• 대한인간공학회:학술대회논문집
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• 대한인간공학회 1997년도 춘계학술대회논문집
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• pp.145-149
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• 1997

General joystick using spring only has a vibration when operaor drops the joystick. If it is used as input of motorized wheelchair, its system have a serious problem which operator fall into dangerous situation. Therefore, In this paper proposed non-vibration joustick which control a motorized wheelchair. Non-vibration joystick was designed which return to origin point when operator drops joystick by mistake. Reflected force of non- vibration joystick is defined as addition displacement and variation rate. And each parameter has elasticity of spring and viscosity of DC servo motor. Through simulation for virtual environment, we found two coefficient to return origin point smoothly when a disabled person drops the joystick. In case of larger elastic coefficient of spring than viscous coefficient, we confirmed the result has the equal vibration of general joystick (under-damping). In opposite case, joystick returned to origin point with excessive force. As a application of non-vibration joystick, we experimented wall-following controlling. In this trial, we corroborated that joystick follows smoothly around the corridors.

• 전기학회논문지
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• 제61권4호
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• pp.549-554
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• 2012

Noncontactable joystick for a low speed electric vehicle(LSEV) is developed. The joystick is proposed to replaced the steering wheel in a conventional LSEV. The main advantages of the proposed joystick are a durable and a stable in structure, simple and easy to control through discriminating the driving and braking area. To reduce error and stability in the joystick control, input and output signal of the joystick are manipulated by data averaging and differntiation. With this algorithm, the driving resolution and capability are improved. To verify the proposed algorithm, a simple prototype model which has two electric motors for propulsion and steering are used. Test results show that the prototype joystick control system is applicable to an LSEV dirve.

• 제어로봇시스템학회논문지
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• 제13권12호
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• pp.1207-1212
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• 2007

We propose a haptic interface algorithm for joystick operators working in remote control systems of unmanned vehicles. The haptic interface algorithm is implemented using a force-feedback joystick, which is equipped with low price DC motors without encoders. Generating specific amounts of forces on the joystick pole according to the distance between a remote controlled vehicle and obstacles, the haptic interface enables the operator to perceive the distance information by the sense of touch. For the case of no joystick operation or no obstacles in the working area, we propose an origin control algorithm, which positions the joystick pole at the origin. The origin control algorithm prevents the false movement of the remote vehicles and provides the operator with a realistic force resisting the joystick pole's movement. The experiment results obtained under various scenarios exemplify the validity of the proposed haptic interface algorithm and the origin control algorithm.

• 대한의용생체공학회:의공학회지
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• 제18권4호
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• pp.447-456
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• 1997

장애자나 노약자가 이동형의 재활보조 시스템을 조이스틱을 이용하여 직접 조작할 경우, 정상인과 달리 조이스틱 제어시 떨림이나 순간적인 오조작 (예를들면 조이스틱으로 손에서 놓치는 경우)이 자주 발생 하게 된다. 이러한 오조작이 그대로 전달될 경우 이동형 재활 보조시스템의 진동잉나 오동작을 초래하고, 특히 장애자나 노약자의안전성의 측면에서 문제로 대두된다. 따라서 본 연구에서는 이러한 문제점을 해결하기 위하여 장애자의 오조작 및 주위 환경과의 충돌을 방지하기 위하여 초음파 센서를 사용하여 물체와 이동 로봇의 접근 정도를 측정하고 이에 따라 이동 로보트가 물체에 접근하는 것을 방해할 수 있도록 모터부착형 조이스틱에 토오크를 걸어주는 조이스틱을 사용한 힘 반향 주행 기법을 제안하였다. 제안될 힘 반향 기법의 유효성을 입증하기 위하여 원통형의 전방 장애물과 복도의 벽면을 가상으로 만들고 이를 따라 조이스틱을 조작하여 주행실험을 하였으며, 그 결과 조작자의 숙련도의 차이는 있었으나 장애물 정보를 조이스틱을 통하여 조작자에게 전달됨을 확인함으로써 조작성능과 장애물에 대한 안전성이 향상됨을 알수 있었다.

• 제어로봇시스템학회논문지
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• 제12권4호
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• pp.358-363
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• 2006

This paper demonstrates a new non-contact electronic joystick using single hall sensor which detects a horizontal vector of the magnetic field. Furthermore, in this paper, it is mathematically modeled that nonlinear characteristics between the output of hall sensor and the movement of joystick bar. The dynamic horizontal vector of magnetic flux is detected by the hall sensor while a permanent magnet is rotated with the joystick bar, which has two dimension detecting area. Using the nonlinear adjustment equations, the output signals of hall sensor have been linearized to give higher accuracy in the two dimension movement. Finally, through the real experiments, it is showed that the single hall sensor structure mechanism is superior to the dual sensor structure in sensing the two-dimensional motion without offset.

• Journal of Mechanical Science and Technology
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• 제17권10호
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• pp.1399-1410
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• 2003

In this paper, we develop a joystick manual driving algorithm for an electric vehicle called Cycab. Cycab is developed as a public transportation vehicle, which can be driven either by a manual joystick or an automated driving mode. The vehicle uses six motors for driving four wheels, and front/rear steerings. Cycab utilizes one industrial PC with a real time Linux kernel and four Motorola MPC555 micro controllers, and a CAN network for the communication among the five processors. The developed algorithm consists of two automatic vehicle speed control algorithms for normal and emergency situations that override the driver's joystick command and an open loop torque distribution algorithm for the traction motors. In this study, the algorithm is developed using SynDEx, which is a system level CAD software dedicated to rapid prototyping and optimizing the implementation of real-time embedded applications on distributed architectures. The experimental results verify the usefulness of the two automatic vehicle control algorithms.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 2000년도 제15차 학술회의논문집
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• pp.479-479
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• 2000

Recently, IVS(Intelligent Vehicle Systems) or ITS(Intelligent Traffic Systems) are much concerned subjects of automotive industry. In this paper, we will introduce an Intelligent Online Driving System for a car. This system allows the driver to be able to drive the car just by operating an integrated joystick. The proposed driving system could be implemented into any car and the key point of the design is that the driver still can drive the car as normal without using the joystick. Our Intelligent Online Driving System includes the integrated joystick, steering wheel control system, brake and acceleration (B&A)pedals control system, and the central control computer system. Steering wheel and B&A pedals are controlled by AC servo-motors. The integrated joystick generates the desired positions and the embedded computer controls these two servomotors to track the commands given by joystick. The control method for two servo-motors is PID control.

• 대한전기학회:학술대회논문집
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• 대한전기학회 1988년도 전기.전자공학 학술대회 논문집
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• pp.723-726
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• 1988

This paper is a study about the automatic control of wheelchairs. This is realized by joystick, and is simulated by voice signal recognition. The control system by joystick is designed as follows: joystick paddle is connected with a timer and this timer ouput is high only when the joystick is moved. A computer reads the duration of this high state, and ouputs motor control word decided from this value using look-up table. The control system by voice signal is designed as follows: partial autocorrelation coefficients are computed from A/D converted signals and these values are compared with referance patterns. From this, the motor control word is decided on by the neareast neighbor rule.

• 전력전자학회:학술대회논문집
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• 전력전자학회 2013년도 전력전자학술대회 논문집
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• pp.212-213
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• 2013

This paper proposes the algorithm of torque distribution in the electric wheel-chair using 2D joystick for drive safety. For the accurate driving performance, the specific and precise torque distribution is required in both wheels depending on signals of X-Y axis that is generated from 2D joystick. The signals of X-Y axis from joystick are transformed into the propulsion force and the torque reference. And the torque reference can be generated through the dynamic model of wheel-chair. The optimal dynamic characteristics of the electric powered wheelchair can be obtained, by adjusting the sensitivity coefficients of propulsion force and torque reference, In addition, the system takes smooth and stable control characteristics due to continuous torque output at all directions of joystick. The several simulations verify the usefulness of the proposed algorithm about torque distribution.

• 대한의용생체공학회:학술대회논문집
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• 대한의용생체공학회 1996년도 추계학술대회
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• pp.103-106
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• 1996

In this paper, we proposed the design and algorithm of force reflection joystick which control mobile robot as a rehabilitation assistance system. The disabled persons are poor at joystick control because of hand vibration and clumsiness in operating it. These problems bring tasks which concerned with operator's safety So there is required technique which prevent collision with wall or obstacles. One of these solution is force reflection joystick which disturb that robot is closed to the wall. To confirm this way, we experimented and simulated with force reflection joystick which attached torque controller.