• 한국융합학회논문지
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• 제8권12호
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• pp.63-69
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• 2017

본 연구는 침상의 인체 위치와 생체신호를 검출할 수 있는 스마트 침상제어시스템의 개발에 관한 것이다. 침상제어 시스템의 메인 제어보드는 인체 감지부, 모터 구동부, MCU로 구성된다. 여기서, 침상의 인체존재 확인의 신뢰성을 높이기 위해 맴브레인 센서에 의한 인체위치 검출부와 EMFI 센서의 생체신호 검출부를 인체감지부로 결합하였다. 또한 검출된 두 신호를 원격으로 앱 모드의 응용 프로그램에 연결하여, 침상위 인체정보를 모니터링할 수 있는 앱모드의 활용이 가능하도록 하였다. 본 연구에서 블루투스 통신에 의해 침상 인체 정보를 모니터링하는 원격 기능은 병원 및 요양기관의 낙상 및 침상부재사고 예방기법으로 활용될 수 있을 것이다.

• 한국산학기술학회논문지
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• 제16권11호
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• pp.7508-7512
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• 2015

뇌파로 의도를 접속하여 기계를 작동하는 뇌-기기 접속(Brain-Computer Interface, BCI) 기반의 인간-로봇상호작용(Human-Robot Interaction, HRI) 플랫폼을 제안한다. 사람의 뇌파로 의도를 포착하고 포착된 뇌파 신호에서 의도를 추출하거나 연관시키고 추출된 의도로 기기를 작동하게 하는 포착, 처리, 실행을 수행하는 플랫폼의 설계, 운용 및 구현 과정을 소개한다. 제안된 플랫폼의 구현 사례로 처리기에 구현된 상호작용 게임과 처리기를 통한 외부 장치 제어가 기술되었다. BCI 기반 플랫폼의 의도와 감지 사이의 신뢰성을 확보하기 위한 다양한 시도들을 소개한다. 제안된 플랫폼과 구현 사례는 BCI 기반의 새로운 기기 제어 작동 방식의 실현으로 확장될 것으로 기대된다.

• 로봇학회논문지
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• 제14권1호
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• pp.50-57
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• 2019

This work presents a design and control method for a flexible robot arm operated by a wire drive that follows human gestures. When moving the robot arm to a desired position, the necessary wire moving length is calculated and the motors are rotated accordingly to the length. A robotic arm is composed of a total of two module-formed mechanism similar to real human motion. Two wires are used as a closed loop in one module, and universal joints are attached to each disk to create up, down, left, and right movements. In order to control the motor, the anti-windup PID was applied to limit the sudden change usually caused by accumulated error in the integral control term. In addition, master/slave communication protocol and operation program for linking 6 motors to MYO sensor and IMU sensor output were developed at the same time. This makes it possible to receive the image information of the camera attached to the robot arm and simultaneously send the control command to the robot at high speed.

• International Journal of Automotive Technology
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• 제7권3호
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• pp.377-383
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• 2006

This paper presents evaluation and comparisons of manual driving and driving with intelligent cruise control(ICC) systems. An intelligent vehicle cruise control strategy has been designed to achieve natural vehicle behavior of the controlled vehicle that would make human driver feel comfortable and therefore would increase driver acceptance. The evaluation and comparisons of the ICC and manual driving have been conducted using real-world vehicle driving data and an ICC vehicle simulator.

• 제어로봇시스템학회논문지
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• 제20권6호
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• pp.606-611
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• 2014

The understanding of another's behavior is a fundamental cognitive ability for primates including humans. Recent neuro-physiological studies suggested that there is a direct matching algorithm from visual observation onto an individual's own motor repertories for interpreting cognitive ability. The mirror neurons are known as core regions and are handled as a functionality of intent recognition on the basis of imitative learning of an observed action which is acquired from visual-information of a goal-directed action. In this paper, we addressed previous works used to model the function and mechanisms of mirror neurons and proposed a computational model of a mirror neuron system which can be used in human-robot interaction environments. The major focus of the computation model is the reproduction of an individual's motor repertory with different embodiments. The model's aim is the design of a continuous process which combines sensory evidence, prior task knowledge and a goal-directed matching of action observation and execution. We also propose a biologically inspired plausible equation model.

• International Journal of Control, Automation, and Systems
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• 제4권3호
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• pp.325-332
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• 2006

The dynamic responses of human standing postural control were investigated when subjects were exposed to long-term horizontal vibration. It was hypothesized that the motion of standing posture complexity mainly occurs in the mid-sagittal plane. The motor-driven support platform was designed as a source of vibration. The AC Servo-controlled motors produced anterior/posterior (AP) motion. The platform acceleration and the trunk angular velocity were used as the input and the output of the system, respectively. A method was proposed to identify the complexity of the standing posture dynamics. That is, during AP platform motion, the subject's knee, hip and neck were tightly constrained by fixing assembly, so the lower extremity, trunk and head of the subject's body were individually immovable. Through this method, it was assumed that the ankle joint rotation mainly contributed to maintaining their body balance. Four subjects took part in this study. During the experiment, the random vibration was generated at a magnitude of $0.44m/s^2$, and the duration of each trial was 40 seconds. Measured data were estimated by the coherence function and the frequency response function for analyzing the dynamic behavior of standing control over a frequency range from 0.2 to 3 Hz. Significant coherence values were found above 0.5 Hz. The estimation of frequency response function revealed the dominant resonance frequencies between 0.60 Hz and 0.68 Hz. On the basis of our results illustrated here, the linear model of standing postural control was further concluded.

• 한국전자통신학회논문지
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• 제16권5호
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• pp.845-850
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• 2021

본 연구에서는 전기 자동차(EV : Electric Vehicle) 파워트레인의 에너지 변환 특성과 설계를 수행하였다. 그리고 EV 파워트레인의 동력원으로서 영구자석 매입형 동기 모터(IPMSM : Interior Permanent Magnet Synchronous Motor)를 대상으로 하였으며 제어를 수행하였다. IPMSM을 구동하기 위해서는 두 가지 영역인 일정한 토크와 일정한 출력(약계자) 영역이 사용되며, IPMSM을 위한 제어 시스템의 설계는 d-q 레퍼런스 프레임(벡터 제어)을 바탕으로 구성하였다. IPMSM의 두 영역에서 나타나는 모터 토크의 정적 특성을 결정하기 위해 IPMSM의 토크제어 시스템과 d축 전류 제어 시스템을 제안 및 구현하였다. 특성해석을 위해서 Matlab-Simulink 소프트웨어를 사용하였다. 최종적으로 실제 차량 사양을 기준으로 EV 차량 레벨 조건으로 변경하여 파워트레인 모델에 IPMSM을 적용하였으며 제안된 제어 시스템의 시뮬레이션 결과를 수행했고 특성을 분석하였다.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 2004년도 ICCAS
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• pp.1131-1135
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• 2004

In the virtual environment, force feedback to the human operator makes virtual experiences more realistic. However, the force feedback using active actuators such as motors can make the system active and sometimes unstable. To ensure the safe operation and enhance the haptic feeling, stability should be guaranteed. Both motors and brakes are commonly used for haptic device. A brake can generate a torque only against its rotation, but it is intrinsically stable. Consequently, motors and brakes are complementing each other. In this research, a two degree-of-freedom (DOF) haptic device equipped with both motors and brakes has been developed to provide better haptic effects. Each DOF is actuated by a pair of motor and brake. Modeling of the environment and the control method are needed to utilize both actuators. For various haptic effects, contact with the virtual wall and representation of friction effect are extensively investigated in this paper. It is shown that the hybrid haptic system is more suited to some applications than the motor-based active haptic system.

• The Journal of Korean Physical Therapy
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• 제13권3호
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• pp.751-760
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• 2001

Therapeutic exercise had developed with human being. It depend upon development of physiology, anatomy, kinesiology and biomechanics. There are two categories in therapeutic exorcise. One is classical therapeutic exercise which is a activity of one muscle group, one axis and one plane motion. It is ROM, FRE. osteokinematics, arthrokinematics. Another is neurophysiological approach which is multi muscle group, multi axis and plane exercise. It is PNF and Bobath that start from 1940 to early 1950. Classical therapeutic exorcise develop from ROM to osteokinematics and arthrokinematics. It is foundation of the joint mobilization and orthopaedic manual physical therapy. Neurophysiological therapeutic approaching has more theory and skills than before. Bobath methods had changed from reflex-inhibiting posture to key points of control and added the theory of musculoskeletal, biomechanics, motor behaviour and cognition. We call it motor control.

• 웰빙융합연구
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• 제5권1호
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• pp.31-35
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• 2022

Purpose: This study was conducted to investigate the effects of change in the unstable support surface location during bridge exercise on the muscle activity of erector spinae and gluteus maximus. Research design, data and methodology: 12 healthy participants aged 23.32 ±1.02 were measured muscle activities of erector spinae and gluteus maximus during bridge exercise and compared between the exercise conditions; unstable support surface located on upper back and feet during bridge exercise. Paired t-test was performed to identify whether there was a significant difference in the muscle activities between the exercise conditions. Results: As a result, even though higher levels of the averaged muscle activities of both erector spinae and gluteus maximus during exercise in unstable support surface located on feet than upper back were observed, no significant differences were found. Conclusions: The change of unstable support surface location during bridge exercise for low back pain rehabilitation would be more appropriate to be used to increase levels of tension of muscle activities and train fine motor control rather than to strengthening muscle strength.