• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 2003년도 ICCAS
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• pp.2682-2686
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• 2003

Recent paradigm in technology shifts from object-based technology to environment-based technology. Issue here is interaction among human, machines, and environment. This requires new interpretations for the space among them. Holistic interactions based on “Mom (embodiment)” suggest a good starting point for this endeavor. The past, present, future of technology are presented in terms of technology’s fundamental virtue: “humanizing technology” or “technology serving human.” Interactive technology initiative (ITI) is an interdisciplinary research group to search for the proper technology and the proper way of implementing technology: “interactive technology” or “soft engineering.” Some experimental activities conducted by ITI are presented in this organized session, “Interactive Technology.” Metatechnology, soft engineering, “Mom (embodiment),” holistic interactions, tangible space, and ubiquitous computing are key concepts in interactive technology.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 2005년도 ICCAS
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• pp.1228-1233
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• 2005

In this paper, we present a new guidance law for a reusable launch vehicle (RLV) that lands vertically after reentry. In our past studies, a guidance law was developed for a vertical/soft landing to a target point. The guidance law, which is analytically obtained, can regenerate a trajectory against disturbances because it is expressed in the form of state feedback. However, the guidance law does not necessarily guarantee a vertical/soft landing when a dynamical system such as an RLV includes a nonlinear phenomenon owing to the atmosphere of the earth. In this study, we introduce a design of the guidance law for a nonlinear system to achieve a vertical/soft landing on the ground using the exact linearization method and solving the two-point boundary-value problem for the derived linear system. Numerical simulation confirmed the validity of the proposed guidance law for an RLV in an atmospheric environment.

• 세라미스트
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• 제23권1호
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• pp.16-26
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• 2020

Recently, polymer-metal composite (IPMC)-based ionic artificial muscle has been drawing a huge attention for its excellent soft actuator performance having outstanding soft actuator performance with efficient conversion of electrical energy to mechanical energy under low working voltage. In addition, light, flexible and soft nature of IPMC and high bending strain response enabled development of versatile sensor application in association with soft actuator. In this paper, current issues of IPMC were discussed including standardizing preparation steps, relaxation under DC bias, inhibiting solvent evaporation, and improving poor output force. Solutions for these drawbacks of IPMC have recently been suggested in recent studies. After following explanation of the IPMC working mechanism, we investigate the main factors that affect the operating performance of the IPMC. Then, we reviewed the optimized IPMC actuator fabrication conditions especially for the preparation process, additive selection for a thicker membrane, water content, solvent substitutes, encapsulation, etc. Lastly, we considered the pros and cons of IPMCs for sensor application in a theoretical and experimental point of view. The strategies discussed in this paper to overcome such deficiencies of IPMCs are highly expected to provide a scope for IPMC utilization in soft robotics application.

• 한국분말재료학회지
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• 제28권6호
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• pp.509-517
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• 2021

Smart materials capable of changing their characteristics in response to stimuli such as light, heat, pH, and electric and magnetic fields are promising for application to flexible electronics, soft robotics, and biomedicine. Compared with conventional rigid materials, these materials are typically composed of soft materials that improve the biocompatibility and allow for large and dynamic deformations in response to external environmental stimuli. Among them, smart magnetic materials are attracting immense attention owing to their fast response, remote actuation, and wide penetration range under various conditions. In this review, we report the material design and fabrication of smart magnetic materials. Furthermore, we focus on recent advances in their typical applications, namely, soft magnetic actuators, sensors for self-assembly, object manipulation, shape transformation, multimodal robot actuation, and tactile sensing.

• 한국정밀공학회지
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• 제30권1호
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• pp.47-52
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• 2013

In order to operate a search and rescue robot in hazardous area, the robot requires high mobility and adaptable locomotion for moving in unpredictable environments. In this paper, we propose the deformable soft wheel robot that can produce three kinds of driving modes; caterpillar driving mode, normal wheel driving mode, legged-wheel driving mode. The robot changes its driving mode as it faces the various obstacles such as a small gap, stairs etc. Soft film and composite materials are used for fabrication of deformable wheel structure and Shape Memory Alloy (SMA) coil spring actuators are attached on the structure as an artificial muscle. Film lamination and an composite manufacturing process is introduced and the robot design is required to be modified and compromised to applying the manufacturing process. The prototype is developed and tested for verifying feasibility of the deformable wheel locomotion.

• 한국의류산업학회지
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• 제23권1호
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• pp.106-117
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• 2021

This study proposes a design process for an upper limb assistive wearable soft robot that will enable the development of a clothing product for an upper limb assistive soft robot. A soft robot made of a flexible and soft material that compensates for the shortcomings of existing upper limb muscle strength assistive devices is being developed. Consequently, a clothing process of the upper limb assistive soft robot is required to increase the possibility of wearing such a device. The design process of the upper limb auxiliary soft robot is presented as follows. User analysis and required performance deduction-Soft robot design-upper limb assistive wearable soft robot prototype design and production-evaluation. After designing the clothing according to the design process, the design was revised and supplemented repeatedly according to the results of the clothing evaluation. In the post-production evaluation stage, the first and second prototypes were attached to actual subjects, and the second prototype showed better results. The developed soft robot evaluated if the functionality as a clothing function and the functionality as the utility of the device were harmonized. The convergence study utilized a process of reducing friction conducted through an understanding and cooperation between research fields. The results of this study can be used as basic data to establish the direction of prototype development in fusion research.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 2005년도 ICCAS
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• pp.1163-1168
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• 2005

This paper proposes a soft-remote-control (soft-remocon) system based on EMG signals for the Intelligent Sweet Home. The proposed system is applied to Intelligent Sweet Home which was developed to help the independence living of the elderly and physically handicapped individuals. The goal of proposed system is to control home-installed electronic devices such as TV, air-conditioner, curtain and lamp in Intelligent Sweet Home using EMG signals. Features such as VAR and DAMV having good separability performance are selected for pattern classification. FMMNN is adopted as a pattern classifier. Classification results are allowed to a developed remote control module and then corresponding infrared pulses can operate home-installed electronic devices. We concluded that EMG as an input interface for home-installed electronic devices in Intelligent Sweet Home.

• International Journal of Control, Automation, and Systems
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• 제2권2호
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• pp.189-200
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• 2004

In this paper, we introduce a new soft computing technique that dwells on the ideas of combining fuzzy rules in a fuzzy system with polynomial neural networks (PNN). The PNN is a flexible neural architecture whose structure is developed through the modeling process. Unfortunately, the PNN has a fatal drawback in that it cannot be constructed for nonlinear systems with only a small amount of input variables. To overcome this limitation in the conventional PNN, we employed one of three principal soft computing components such as a fuzzy system. As such, a space of input variables is partitioned into several subspaces by the fuzzy system and these subspaces are utilized as new input variables to the PNN architecture. The proposed soft computing technique is achieved by merging the fuzzy system and the PNN into one unified framework. As a result, we can find a workable synergistic environment and the main characteristics of the two modeling techniques are harmonized. Thus, the proposed method alleviates the problems of PNN while providing superb performance. Identification results of the three-input nonlinear static function and nonlinear system with two inputs will be demonstrated to demonstrate the performance of the proposed approach.

• 센서학회지
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• 제33권1호
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• pp.7-11
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• 2024

Soft-pressure sensors have numerous applications in soft robotics, biomedical devices, and wearable smart devices. Herein, we present a highly sensitive electronic skin device with an isotropic wrinkled pressure sensor. A conductive ink for soft pressure sensors is produced by a solution process using polydimethylsiloxane (PDMS), poly 3-hexylthiophene (P3HT), carbon black, and chloroform as the solvents. P3HT provides high reproducibility and conductivity by improving the ink dispersibility. The conductivity of the ink is optimized by adjusting the composition of the carbon black and PDMS. Soft lithography is used to fabricate a conductive elastic structure with an isotropic wrinkled structure. Two conductive elastic structures with an isotropic wrinkle structure is stacked to develop a pressure sensor, and it is confirmed that the isotropic wrinkle structure is more sensitive to pressure than when two elastic structures with an anisotropic wrinkle structure are overlapped. Specifically, the pressure sensor fabricated with an isotropic wrinkled structure can detect extremely low pressures (1.25 Pa). Additionally, the sensor has a high sensitivity of 15.547 kpa^-1 from 1.25 to 2500 Pa and a linear sensitivity of 5.15 kPa^-1 from 2500 Pa to 25 kPa.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 2004년도 ICCAS
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• pp.794-799
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• 2004

Recent paradigm in technology shifts from object-based technology to environment-based technology. Issue here is interaction among humans and the world around humans, which is natural and artificial "space." Holistic interactions based on "Mom (embodiment)" suggest a good starting point for exploring this issue. Soft engineering, "Mom," holistic interactions, tangible space, ubiquitous computing, science of emotion, and interactive media are key concepts in interactive technology. Interactive tangible media "iT_Media" is proposed to explore and synthesize these ideas. Interactive technology initiative (ITI) is an interdisciplinary research group to search for the proper technology and the proper way of implementing technology: "interactive technology" or "soft engineering." Some experimental activities conducted by ITI are presented in this session, "Interactive Technology."