• 제어로봇시스템학회:학술대회논문집
• /
• 2004.08a
• /
• pp.1781-1785
• /
• 2004

In existing factory, robot has less necessity that consider person. However, person should be considered at design and use of service robot. To service robot can be used in everyday life along with this, more functions are required. Specially, medical service robot needs function that is intelligence function. Especially, to help patient brain disease patient (cerebral hemorrhage, cerebral infarction, imbecility), gait assistance Mobile robot consider ergonomic element necessarily. In order to develop the medical support service robot, the ergonomic design should be considered. This robot ergonomic design parameters are treated in ("evelopment of Medical Support Service Robot Using Ergonomic Design" 2003, ICASS) Fig2 show this Robot. In this study, navigation algorithm of walk assistance robot is analyzed in ergonomic view. Navigation algorithm of Mobile robot can divide by two patterns. Traditional derivative method has shortcoming in dynamic environment. Reactive method is result that react excellently in dynamic environment. However, number of behavior function is limited. So hybrid navigation algorithm was proposed by the alternative way. We consider enough user specificity at navigation algorithm application of gait assistance robot.

• Journal of Biomedical Engineering Research
• /
• v.18 no.4
• /
• pp.447-456
• /
• 1997

When the disabled is operating a rehabilitation assisting system with a joystick by himself, unlike in the case of a normal person, tremor with joystick control or instant miscontrol can often occur. If these misoperations should be directly relayed to the system, shaking or malfunction of the mobile rehabilitation assisting system might be the result. The safety of the disabled is of prime concern. To solve this problem, that is, to prevent the miscontrol of the disabled operator and avoid crashes into his or her surroundings, we propose the force-reflection locomotion algorithm with the joystick. This method uses ultrasonic sensors to measure the distance between the object and mobile robot. Based on the reception of sensory data, the necessary torque is applied via the joystick to the attatched motor. To confirm the effectiveness of the proposed method, the subjects on the reflected force by the dynamic characteristics of the joystick and the reflected force by the distance information are tested Even though there are some differences in human dexterity, we confirmed the fact that the information from the obstacles was relayed to the operator via the joystick and resulted in an improved operational performance and safety level with regard to those obstacles.

• Proceedings of the KOSOMBE Conference
• /
• v.1996 no.11
• /
• pp.103-106
• /
• 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.