식이 가능함을 확인하였다. 그리고 사용자 인식에 적합한 소수의 채널과 특징을 사용하여 사용자 인식하는데 적용될 수 있음을 확인하였다.

• 한국정밀공학회지
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• 제27권6호
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• pp.82-89
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• 2010

Ankle-foot orthosis with an artificial pneumatic muscle which is intended for the assistance of plantarfelxion torque was developed. In this study, power pattern of the device in the various pneumatics and the effectiveness of the system were investigated. The pneumatic power was provided by ankle-foot orthosis controlled by user‘s physiological signal, that is, muscular stiffness in soleus muscle. This pneumatic power can assist plantarflexion torque of ankle joint. The subjects performed maximal voluntary isokinetic plantarflexion motion on a biodexdynamometer in different pneumatics, and they completed three conditions: 1) without wearing the orthosis, 2) wearing the orthosis with artificial muscles turned off, 3) wearing the orthosis activated under muscular stiffness control. Through these experiments, we confirmed the effectiveness of the orthosis and muscular stiffness control using the analyzing isokinetic plantarflexion torque. The experimental results showed that isokinetic torques of plantarflexion motion of the ankle joints gradually increased in incremental pneumatic. The effectiveness of the orthosis was -7.26% and the effectiveness of the muscular stiffness control was 17.83% in normalized isokinetic plantarflexion torque. Subjects generated the less isokinetic torques of the ankle joints in wearing the orthosis with artificial muscles turned off, but isokinetic torques were appropriately reinforced in condition of wearing the orthosis activated under muscular stiffness control(17.83%) compared to wearing the orthosis(-7.26%). Therefore, we respect that developed powered orthosis is applied in the elderly that has weak muscular power as the rehabilitation equipment.

• 한국정밀공학회:학술대회논문집
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• 한국정밀공학회 2007년도 추계학술대회 논문집
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• pp.501-502
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• 2007

• 대한의용생체공학회:의공학회지
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• 제26권5호
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• pp.257-264
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• 2005

This paper proposes an ionic polymer metal composite (IPMC) based artificial muscle to be applicable to the Myoelectric hand prosthesis. The IPMC consists of a thin polymer membrane with metal electrodes plated chemically on both faces, and it is widely applying to the artificial muscle because it is driven by relatively low input voltage. The control commands for the IPMC-based artificial muscle is given by electromyographic (EMG) signals obtained from human forearm. By an intended contraction of the human flexor carpi ulnaris and extensor carpi ulnaris muscles, we investigated the actuation behavior of the IPMC-based artificial muscle. To obtain higher actuation force of the IPMC, the single layered as thick as $800[{\mu}m]$ or multi-layered IPMC of which each layer can be as thick as $178[{\mu}m]$ are prepared. As a result, the bending force was up to the maximum 12[gf] from 1[gf] by actuating the single layered IPMC with $178[{\mu}m]$, but the bending displacement was reduced to 6[mm] from 30[mm]. The experimental results using an implemented IPMC control system show a possibility and a usability of the bio-mimetic artificial muscle.

• 한국정밀공학회:학술대회논문집
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• 한국정밀공학회 2002년도 춘계학술대회 논문집
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• pp.309-313
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• 2002

This paper presents an artificial intelligent model for a soccer robot. We classified soccer robot as artificial intelligent model into three elemental groups including instinct intuition and reason. Instinct is responsible for keeping the ball, walking or rushing toward the ball. This is very simple fundamental action without regard to associates and enemies. Intuition contributes to the faster/slower moving and simple basic turning to get near to the ball and to make a goal noticing associates and enemies. Reason is the most intelligent part, the law of reason is not simple relatively with instinct and intuition. We shall expect to design the best law of reason for a soccer robot some time. We also compared nerve system and muscles of human being model with controller and motors of a physical soccer robot model individually. We had designed several algorithms and made programs to investigate effects and control soccer robot.