• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 2005년도 ICCAS
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• pp.1759-1764
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• 2005

Human Adaptive Mechatronics(HAM) is a new concept which was proposed in our university's research project sponsored by Japanese Ministry of Education, Sports, Culture, Science and Technology(MEXT), and is defined as "intelligent mechanical systems that adapt themselves to the user's skill under various environments, assist to improve the user's skill, and assist the human-machine system to achieve best performance". In this paper, the concept and key-items of HAM are mentioned. And the control strategy to realize a HAM human-machine system is explained in the case of physical-interface system, i.e. haptic system. The proposed assist-control of a force-feedback type haptic system includes online estimation of a operator's control characteristics, and a `force assist' function implemented as a change in the support ratio according to the identified skill level. We developed a HAM-haptic device test system, executed evaluation experiments with this apparatus, and analyzed the measured data. It was confirmed that the operator's skill could be estimated and that operator's performance was enhanced by the assist-control.

• 제어로봇시스템학회논문지
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• 제16권6호
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• pp.566-571
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• 2010

EPS (Electric Power Steering) is important device for improving vehicle's dynamics and static performances. This paper deals with simulator design for C-EPS (Colum type-EPS), development assist and returnability control algorithm. First, C-EPS system model was simply designed because EPS system is complex control system that has many unknown variables. These parameters were simplified through assumptions. Second, C-EPS simulator was designed for development of control algorithm. This simulator has SAS (Steering Angle Sensor), dual torque sensor, dual load cell for measuring rack force, dual linear actuator for generating tire force and Data Acquisition System. Using this simulator, control methods ware tested. Third, control algorithm was designed for torque assist and returnability. Assist torque map and returnability torque map were found by lots of simulation test. These torque maps were tuned for EPS actuator control. The simulation result was compared with non-EPS system result. In this research, the C-EPS simulator was designed for development of control algorithm about torque assistant and returnability. Using this simulator, control algorithm was improved.

• Journal of Magnetics
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• 제18권4호
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• pp.487-493
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• 2013

The automotive industry is showing widespread interest in belt-driven electric motor-assisted (e-Assist) systems. A belt-driven assist system (BAS) starts and assists the combustion engine in place of the conventional generator. In this study, a water-cooled wound rotor synchronous motor (WRSM) for the e-Assist system was designed and analyzed. The performance of the WRSM was compared with that of an interior permanent magnet synchronous motor (IPMSM). The WRSM efficiency can be improved for the BAS by adjusting the field flux at high speeds. The field current map to obtain the maximum efficiency based on the speed and torque was developed. To control the field flux via field current control in the WRSM, a general H-bridge circuit was added to the WRSM inverter to get the rapid current response in the high-speed region; the characteristics were compared with the chopper circuit. A WRSM developed for the belt-driven e-Assist system and a prototype 115 V power electronic converter to drive the WRSM were tested with a 900 cc combustion engine. The test results showed that the WRSM-type e-Assist system had good characteristics and could successfully start and assist the 900 cc combustion engine.

• 한국자동차공학회논문집
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• 제8권4호
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• pp.186-193
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• 2000

EPS(Electric Power Steering) systems have many advantages over traditional hydraulic power steering systems in space efficiency engine efficiency and environmental compatibility. In this paper an EPS system control logic using a torque map is proposed. The main function of the EPS system is to reduce the steering torque exerted by a driver by assist of an electric motor. Vehcile speed steering torque and steering wheel angle are measured and fed back to the EPS control system where appropriate assist torque is generated to assist the operator's steering effort. Another capability of the EPS system for easy adaptation to different steering feels via simple tuning is demonstrated by the experiments. It will be also verified that the EPS system can also improve damping and return performance of the steering wheel by control of the assist motor.

• 한국정밀공학회지
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• 제32권10호
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• pp.857-863
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• 2015

The need for human body posture robots has led researchers to develop dexterous design of exoskeleton robots. Quantitative techniques to assess human motor function and generate commands for robots were required to be developed. In this paper, we present a passivity based adaptive control algorithm for upper limb assist exoskeleton. The proposed algorithm can adapt to different subject parameters and provide efficient response against the biomechanical variations caused by subject variations. Furthermore, we have employed the Particle Swarm Optimization technique to tune the controller gains. Efficacy of the proposed algorithm method is experimentally demonstrated using a seven degree of freedom upper limb assist exoskeleton robot. The proposed algorithm was found to estimate the desired motion and assist accordingly. This algorithm in conjunction with an upper limb assist exoskeleton robot may be very useful for elderly people to perform daily tasks.

• 한국군사과학기술학회지
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• 제26권4호
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• pp.313-323
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• 2023

The wearable robot system is designed to assist human skeletal and muscular systems for enhancing user's abilities in various fields, including medical, industrial, and military. The military has an expanding need for wearable robots with the integration of surveillance/control systems and advanced equipment in unstructured battlefield environments. However, there is a lack of research on the design and mechanism of wearable robots, especially for power assist systems. This study proposes a lightweight wearable robot system that provides comfortable wear and muscle support effects in various movements for soldiers performing high-strength and endurance missions. The Power assist mechanism is described and verified, and the tasks that require power assist are analyzed. This study explain the system including its driving mechanism, control system, and mechanical design. Finally, the performance of the robot is verified through experiments and evaluations, demonstrating its effectiveness in muscle support.

• 한국자동차공학회논문집
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• 제17권2호
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• pp.1-9
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• 2009

A parking-assist system is defined that a driver adjusts vehicle velocity through brake pedal operation and parking-assist system controls the motion of the vehicle to follow a collision-free path. In this study, a motion control algorithm using Fuzzy inference is proposed to track a maneuvering clothoid parallel path. Simulations are performed under SIMULINK environments using MATLAB and CarSim for a vehicle model. As the vehicle model in MATLAB a bicycle model is used including lateral dynamics. The simulation results show that the path tracking performance is satisfactory under various driving and initial conditions.

• 한국정밀공학회:학술대회논문집
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• 한국정밀공학회 1996년도 추계학술대회 논문집
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• pp.260-266
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• 1996

In this paper, we presents neural network identification and control of highly complicated nonlinear Left Ventricular Assist Device(LVAD) system with a pneumatically driven mock circulation system. Generally the LVAD system need to compensate nonlinearities. Hence, it is necessary to apply high performance control techniques. Fortunately, the neural network can be applied to control of a nonlinear dynamic system by learning capability. In this study, we identify the LVAD system with Neural Network Identification. Once the NNI has learned the dynamic model of LVAD system, the other network, called Neural Network Controller(NNC), is designed for control of a LVAD system. The ability and effectiveness of identifying and controlling a LVAD system using the proposed algorithm will be demonstrated by computer simulation.

• 한국자동차공학회논문집
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• 제12권5호
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• pp.154-161
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• 2004

A new column type electric power steering system (EPS-TT) is proposed in this study. The remarkable features of EPS-TT are its opto-isolated torque sensor and assist torque control methodology. EPS-TT uses a uni-directional motor and two clutches. Full order and simplified models for EPS-TT are developed to evaluate the EPS-TT. A full car model is also used to investigate the vehicle responses. A PID control logic is designed to control the torque of the assist motor. Various sinusoidal inputs are applied to the system and the resulting performances are analyzed. The results prove that the performances achieved by the EPS-TT are improved compared to those of a conventional EPS-TT across the frequency domain. In addition, it is inexpensive and easy to control the motor. The results of the full order steering system model are similar to those simplified model, but the vehicle responses are slightly different.

• 제어로봇시스템학회논문지
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• 제4권3호
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• pp.315-320
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• 1998

In this paper, we present the PID control method for the controlling flow rate of highly complicated nonlinear Left Ventricular Assist Device(LVAD) with pneumatically driven mock circulatory system. Beat Rate (BR), Systole-Diastole Rate (SDR) and flow rate are used as the main variables of the LVAD system. System modeling is completed using the neural network with input variables (BR, SDR, their derivatives, actual flow) and an output valiable(actual flow). Then, as the basis of this model, we perform the simulation of PID control to predict the performance and tendency of the system and control the flow rate of LVAD system using the PID controller. The ability and effectiveness of identifying and controlling a LVAD system using the proposed algorithm will be demonstrated through computer simulation and experiments.