• The Magazine of the IEIE
• /
• v.33 no.7 s.266
• /
• pp.26-41
• /
• 2006

• Proceedings of the KIEE Conference
• /
• 2008.04a
• /
• pp.236-237
• /
• 2008

이 논문은 노인 및 장애인의 활동을 보조하기 위한 보행보조 로봇의 핵심 기술인 사용자의 진행하고자 하는 방향과 속도를 검출하는 보행의지 파악시스템 구현을 하고자 한다. 최근에 노인인구의 증가로 인해 노인 및 장애인을 위한 보행 보조기에 대한 관심이 증가되고 있다. 그러나 대부분의 경우 동력이 없는 시스템으로 경사 등의 공간에서 취약성을 가지고 있다. 이에 동력형 보행보조기에 대만 관심이 증가되고 있으나, 대부분의 경우 보행보조기 조종이 여의치 않다. 이에 본 논문에서는 사용자의 보행의지를 파악할 수 있는 시스템을 도입하고 이를 기초로 보행자의 안정적인 구동을 수행할 수 있도록 하였다. 사용자의 의지력은 FSR 센서를 이용하여 파악하고, 이를 기초로 사용자가 이동하고자 하는 이동 방향과 이동속도 데이터를 기초로 보행보조기의 차량 속도와 방향에 대해 구동 바퀴의 차동구동을 통해 사용자의 의지에 맞춰 구동할 수 있도록 하였다. 이를 통해 사용자의 이동하려는 의지에 대해 안정적으로 차량을 이동시킬 수 있도록 보행 시스템을 구축하였다. 또한 사용자자의 힘에 대한 속도 및 방향 매핑 기법을 개발하여 보행의지의 정확성을 높였다.

• The Journal of Korea Robotics Society
• /
• v.1 no.2
• /
• pp.203-211
• /
• 2006

In this research, a comprehensive study is performed upon the design of a quadruped walking robot. In advance, the walking posture and skeletal configuration of the vertebrate are analyzed to understand quadrupedal locomotion, and the roles of limbs during walking are investigated. From these, it is known that the forelimbs just play the role of supporting their body and help vault forward, while most of the propulsive force is generated by hind limbs. In addition, with the study of the stances on walking and energy efficiency, design criteria and control method for a quadruped walking robot are derived. The proposed controller, though it is simple, provides a useful framework for controlling a quadruped walking robot. In particular, introduciton of a new rhythmic pattern generator relieves the heavy computational burden because it does not need any computation on kinematics. Finally, the proposed method is validated via dynamic simulations and implementing in a quadruped walking robot, called AiDIN(Artificial Digitigrade for Natural Environment).

• Journal of the Korean Society for Precision Engineering
• /
• v.32 no.10
• /
• pp.879-883
• /
• 2015

Conventional gait rehabilitation requires at least three therapists in a traditional rehabilitation training program. Several robots have been developed to reduce human burden and increase rehabilitation efficacy. In this study, we present a lower-limb wearable robot (WA-H) for gait rehabilitation of hemiplegia patients, and propose a protocol of 12 weeks gait rehabilitation training program using WA-H. To identify the efficacy of the robot and protocols, we conducted a clinical study with two actual hemiplegia patients and observed a chronological change of ambulation ability through four assessments. We discovered the progression of results by 6 minute walking test, TUGT (Timed Up and Go Test), SPPB (Short Physical Performance Battery), BBS (Berg Balance Test), and Fugl-Meyer score. The torques generated in the normal side and paralyzed side of the patient became similar, indicating rehabilitation. The result also showed the walking of the paralysis patient improved and imbalance motion had considerable improved performance.

• The Journal of Korea Robotics Society
• /
• v.1 no.1
• /
• pp.1-8
• /
• 2006

In this paper, we propose a methodology for classifying types of lower limb disability and their mechanical structure, based on extensive survey of previous developments. We also propose a task-oriented design with human-friendly and energy-efficient assistive system. The result can be used for optimal design of wearable walking-assistive robot considering the type of disability and the content of task.

• Journal of the Korean Institute of Intelligent Systems
• /
• v.14 no.5
• /
• pp.610-616
• /
• 2004

In the research of biomechanical engineering, robotics and neurophysiology, to clarify the mechanism of human bipedal walking is of major interest. It serves as a basis of developing several applications such as rehabilitation tools and humanoid robots. Nevertheless, because of complexity of the neuronal system that interacts with the body dynamics system to make walking movements, much is left unknown about the details of locomotion mechanism. Researchers were looking for the optimal model of the neuronal system by trials and errors. In this paper, we applied Genetic Programming to induce the model of the nervous system automatically and showed its effectiveness by simulating a human bipedal walking with the obtained model.

• Journal of KIISE:Software and Applications
• /
• v.37 no.8
• /
• pp.641-646
• /
• 2010

This paper presents algorithms for real-time navigation of a humanoid robot with a stereo vision but no other sensors. Using the algorithms, a robot can recognize its 3D environment by retrieving SIFT features from images, estimate its position through the Kalman filter, and plan its path to reach a destination avoiding obstacles. Our approach focuses on estimating the robot’s central walking path trajectory rather than its actual walking motion by using an approximate model. This strategy makes it possible to apply mobile robot localization approaches to humanoid robot localization. Simple collision free path planning and motion control enable the autonomous robot navigation. Experimental results demonstrate the feasibility of our approach.

• Proceedings of the Korean Society of Precision Engineering Conference
• /
• 2010.05a
• /
• pp.997-998
• /
• 2010

• Proceedings of the KSME Conference
• /
• 2004.04a
• /
• pp.810-815
• /
• 2004

In this paper, we propose new parallel mechanism of a 3 dimensional biped robot whose each leg is composed of two 3-dof parallel platforms linked serially. This proposed parallel mechanism is able to move freely in the man-made environment and is applied to various fields, such as medical, welfare, and so on. And a total weight of each leg is expected to be lighter than serial linked leg. One side leg consists of a 3-dof orientation platform and 3-dof asymmetric parallel platform. The former consists of three active linear actuators and seven passive joints, and the latter of two active linear actuators, one active rotational actuator and eight passive joints. Thus, there are two kinds of parallel platforms each chain's elements and active joint's positions are different for the biped robot to move freely like a serial link without the kinematics constraints. The effectiveness and the performance of the proposed parallel mechanism and locomotion trajectory are shown in computer simulations with a 12-DOF parallel biped robot.

• Journal of Digital Convergence
• /
• v.12 no.6
• /
• pp.349-354
• /
• 2014

A maze-escaping method with cooperating work of robots alongside one another will be proposed in this paper. Educational robots can communicate each other using Zigbee; however, they can't solve problems together due to their lack of arithmetic function. The robots walk upright controlled by a motion program; furthermore, they recognize an intersection or a dead-end in the use of distant sensors with sending data and receiving commands from the central control system. The maze-search algorithms were modified so that all robots can effectively navigate the maze.