• Title/Summary/Keyword: Power assistance

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A bilateral servo system design for master-slave manipulators (마스터-슬레이브형 원격 조작기의 쌍방향 서보제어기 제작에 관한 연구)

  • 김기엽;박찬웅
    • 제어로봇시스템학회:학술대회논문집
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    • pp.524-527
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    • 1988
  • Basic types of bilateral servo systems were described and practical consideration in the bilateral servo controller design was introduced. Power assistance to the operator is essential for high efficiency and accurate force reflection is necessary for dexterous manipulation. This paper shows a controller structure under development at KIMM which employs nonlinear friction compensation and memory based gravity compensation technique for efficiency and dexterity.

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A study on the development of a environment-friendly vehicle device (친환경 자동차 부품 개발에 대한 연구)

  • Lee Eung-Shin;Lee Jang Moo;Song Jun Gyu
    • 한국신재생에너지학회:학술대회논문집
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    • pp.335-338
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    • 2005
  • Starting with the development of environmentally friendly electric controlled engine, sensors have played an increasing role in automotive technology. Electric power steering (EPS) systems are more and more replacing hydraulic systems. To improve fuel economy, the power assistance is provided by an electric drive. In this paper, development of a unique torque sensor for EPS is introduced. A capacitive type torque sensor is concluded to be suitable for EPS because its output is accurate, linear and robust against the variance of temperature, and patents have not applied so much.

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Design and Control of a Wearable Robot for Stair-Climbing Assistance (계단 보행 근력 보조를 위한 착용형 로봇의 설계 및 제어)

  • Kim, Myeong-Ju;Kang, Byeong-Hyeon;Kim, Ok-Sik;Seo, Ki-Won;Kim, Jung-Yup
    • Journal of the Korean Society of Manufacturing Technology Engineers
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    • v.26 no.1
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    • pp.89-99
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    • 2017
  • This paper describes the development of a thigh wearable robot for power assistance during stair climbing. In the wearable robot developed in this study, high-power BLDC motors and high-capacity harmonic reduction gears are used to effectively assist the thigh muscle during stair climbing. In particular, normal ground and stair are distinguished accurately by using wireless smart shoes, and the stair climbing assistance is performed by activating the actuators at an appropriate time. Impedance of the hip joint was effectively reduced by performing friction compensation of the gears, and a wearing adjustment mechanism was designed to fit the robot to the thigh by conveniently modifying the width and tilting angle of the robot using set collars. Consequently, the performance of the developed thigh wearable robot was verified through stair climbing experiments with EMG measurement.

Analysis of dual-mode hybrid by using mode change parameter (모드 전환 상수를 이용한 듀얼 모드 하이브리드 해석 방법)

  • Kim, Nam-Wook;Yang, Ho-Rim;Ahn, Kuk-Hyun;Cho, Sung-Tae;Park, Yoeng-Il;Lee, Jang-Moo
    • 한국신재생에너지학회:학술대회논문집
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    • pp.539-542
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    • 2006
  • Many researches about next generation vehicles are trending toward HEV which has better fuel economy than an internal-combustion engine. But existing HEV has some defects at specific running states(eg. highway running It is possible that dual-mode hybrid system overcomes that defects. Mode change parameter, ${\gamma}$ helps to analyse the mode changing of dual mode hybrid and is applied at a numerical analysis on testing the performance. There is an additional constraint when vehicles drive on engine mode. No power assistance of battery applies on engine mode. Because vehicles must be sustained by only engine power while vehicle drives on constant speed mode. At the conclusion of this paper, graphs show the ability of motors that satisfy the equilibrium of the lever system. Designers can roughly determine capacities of the motors, parameters of the lever system by this analysing method.

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Development of Wearable Robot for Elbow Motion Assistance of Elderly (노약자의 팔꿈치 거동 지원을 위한 착용형 로봇 개발)

  • Jang, Hye-Yoen;Han, Chang-Soo;Kim, Tae-Sik;Jang, Jae-Ho;Han, Jung-Soo
    • Journal of the Korean Society for Precision Engineering
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    • v.25 no.3
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    • pp.141-146
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    • 2008
  • The purpose of this study is to develop the algorithm which can control muscle power assist robot especially for elderly. Recently, wearable robots for power assistance are developed by many researchers, and its application fields are also variable such as for medical or military equipment. However, there are many technical barriers to develop the wearable robot. This study suggest a control method improving performance of a wearable robot system by using a EMG signal of major muscles and a force sensor signal as command signal of system. The result of the robot Prototype efficiency experiment, the case of Maximum Isometric motion it suggest 100% power of muscle, the man need only 66% of MVIC(Maximum Voluntary Isometric Contraction) to lift 5kg dumbbell without robot assist. However the man needs only 52% of MVIC to lift 5kg dumbbell with robot assist. Therefore 20% muscle power increased with robot assist. Also, we designed light weight robot mechanism that extract the command signal verified and drive the wanted motions.