• Journal of the Korean Institute of Intelligent Systems
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• v.22 no.5
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• pp.533-539
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• 2012

The purpose of this study is to estimate a validity of control signal through a design of Exoskeleton Robot Arm's capable of intelligent recognition as a human arm's motion by using realtime processed data of generated EMG signals. By an intelligent algorithm, the EMG output value of human biceps and triceps muscles contraction can be recognized and used for the control over exoskeleton arm corresponding to human's recognition and judgement. The EMG sensing data of muscles contraction and relaxation are used as the input signal from human's body to operate the Exoskeleton Robot Arm thus copying human arm motion. An intelligent control of Exoskeleton Robot Arm is to design the analog control circuit which processes the input data, and then to manufacture an integrated control board. And then abstracted signal is passed by DSP signal processing, Fuzzy logic algorithm is designed for a accurate prediction of weight or load through the intelligent algorithm, and design an Exoskeleton Robot Arm to express a human's intention.

• Journal of rehabilitation welfare engineering & assistive technology
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• v.6 no.2
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• pp.15-22
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• 2012

The mechanical system of wearable walking assist robot needs to be optimized for adapting with human body structure and the planned control algorithm should have a secure procedure when a incongruity situation which can cause musculoskeletal injury occurs because a wearable robot is attached to a body. The understanding of walking or musculoskeletal motions characteristics must be preceeded and analyzed for developing novel wearable walking assist robot. In this study we tried to find out the capacities of powers and torques of joint actuators to design optimized performances of system and to obtain the analysis data to figure out the characteristics of joint movements during some types of walk. The major types of walk and motion are stair climbing and descending, sit-to-stand motion, and slope walking. In this study all these motions were analyzed experimentally except slope walking.

• Journal of Biomedical Engineering Research
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• v.38 no.3
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• pp.129-136
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• 2017

The exoskeleton robot is a technology developed to be used in various fields such as military, industry and medical treatment. The exoskeleton robot works by sensing the movement of the wearer. By recognizing the wearer's daily activities, the exoskeleton robot can assist the wearer quickly and efficiently utilize the system. In this study, LDA, QDA, and kNN are used to classify gait types through kinetic data obtained from subjects. Walking was selected from general walking and stair walking which are mainly performed in daily life. Seven IMUs sensors were attached to the subject at the predetermined positions to measure kinematic factors. As a result, LDA was classified as 78.42%, QDA as 86.16%, and kNN as 87.10% ~ 94.49% according to the value of k.

• Proceedings of the KSME Conference
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• 2008.11a
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• pp.1600-1602
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• 2008

Various applications of exoskeleton system are reported in the area of military, healthcare, and industries. More the user gets help from exoskeleton system, more power is consumed. To resolve this design conflict, we suggest an energy efficient exoskeleton system which compensates muscle fatigue in isotonic and isometric contraction conditions. Fatigue compensated exoskeleton significantly reduced muscle fatigue while consumed less operation power. In addition, the level of fatigue compensation can be managed by motor control using various input profile. It can make user customized exoskeleton system.

• Journal of Aerospace System Engineering
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• v.11 no.6
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• pp.26-33
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• 2017

We propose a variable frame structure connected with telescopic mast-shaped shaft for a robot displaying outstanding ability to cross obstacles, and for effective traction control. The wireless control system was built to extend and contract a deployable mechanism, which is shaped into a hoberman sphere assembled with frame structures. In order to develop important parameters for efficient locomotion, we derived an Euler-Lagrange equation for the spherical robot. According to the equation, the DC motor was selected. A prototype mechanism was tested and a Finite-Element Analysis (FEA) was conducted in parallel. Using these data, we constructed a deployable spherical robot with structural stability. The deployable robot moved at a speed of 0.85 m/s from 520 mm to 650 mm.

• Journal of the Korea Computer Graphics Society
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• v.3 no.2
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• pp.45-53
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• 1997

본 논문에서는 초고속 통신망을 이용한 고급 삼차원 정보 제공을 위하여 개발한 두 가지 WWW (World Wide Web) 정보 시스템에 대하여 설명하고자 한다. 하나는 인체 골격 교육 시스템으로, 서버와 브라우저로 구성하여 인체의 골격 구성을 WWW에서 삼차원화시켜 보여주고 사용자가 원하는 부위를 직접 접근하고 관찰할 수 있게 하는 시스템 개발 방법을 기술한다. 인체 골격의 방대한 데이터를 사용자에게 효과적으로 제공하기 위한 서버 구축의 계층적 (Hierarchical) 표현 기법을 설명하고, 브라우저가 제공하는 기본 삼차원 관찰 기능 외에 인체 뼈를 절단하는 기능과 삼차원 한글, 한자, 영문 텍스트 저작기능을 설명한다. 다른 하나는 가상 건축 설계 시스템으로 이차원 도면 설계 프로그램과 서버로 구성하여 건물, 건축 형식의 이차원 도면을 작성하여 전송하면 서버에서 삼차원 건축물을 생성하여 제공하는 시스템 개발 방법을 기술한다. 이차원 도면 설계 프로그램의 객체 지향 구현 기법과 클라이언트 (Client)와 서버 (Server) 간의 통신 및 인터페이스 (Interface) 릎 구현하여, 이차원 도변을 작성하여 그에 대한 결과를 전송 하는 방법에 대하여 논한다. 인체 골격 교육 시스템은 인터넷을 통한 교육 및 의료 활용에 실제감 있는 서비스를 제공하게 되고, 가상 건축 설계 시스템으로 원거리에서도 쉽게 건축 설계 결과를 평가하여 활용할 수 있을 것이다.

• Proceedings of the Korean Society of Precision Engineering Conference
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• 2013.05a
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• pp.315-316
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• 2013

• Proceedings of the Korean Society of Precision Engineering Conference
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• 2013.05a
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• pp.1073-1074
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• 2013

• Journal of rehabilitation welfare engineering & assistive technology
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• v.7 no.2
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• pp.55-62
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• 2013

The exoskeleton robot to assist walking of hemiplegia patients or disabled persons has been studied in this paper. The exoskeleton robot with degrees of freedom of 2 axis has been developed and tested for joint motion. The obtained EMG signal from normal person was analyzed and the control signal was extracted from it for convenient and automotive performance of assistance robot to help hemiplegia patient walks as normal person does. the purpose of using FES(Functional Electrical Stimulation) for hemiplegia patient's walk is to restore damaged body function by this, but this could give fatal electrical shock to patients by wrong use or cause quick fatigue in muscle by continuous stimulation. The convenient movement of hemiplegia patients with minimum muscle fatigue was looked possibly by operation of assistance robot exoskeleton using control signal. and the walking assistance exoskeleton robot seemed works more efficiently than using FES stimulator. The experiment in this study was performed based on usual motion in our life like walking, standing-up, sitting-down, and particularly feedback control system using Piezo sensor along with button switch was applied for smooth swing motion in walking. The experiment also shows that hemiplegia patients can move conveniently by using electromyogram signal of healthy leg for the operation signal of assistance robot system attached at damaged symmetrical leg.

• Transactions of the Korean Society of Mechanical Engineers A
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• v.35 no.12
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• pp.1585-1591
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• 2011

In this paper, we present a new exoskeleton-type data glove that can sense the movement of the human finger and reflect the force to the finger. The data glove is designed on the basis of the skeletal structure of the human hand, and the finger module has 1 degree-of-freedom because it includes three four-bar mechanism joints in series and a wire-coupling mechanism. In addition, the transmission ratio of the finger module is maintained at 1:1.4:1 over the entire movement range, and hence, the module can perform both extension and flexion. In addition, to enable adduction/abduction motion of the human hand, a unique MCP joint is designed by using two universal joints. To validate the feasibility of the data glove, master-slave control experiments based on force-position control between the data glove and the robot hand are conducted.