• 대한전기학회:학술대회논문집
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• 대한전기학회 1991년도 하계학술대회 논문집
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• pp.799-804
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• 1991

This paper is concerned with the artificial control of prosthetic devices using the electromyographic(EMG) activities of biceps and triceps in human subject during isometric contraction adjustments at the elbow. And it was analysised about recognition of EMG signals and dynamic characteristics at arm movements of human. For this study the error signal of autoregressive(AR) model were used to discriminate arm movement patterns of human. Interaction of dynamic characteristics (Position, Velocity, Acceleration) and EMG of biceps and triceps at arm movements of human was measured.

• 대한전기학회논문지:시스템및제어부문D
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• 제51권8호
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• pp.374-379
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• 2002

In this study, we developed a new human arm movement detection system using electrical bio-impedance method with several skin-electrodes. The correlation coefficients of the joint angle and the impedance change from human arm movement was obtained using a goniometer and impedance measurement system developed in this study. The correlation coefficients of the wrist and the elbow movements were 0.94 and -0.99, respectively. This system was applied to control a robotic arm by converting the measured impedance to joint angle to confirm the validity of the proposed system. In conclusion, we confirmed that this system can control the robotic arm according to arm movement without any limitation of movement. This system showed possibility that upper arm movement could be easily measured by impedance measurement system with a few skin-electrodes.

• 한국정밀공학회지
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• 제30권9호
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• pp.887-891
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• 2013

Human rights at poor working condition is the severe problem in modern manufacturing system. The industrial dual-arm robot is being developed to meet these social issues fundamentally. The dual-arm robot can work instead of human workers. We developed the new dual-arm robot for manufacturing mobile phone and TV. It has advantages such as the solo controller for both arms, the human sized body and arms. The software platform for the industrial dual-arm robot is being developed which has strength in its convenience and intelligence compared to conventional the robot software platforms. Here the development of the dual-arm robot software platform is introduced.

• 제어로봇시스템학회논문지
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• 제18권12호
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• pp.1106-1114
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• 2012

To achieve synchronized motion between a wearable robot and a human user, the redundancy must be resolved in the same manner by both systems. According to the seven DOF (Degrees of Freedom) human arm model composed of the shoulder, elbow, and wrist joints, positioning and orientating the wrist in space is a task requiring only six DOFs. Due to this redundancy, a given task can be completed by multiple arm configurations, and thus there exists no unique mathematical solution to the inverse kinematics. This paper presents analysis on the kinematic and dynamic aspect of the human arm movement and their effect on the redundancy resolution of the human arm based on a seven DOF manipulator model. The redundancy of the arm is expressed mathematically by defining the swivel angle. The final form of swivel angle can be represented as a linear combination of two different swivel angles achieved by optimizing different cost functions based on kinematic and dynamic criteria. The kinematic criterion is to maximize the projection of the longest principal axis of the manipulability ellipsoid for the human arm on the vector connecting the wrist and the virtual target on the head region. The dynamic criterion is to minimize the mechanical work done in the joint space for each two consecutive points along the task space trajectory. As a first step, the redundancy based on the kinematic criterion will be thoroughly studied based on the motion capture data analysis. Experimental results indicate that by using the proposed redundancy resolution criterion in the kinematic level, error between the predicted and the actual swivel angle acquired from the motor control system is less than five degrees.

• 제어로봇시스템학회논문지
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• 제5권8호
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• pp.977-989
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• 1999

The purpose of this study is to analyze how the human body having more muscles than its degree-of-freedom modulates an effective stiffness using redundant actuation, and to apply this concept to the design and control of advanced machines which requires adaptable spring. To investigate the adaptable stiffness phenomenon due to redundant actuation in the human body, this paper derives a general stiffness model of the Human body. In particular, for a planar 1 DOF human arm model, a planar 2 DOF human arm model, a spherical 3 DOF shoulder model, a 4 DOF human arm model, and a 7 DOF human arm model, the required nonlinear geometry ad the number of required actuator for successful modulation of the effective stiffness are analyzed along with a load distribution method for modulation of the required stiffness of such systems. Secondly, the concept of motion frequency modulation is introduced to show the usefulness of adaptive stiffness modulation. The motion frequency modulation represents a control of stiffness and / or inertia properties of systems. To show the effectiveness of the proposed algorithm, simulations are performed for 2 DOF anthropomorphic robot.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 2001년도 ICCAS
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• pp.25.3-25
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• 2001

This paper describes a control method of a robot cooperating with a human. A task in which a robot and a human move an object cooperatively is considered. To develop the force controller of the robot, the characteristics of human arm are investigated. The arm is forced to move along a trajectory in the experiment and the exerted force and the displacement are analyzed, It is found the force characteristics of the human arm is regarded as an optimal damper with minimizing a cost function. Then, the model is implemented to a robot and the cooperation of the robot and a human operator is examined. The effectiveness of the derived model is investigated and the experimental results show that the human moves the object supported by the robot with a minimum jerk trajectory.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 2001년도 ICCAS
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• pp.59.4-59
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• 2001

In this paper, wireless interface of the motion between human and robot is implemented. The idea is that if a human who is equiped with device including accelerometer and rate-gyro sensor move his/her arm, then the robot follows human motion. The robot is designed as wheeled type mobile robot with two link arms. The robot´s basic movements such as forward, backward, left, right movement can be controlled from foot sensor which human steps on. Arm movements can be controlled by arm motion of human motion. In order to detect human motion, sensor data analysis from gyro and accelerometer has to be done. Data from sensors are transferred through wireless communication to activate the robot.

• 한국정보통신학회논문지
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• 제16권4호
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• pp.872-878
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• 2012

본 논문은 사람 팔의 움직임 감지 시스템을 제안한다. 기존의 모션측정 장비들은 고가이거나 혹은 특수한 장소가 따로 필요하였다. 또한 측정한 데이터들을 필요한 데이터로 변환하는 추가적인 시간도 필요하였다. 본 논문에서는 사람이 입을 수 있으며 가격이 매우 저렴하고 추가적인 데이터 변환이 필요 없는 시스템을 개발 하였다.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 2001년도 ICCAS
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• pp.161.5-161
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• 2001

Robots are required to assist our activities in daily life. In this paper, we focus on arm movement to catch moving object as one of important tasks frequently performed by human. We propose an algorithm which enables a robot to perform human-like arm motion to catch a moving object. First we analyze human hand trajectories and velocity profiles to catch an object. From the experimental results, we extract some characteristics in the process of approaching and following a moving object and confirm that these are necessary to realize human-like motion. We then adopt an instantaneous optimal control method which evaluates the error and energy cost at each sampling step, and design two time-varying weight matrices to introduce human characteristic into robot motion. The matrix concerning the error is defined as a time-increasing ...

• 한국안전학회지
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• 제8권1호
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• pp.64-70
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• 1993

Serious injuries and deaths due to multi-jointed robot occur when a man mispercepts. especially during robot teaching and maintenance work. Since industrial robots often operate with unpredictable motion patterns, establishment of safe speed limit of robot arm is indispensable. An experimental emergency conditions were simulated with a multi-jointed robot. and response characteristics of human operators were measured. The result showed that failure type, robot arm axis. and robot arm speed had significant effects on human reaction time. The reaction time was slightly increased with robot arm speed. though it showed somewhat different pattern owing to failure type. Furthermore the reaction time to the axis which could flex or extend. acting on a workpiece directly. was fastest and its standard deviation was small. The robot arm speed limit securing a‘possible contact zone’based on overrun distance was about 25cm/sec. and in this sense the validity of safe speed limits suggested by many precedent researchers were discussed.