• Proceedings of the Safety Management and Science Conference
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• 2007.11a
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• pp.481-492
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• 2007

The information technology intensive society rapidly moves from manufacturing industry to information technology industry. This paradigm of Robot is depending on intelligent Robot instead of labor. The conventional Robot worked through environmental variation and shift of job. This Robot is unactively response to men's mandate. And, this Robot have had iterative jobs through manipulation of men. But, this intelligent Robot have new technology through society paradigm shift. The outstanding feature of this Robot is perception function and cognition, mobility and manipulation. The definition of original Robot means forceful and tedious, slavery job. This is from robota, robotnick of the Czech Republic. Karel Capek, a playwriter of the Czech Republic use of this letter at 'Rossum's Universal Robots'.

• Proceedings of the Safety Management and Science Conference
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• 2011.04a
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• pp.113-127
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• 2011

The information technology intensive society rapidly moves from manufacturing industry to information technology industry. This paradigm of Robot is depending on intelligent Robot instead of labor. The conventional Robot worked through environmental variation and shift of job. This Robot is unactively response to men's mandate. And, this Robot have had iterative jobs through manipulation of men. But, this intelligent Robot have new technology through society paradigm shift. The outstanding feature of this Robot is perception function and cognition, mobility and manipulation. The definition of original Robot means forceful and tedious, slavery job. This is from robota, robotnick of the Czech Republic. Karel Capek, a playwriter of the Czech Republic use of this letter at 'Rossum's Universal Robots. The service of U-Health is the fusion of Information Technology and Medical Service. The U-Health provides for doing about household's medical behavior. Conclusionally, the Chungbuk has merit on establishment of national consilience complex such as Medical Robot and U-Health.

• Proceedings of the Korean Institute of Intelligent Systems Conference
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• 2005.11a
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• pp.179-184
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• 2005

Recently, studying on modeling the emotion of a robot has become issued among fields of a humanoid robot and an interaction of human and robot. Especially, modeling of the motivation, the emotion, the behavior, and so on, in the robot, is hard and need to make efforts to use our originality. In this paper, new modeling using mathematical formulations to represent the emotion and the behavior selection is proposed for the software robot with virtual sensor modules. Various Points which affect six emotional states such as happy or sad are formulated as simple exponential equations with various parameters. There are several experiments with seven external sensor inputs from virtual environment and human to evaluate this modeling.

• Journal of the Korean Institute of Intelligent Systems
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• v.16 no.1
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• pp.37-42
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• 2006

Recently, studying on modeling the emotion of a robot has become issued among fields of a humanoid robot and an interaction of human and robot. Especially, modeling of the motivation, the emotion, the behavior. and so on, in the robot, is hard and need to make efforts to use ow originality. In this paper, new modeling using mathematical formulations to represent the emotion and the behavior selection is proposed for the software robot with virtual sensor modules. Various points which affect six emotional states such as happy or sad are formulated as simple exponential equations with various parameters. There are several experiments with seven external sensor inputs from virtual environment and human to evaluate this modeling.

• Journal of Institute of Control, Robotics and Systems
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• v.17 no.7
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• pp.647-650
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• 2011

This paper presents the development of roll replacement robot system for wire-rod press rolls. The roll replacement robot system consist of a palletized railway truck, a 6-DOF industrial robot manipulator, a roll changing tool and a hydraulic power system. Results of simulation and pilot experiment show the roll changing task can be successfully automated using proposed robot system.

• The Journal of Korea Robotics Society
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• v.8 no.1
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• pp.8-19
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• 2013

One of the important issues for structural and electrical specifications in developing a robot is to determine lengths of links and motor specifications, which need to be appropriate to the purpose of robot. These issues become more critical for a gait rehabilitation robot, since a patient wears the robot. Prior to developing an entire gait rehabilitation robot, designing of a 1DOF assistive knee joint of the robot is considered in this paper. Human gait motions were used to determine an allowable range of knee joint that was rotated with a linear type actuator (ball-screw type) and links. The lengths of each link were determined by using an optimization process, minimizing the stroke of actuator and the total energy (kinetic and potential energy). Kinetic analysis was performed in order to determine maximum rotational speed and maximum torque of the motor for tracking gait trajectory properly. The prototype of 1 DOF assistive knee joint was built and examined with a impedance controller.

• Journal of Korea Multimedia Society
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• v.24 no.2
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• pp.267-273
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• 2021

Recently, the small-size mobile robots with remote-control are rapidly growth which market of mobile is increased in the world. Especially, the smart-phones are widely used for interface device in the small size of a mobile robot. The research goal is control system design which is applied to miniaturization of a mobile robot using smart-phone and it can be confirmed performance for designed system. Meanwhile, the fabrication of mini-mobile robot can also be remote-control operation through the WIFI performance of a smart-phone. The smart-phone is used to remote-control for robot operation which control data transmit to robot via the WIFI network. To drive the robot, we can observe by the smart-phone screen and it can easily adjust the robot drive condition and direction by smart-phone button. Consequentially, there was no malfunction and images were printed out well. However, in drive, because of blind spot, robot was bumped into obstacle. Therefore, the additional test is necessary to sensor for blind spot which sensor can be equipment to mobile robot. In addition, the experiment with robot object recognition is needed.

• Journal of Sensor Science and Technology
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• v.16 no.4
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• pp.286-293
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• 2007

For safe walking of the people who are blind, walking assistance robot which can detecting and avoiding the obstacle was investigated. The implemented prototype walking assistance robot consists of a obstacle detecting module, a user interface using acoustic signal and a driving module. The obstacle detecting module uses 6 ultrasonic sensors those located at the front part of the robot can perceive the obstacle which is in 3 meter distances and $180^{\circ}$ degrees. It calculates the distance and degree from the obstacle using TOF (time of flight) method and decides the 3-dimensional location of the obstacle. The obstacle information is delivered to the user using acoustic alarm and guide sound. The robot is designed to avoid by itself when the obstacle is detecting and the user only follows it to safe walking. After the designed robot was implemented, driving and obstacle detecting experiments were carried out. The result showed that the designed walking assistance robot will help the people who are blind to walk around safe.

• 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.

• The Journal of Korea Robotics Society
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• v.14 no.1
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• pp.50-57
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• 2019

This work presents a design and control method for a flexible robot arm operated by a wire drive that follows human gestures. When moving the robot arm to a desired position, the necessary wire moving length is calculated and the motors are rotated accordingly to the length. A robotic arm is composed of a total of two module-formed mechanism similar to real human motion. Two wires are used as a closed loop in one module, and universal joints are attached to each disk to create up, down, left, and right movements. In order to control the motor, the anti-windup PID was applied to limit the sudden change usually caused by accumulated error in the integral control term. In addition, master/slave communication protocol and operation program for linking 6 motors to MYO sensor and IMU sensor output were developed at the same time. This makes it possible to receive the image information of the camera attached to the robot arm and simultaneously send the control command to the robot at high speed.