• 한국정밀공학회지
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• 제34권2호
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• pp.115-123
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• 2017

This paper presents the design and the control performance of a novel dynamic compliant-arm support with parallel elastic actuators that was developed to assist with the daily living activities of those whose arms are compromised by muscular disease or the aging process. The parallel elastic-arm support consists of a compliant mechanism with combined passive and active components for human interaction and to reach the user's desired positions. The achievement of these tasks requires impedance control, which can change the virtual stiffness, damping coefficients, and equilibrium points of the system; however, the desired-position tracking by the impedance control is limited when the end-effector weight varies according to the equipping of diverse objects. A prompt algorithm regarding weight calibration and friction compensation is adopted to overcome this problem. A result comparison shows that, by accurately assessing the desired workspace, the proposed algorithm is more effective for the accomplishment of the desired activities.

• 제어로봇시스템학회논문지
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• 제15권5호
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• pp.538-542
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• 2009

Industrial manipulators have been mostly used in large companies such as automakers and electronics companies. In recent years, however, demands for industrial manipulators from small and medium-sized enterprises are on the increase because of shortage of manpower and high wages. Since these companies cannot hire robot engineers for operation and programming of a robot, intuitive teaching and playback techniques of a robot manipulator should replace the robot programming which requires substantial knowledge of a robot. This paper proposes an intuitive teaching and playback algorithm used in assembly tasks. An operator can directly teach the robot by grasping the end-effector and moving it to the desired point in the teaching phase. The 6 axis force/torque sensor attached to the manipulator end-effector is used to sense the human intention in teaching the robot. After this teaching phase, a robot can track the target position or trajectory accurately in the playback phase. When the robot contacts the environment during the teaching and playback phases, impedance control is conducted to make the contact task stable. Peg-in-hole experiments are selected to validate the proposed algorithm since this task can describe the important features of various assembly tasks which require both accurate position and force control. It is shown that the proposed teaching and playback algorithm provides high positioning accuracy and stable contact tasks.

• 제어로봇시스템학회논문지
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• 제15권11호
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• pp.1096-1101
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• 2009

In this paper, an embedded system has been designed for force control application to interact between a robot arm and a human operator. Force induced by the human operator is converted to the desired position information for the robot to follow. For smooth operations, the impedance force control algorithm is utilized to represent interaction between the robot and the human operator by filtering the force. To improve the performance of position control of the robot arm, a velocity term has been obtained and tested by several filters. A PD controller for position control has been implemented on an FPGA as well. Experimental studies are conducted with the ROBOKER to test the functionality of the designed hardware.

• 전자공학회논문지D
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• 제35D권7호
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• pp.1-8
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• 1998

In this paper, the radiation characteristics of a bar-type tranceiver are analyzed by using FDTD method and the effectiveness of the analysis method is verified by comparing the calculated data with experimental data. The effects of human head and hand on the radiation characteristics of fold-type transceiver are analyzed. In order to observe the effects of human head and hand on the input impedance and far-field radiation pattern, a fold-type transceiver with .lambda./4 monopole antenna wrapped by human hand operating in the proximity of hea dis modeled an analyzed.

• 한국소음진동공학회:학술대회논문집
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• 한국소음진동공학회 2004년도 춘계학술대회논문집
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• pp.105-108
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• 2004

This paper introduces a process of the development of a vibration test dummy for the posture of inclined seating. Experimental devices was invented to measure apparent mass curves on the contact point of the hip and the back of a seated human body. During the excitation of a rigid seat secured to a hydraulic exciter, force and acceleration signals were measured on the contact points to determine the apparent mass. In order to describe nonlinear characteristics of a human body, seven levels of Gaussian random signal were used for the base excitation. The modeling of the human body will be performed using measured apparent mass curves. The modeling will be done by June and the prototype of the test dummy will be invented in the following six months.

• 대한전기학회:학술대회논문집
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• 대한전기학회 2002년도 하계학술대회 논문집 D
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• pp.2699-2701
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• 2002

In this study, a system for measurement of impedance (transmission parameter) on the human muscle was constructed. The system composed of the stimulating part for input with milli-voltage and the measuring part for measurement of transmission voltage in human muscle. As a result of this experiment, the frequency characteristic of each subject represent that the transmission voltage goes up in spite of a constant input voltage according to frequency (1Hz -50kHz) increment. Namely, the amplitude of input signal was not reflected but frequency was reflected on the measured results. This result be estimated that the proposed system is able to measure passive electrical characteristic of human body.

• 대한전기학회:학술대회논문집
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• 대한전기학회 2006년도 제37회 하계학술대회 논문집 D
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• pp.1821-1823
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• 2006

This paper presents a development of interface device for electro-oculogram(EOG) signal and it's application to the wireless mouse of wearable PC. The interface device is composed of five bio-electrodes for detecting oculomotor motion, several band-pass filters, instrumentation amplifier and a microprocessor. we have first analyzed impedance characteristics between skin and a bio-electrode. since the impedance highly depends on human face, it's magnitude differs from person. this interface device was applied to develop a wireless mouse for wearable PC, as a Bio Machine Interface(BMI). Where in the prompt on PC monitor is controlled by only EOG signals. this system was implemented in a Head Mount Display(HMD) unit. experimental results show the accuracy of above 90%.

• 전기학회논문지
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• 제56권2호
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• pp.432-435
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• 2007

In modern society, automobile is necessary vehicle. Automobile is a series of modern convenient. And the number of automobile is on the increase. But from you to year, automobile accident is on the increase, also. One of most reason that cause automobile accident is drowsiness driving. So, we plan to construct automobile system for drowsiness accident prevention for decreasing automobile accident. In this research, we built a drowsiness detecting device using EDA (Electro Dermal Activity) signal which is electric response in the human body skin. There are SIL (Skin Impedance Level) and SIR (Skin Impedance Response) in EDA. Mostly, SIL consists of DC element. On the other hand, SIL consists of AC element. We could detect the drowsiness condition with SIL and SIR signal.

• 대한의용생체공학회:의공학회지
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• 제26권4호
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• pp.207-214
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• 2005

Breast cancer detection using electrical impedance techniques is based on numerous experimental findings that cancerous tissues have higher electrical conductivity values than normal tissues. Lately, by taking advantage of the structure of current flows underneath a planar probe of array electrodes, a mathematical formula to find lesions from a measured trans­admittance map has been derived. In order to experimentally validate its mathematical analysis and the suggested lesion estimation algorithm, we developed a 256-channel trans-admittance scanner (TAS) for probing anomalies underneath a planar array of electrodes. In this paper, we describe the design and implementation of the TAS. Its performance together with the lesion estimation algorithm was evaluated using saline phantoms. Further studies are proposed to validate the system on human subjects.

• 전력전자학회:학술대회논문집
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• 전력전자학회 2007년도 하계학술대회 논문집
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• pp.229-231
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• 2007

본 연구에서는 연료전지나 배터리 및 슈퍼커패시터 등의 전기화학적 전력기기의 임피던스 모델링이 가능한 저가의 임피던스 분광시스템의 개발에 관해 제안한다. 제안된 시스템은 상용 DAQ Board (Data Acquisition Board)와 강력한 HMI(Human-Machine Interface)를 지원하는 Labview 소프트웨어를 이용하여 구성되었고 고가의 EIS (Electrochemical Impedance Spectroscopy) 장비를 대체하여 널리 사용될 수 있을 것으로 기대된다. 또한, 시스템의 응답을 Lock-in Amplifier를 이용하여 측정함으로써 노이즈가 많은 환경에서도 정확한 측정이 가능하게 하였다. 제안된 시스템을 이용하여 Ballard Nexa 1.2kW PEM 연료전지 스택의 임피던스를 측정하였고, 이를 바탕으로 한 등가 임피던스 모델도 제안된다.