• 한국생산제조학회지
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• 제22권3_1spc호
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• pp.622-628
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• 2013

This paper describes the development of a thigh-muscle strength-assistance robot, which is a kind of wearable robot. For practicality and commercialization, we proposed three fundamental concepts: the reduction of the thigh-muscle strength, minimized degree of dependence on a powered actuator, and complete wearer safety. Based on these concepts, a spring and link bar mechanism was conceived as a novel idea. The movement of the thigh is transferred to the spring mechanism through the link bar; hence, the elastic force of the spring assists the thigh muscle. Using forse sensing resistor (FSR) sensors and a powered cam mechanism, the muscle assistance is automatically activated and deactivated according to the wearer's movement. The specific mechanisms of the robot are addressed in detail, and the effectiveness is verified by experiments.

• 제어로봇시스템학회논문지
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• 제21권11호
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• pp.1034-1037
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• 2015

In recent years in the field of robotics, various methods have been developed to create an intimate relationship between people and robots. These methods include speech, vision, and biometrics recognition as well as gesture-based interaction. These recognition technologies are used in various wearable devices, smartphones and other electric devices for convenience. Among these technologies, gesture recognition is the most commonly used and appropriate technology for wearable devices. Gesture recognition can be classified as contact or noncontact gesture recognition. This paper proposes contact gesture recognition with IMU and EMG sensors by using the hidden Markov model (HMM) twice. Several simple behaviors make main gestures through the one-stage HMM. It is equal to the Hidden Markov model process, which is well known for pattern recognition. Additionally, the sequence of the main gestures, which comes from the one-stage HMM, creates some higher-order gestures through the two-stage HMM. In this way, more natural and intelligent gestures can be implemented through simple gestures. This advanced process can play a larger role in gesture recognition-based UX for many wearable and smart devices.

• 한국산업정보학회논문지
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• 제27권2호
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• pp.53-59
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• 2022

본 논문에서는 사용자의 다양한 작업 환경을 고려하여 원격 제어가 가능한 이동식 로봇을 설계한다. 구체적으로는 소정의 방향으로 이동하며, 사용자의 손동작 움직임에 동기화되어 일련의 작업을 수행할 수 있는 이동식 원격작업 로봇, 그리고 이를 제어하는 제어시스템 및 제어방법을 제안하였다. 위험물 또는 고중량 물품 운반과 같은 작업 보조를 위해 로봇 손과 이동을 위한 휠을 이용하여 구현하였다. 개발한 로봇의 성능 평가를 위하여 로봇 손의 운반 가능한 최대 중량과 로봇의 이동 가능한 경사 등을 테스트하였고, 시험 평가 결과는 목표한 대부분의 설계 사양을 만족하였다.

• 한국정밀공학회:학술대회논문집
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• 한국정밀공학회 2012년도 춘계학술대회 논문집
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• pp.263-264
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• 2012

• 한국정밀공학회:학술대회논문집
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• 한국정밀공학회 2008년도 춘계학술대회 논문집
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• pp.243-244
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• 2008

• 한국정밀공학회:학술대회논문집
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• 한국정밀공학회 2011년도 춘계학술대회 논문집
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• pp.1463-1464
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• 2011

• 한국정밀공학회:학술대회논문집
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• 한국정밀공학회 2011년도 춘계학술대회 논문집
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• pp.295-296
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• 2011

• 대한기계학회논문집A
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• 제41권8호
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• pp.771-782
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• 2017

본 논문은 노약자들의 발목근력보조를 위한 착용형 로봇에 대해서 서술하였다. 기존 착용형 로봇들은 보행 시 필요한 근력을 보조하기 위해 대부분 모터와 감속기를 사용하였다. 하지만 모터와 감속기의 조합은 무게가 무거울 뿐만 아니라 감속기 치차의 마찰때문에 실제 사람의 근육과 달리 강성과 토크를 동시에 제어하기 어려운 한계가 있다. 따라서 본 연구에서는 모터/감속기 조합보다 가볍고 안전하며 근력을 보조하는 힘을 충분히 발휘할 수 있는 Mckibben 공압 근육을 사용하였다. 발목의 피칭 모션에 이용되는 종아리 가자미근 및 앞정강근의 힘을 한 쌍의 공압 근육을 사용한 상극구동으로 보조하였으며, 상극구동제어를 위해 상극구동 모델 파라미터들을 실험적으로 도출하였다. 사용자의 보행의지를 판단하고자 발바닥에 부착된 압력변위센서로 압력과 압력중심위치를 측정하여 발바닥의 하중과 발목토크를 계산하였고, 이를 기반으로 공압 근육 관절의 강성과 토크를 동시에 제어하였다. 최종적으로, 트레드밀에서 근전도 신호를 측정하여 발목근력보조로봇의 성능을 실험적으로 입증하였다.

• KSII Transactions on Internet and Information Systems (TIIS)
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• 제5권10호
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• pp.1751-1768
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• 2011

Falls are one of the most concerned accidents for elderly people and often result in serious physical and psychological consequences. Many researchers have studied fall detection techniques in various domain, however none released to a commercial product satisfying user requirements. We present a systematic modeling and evaluating procedure for best classification performance and then do experiments for comparing the performance of six procedures to get a statistical classifier based wrist-type fall detector to prevent dangerous consequences from falls. Even though the wrist may be the most difficult measurement location on the body to discern a fall event, the proposed feature deduction process and fall classification procedures shows positive results by using data sets of fall and general activity as two classes.

• 공학교육연구
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• 제19권1호
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• pp.31-36
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• 2016

These days, ICT-related products are pouring out due to development of mobile technology and increase of smart phones. Among the ICT-related products, wearable devices are being spotlighted with the advent of hyper-connected society. In this paper, a body-attached type wearable device using EMG(electromyography) sensors is studied. The research field of EMG sensors is divided into two parts. One is medical area and another is control device area. This study corresponds to the latter that is a method of transmitting user's manipulation intention to robots, games or computers through the measurement of EMG. We used commercial device MYO developed by Thalmic Labs in Canada and matched up EMG of arm muscles with gesture controller. In the experiment part, first of all, various arm motions for controlling devices are defined. Finally, we drew several distinguishing kinds of motions through analysis of the EMG signals and substituted a joystick with the motions.