• Proceedings of the Korean Institute of Intelligent Systems Conference
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• 2002.12a
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• pp.98-101
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• 2002

기존의 이동로봇 시스템은 완전한 자율주행이 주된 목표였으며 이때 영상정보는 단지 모니터링을 하는 보조적인 수단으로 사용되었다. 이에 따라 이동로봇의 자체 기능이 점차 고도화되는 방향으로 연구가 진행되었고, 제작비 또한 함께 상승하게 되었다. 그러나 구동만이 목적인 저렴한 이동로봇 시스템을 조작자가 원격 제어하는 것 또한 중요한 분야 중 하나이다. 이때 원격제어에 사용되는 신호로는 카메라에 의한 영상정보와 초음파 센서 등에 의한 거리정보를 주로 사용하게 된다. 그러나 영상정보는 3차원의 입체적 정보를 제공하는 데에는 부적절하기 때문에 초음파 센서를 이용한 거리정보가 매우 유용하게 된다. 본 논문에서는 초음파 센서의 정보를 이용한 원격제어용 힘 반향 조이스틱을 개발하였다. 힘 반향 알고리즘은 하나의 식으로 표현하기 곤란하므로 전문가 시스템의 구현이 매우 필요한 분야이다. 따라서 퍼지 논리를 사용하여 생성한 힘 반향 알고리즘을 이동로봇 원격제어에 사용함으로써 조작자가 이동로봇 주변환경을 쉽게 인식하여 이동로봇을 안전하게 주행할 수 있도록 하였다.

• Physical Therapy Korea
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• v.27 no.2
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• pp.126-132
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• 2020

Background: Augmented somatosensory feedback stimulates the mechanoreceptor to deliver information on bodily position, improving the postural control. The various types of such feedback include ankle-foot orthoses (AFOs) and vibration. The optimal feedback to mitigate postural sway remains unclear, as does the effect of augmented somatosensory feedback on muscle co-contraction. Objects: We compared postural sway and ankle muscle co-contraction without feedback (control) and with either of two forms of somatosensory feedback (AFOs and vibration). Methods: We recruited 15 healthy subjects and tested them under three feedback conditions (control, AFOs, vibration) with two sensory conditions (eyes open, or eyes closed and the head tilted back), in random order. Postural sway was measured using a force platform; the mean sway area of the 95% confidence ellipse (AREA) and the mean velocity of the center-of-pressure displacement (VEL) were assessed. Co-contraction of the tibialis anterior and gastrocnemius muscles was measured using electromyography and converted into a co-contraction index (CI). Results: We found significant main effects of the three feedback states on postural sway (AREA, VEL) and the CI. The two sensory conditions exerted significant main effects on postural sway (AREA and VEL). AFOs reduced postural sway to a level significantly lower than that of the control (p = 0.014, p < 0.001) or that afforded by vibration (p = 0.024, p < 0.001). In terms of CI amelioration, the AFOs condition was significantly better than the control (p = 0.004). Vibration did not significantly improve either postural sway or the CI compared to the control condition. There was no significant interaction effect between the three feedback conditions and the two sensory conditions. Conclusion: Lower-extremity devices such as AFOs enhance somatosensory perception, improving postural control and decreasing the CI during static standing.

• Physical Therapy Rehabilitation Science
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• v.1 no.1
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• pp.13-16
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• 2012

Objective: Electroencephalogram (EGG)-feedback is a training procedure aimed at altering brain activity, and is used as a treatment for disorders like attention. The purpose of this study was to determine the effects of external focus of attention by EGG-feedback on balance in young adults. Design: Cross-sectional study. Methods: Subject were students in Sahmyook University. Fifty young adults in their twenties and thirties. Subjects were performed both with and without external focus of attention by EEG-feedback on the posture of standing and tandem standing. Participants were educated effort to maintain static posture when they were under internal focus of attention. Good Balance System was used for measurement of postural consistency upon the following force platforms. Results: Body sway decreased significantly both normal standing and tandem standing with external focus of attention by EEG-feedback (p<0.05). Conclusions: The results demonstrate that the benefits of an external attentional focus are generalizable to young adults. The external focus of attention outperformed the internal focus of attention on the postural balance (p<0.05). It is showed that external focus of attention significant effects on balance by revoked automatic postural control of movement. Furthermore balance might be improved by training with an external focus. Further study is required to develop for training as a method of preventing fall in elderly peoples.

• The Transactions of The Korean Institute of Electrical Engineers
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• v.64 no.2
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• pp.297-303
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• 2015

We propose a disturbance observer(DOB) based feedback linearization control to improve position tracking performance in the presence of disturbance. The proposed method consists of a disturbance observer and a feedback linearization controller. The disturbance observer is designed to estimate the load force disturbance in electro-hydraulic systems. An auxiliary state variable is proposed in order to avoid amplification of the measurement noises in the disturbance observer. Using the estimated disturbance enables the Electro-hydraulic servo systems(EHS) dynamics to be changed into feedback linearization from. In order to compensate for the disturbance and to track the desired position, the feedback linearization based controller is proposed. The proposed method has a simple structure which can easily be implemented in practice. As a result, the proposed method improves the position tracking performance in the presence of disturbance. Its performance is validated via simulations.

• International Journal of Control, Automation, and Systems
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• v.3 no.1
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• pp.109-116
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• 2005

The design of reconfiguring a class of second-order dynamic systems via proportional plus derivative (P-D) feedback is considered. The aim is to resynthesize a P-D feedback controller such that the eigenvalues of the reconfigured closed-loop system can completely recover those of the original close-loop system, and make the corresponding eigenvectors of the former as close to those of the latter as possible. Based on a parametric result of P-D feedback eigenstructure assignment in second-order dynamic systems, parametric expressions for all the P-D feedback gains and all the closed-loop eigenvector matrices are established and a parametric algorithm for this reconfiguration design is proposed. The parametric algorithm offers all the degrees of design freedom, which can be further utilized to satisfy some additional performances in control system designs. This algorithm involves manipulations only on the original second-order system matrices, thus it is simple and convenient to use. An illustrative example and the simulation results show the simplicity and effect of the proposed parametric method.

• Physical Therapy Korea
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• v.14 no.3
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• pp.16-22
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• 2007

The purpose of this study was to determine the influence of muscle fatigue in elbow flexors on the sense of force reproduction. Fifteen healthy subjects were recruited for this study. Maximum voluntary force (MVF) of elbow flexor muscles was measured by a digital tensiometer. Force errors were measured to test accuracy of the sense of force reproduction in elbow flexors. The subject was required to flex the elbow joint, to maintain and concentrate on about 20% of the MVF target force under visual feedback for 3 seconds. After a 5 second period rest, the subject was asked to duplicate the target force actively. Muscle fatigue was evoked with isometric contraction of the elbow flexors. Isometric contraction was continued until a 50% drop in MVF. The difference, in kilogram between the target force and the reproduced force was calculated for measuring force error. Force errors were compared between the non-fatigued condition and the fatigued condition by the paired t-test. Force errors were significantly increased in the fatigued condition compare to non-fatigued condition. This result suggests that the sense of force reproduction can be disturbed by localized muscle fatigue.

• Proceedings of the KIEE Conference
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• 1988.11a
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• pp.28-31
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• 1988

This paper proposes a new linear adaptive position controller of DC servo motor. The proposed method can improve the drive performance and rapidly reject the state error caused by both parameter variations and force disturbance. The structure of this adaptive control method is based multiloop feedback control and model reference control. Simulation results are presented to verify the improved response when parameter variations and load disturbance give relatively significant effects to the servo system.

• Proceedings of the Korean Society of Precision Engineering Conference
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• 1997.04a
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• pp.35-40
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• 1997

The present study considers the analysis and control of the bonding process for a LOC DIe Bonder. A mathematical model for describing the bonding process is developed and proved by experiments. A feedback scheme is also applied for system in order to ensure the robustness of the bonding force control. The theoretical and experimental results are proved useful for the design and control of the LOC Die Bonder.

• Journal of the Korean Society of Industry Convergence
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• v.18 no.1
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• pp.61-66
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• 2015

Force feedback control is investigated for improving the quality of the haptic feedback in virtual reality applications. We proposed method for control of the haptic device using universal serial bus. and evaluated the characteristics with experimental set.

• Proceedings of the KIEE Conference
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• 2002.07d
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• pp.2665-2667
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• 2002

Force feedback control is investigated for improving the quality of the haptic feedback in virtual reality applications. We proposed method for control of the haptic device using universal serial bus(USB), and evaluated the characteristics with experimental set.