• The Journal of Korea Robotics Society
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• v.7 no.2
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• pp.83-91
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• 2012

In this paper, we propose a cable climbing robot which can climb up and down the cables in the bridges. The robot mechanism consists of three parts: a wheel based driving mechanism, adhesion mechanism, and safe landing mechanism. The wheel based driving mechanism is driven by tooth clutches and motors. The adhesion mechanism plays the role of maintaining adhesion force by a combination of pantograph, ball screw, and springs even when the power is lost. The safe landing mechanism is developed for guaranteeing the safety of the robot during operations on cables. It can make the robot fall down with reduced speed by dissipating the gravitational forces. The robot mechanism is designed and manufactured for validating its effectiveness.

• Proceedings of the KSME Conference
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• 2001.11a
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• pp.686-691
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• 2001

In this paper, the pneumatic service robot with a hybrid type is developed. A pneumatic has the advantage of good compliance, high payload-to-weight and payload-to-volume ratios, high speed and force capabilities. Using pneumatic actuators which have low stiffness, the service robot can guarantee safety. By suggesting a new serial-parallel hybrid type for the service robot which separates into positioning motion and orienting motion, we can achieve large workspace and high strength-to-moving-weight ratio at the same time. A sliding mode controller can be designed for tracking the desired output using the Lyapunov stability theory and structural properties of pneumatic servo systems. Through many experiments of circular trajectory, the pneumatic service robot is evaluated and verified.

• Journal of the Korean Society of Industry Convergence
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• v.18 no.1
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• pp.10-17
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• 2015

We describe a research about remote control of mobile robot based on voice command in this paper. Through real-time remote control and wireless network capabilities of an unmanned remote-control experiments and Home Security / exercise with an unmanned robot, remote control and voice recognition and voice transmission are possible to transmit on a PC using a microphone to control a robot to pinpoint of the source. Speech recognition can be controlled robot by using a remote control. In this research, speech recognition speed and direction of self-driving robot were controlled by a wireless remote control in order to verify the performance of mobile robot with two drives.

• Proceedings of the KIEE Conference
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• 2002.07d
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• pp.2457-2459
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• 2002

In this paper, we describe the way how to create a curvature trajectory where the dynamics of a mobile robot is considered. Synchro-drive motor is used in a mobile robot. And translational and rotational speeds are controlled independently. Using these two speeds, a mobile robot traces a smooth curvature trajectory that consists of circle trajectories to a target point. While trying to avoid obstacles, the robot can be goal-directed using curvature trajectory. Also, while the robot can navigate the trajectory, the maximum speed is controlled to trade off speed and safely.

• Proceedings of the KIEE Conference
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• 2003.07d
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• pp.2420-2422
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• 2003

In this paper, two Fuzzy Logics for path planning of an autonomous mobile robot are proposed. If a target point is given, such problems regarding the velocity and object recognition are closely related with path to which the mobile robot navigates. Therefore, to ensure safety navigation of the mobile robot for two fuzzy logic parts, path planning considering the surrounding environment was performed in this paper. First, feature points for local and global path are determined by utilizing Cell Decomposition off-line computation. Second, the on-line robot using two Fuzzy Logics navigates around path when it tracks the feature points. We demonstrated optimized path planning only for local path using object recognition fuzzy logic corresponds to domestic situation. Furthermore, when navigating, the robot uses fuzzy logic for velocity and target angle. The proposed algorithms for path planning has been implemented and tested with pioneer-dxe mobile robot.

• Journal of Sensor Science and Technology
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• v.25 no.1
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• pp.27-34
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• 2016

This paper describes the development of a rehabilitation robot that can provide wrist bending exercise to a severe stroke patient staying in a bed ward or at home. The developed rehabilitation robot has a three-axis force sensor which detects three directional force Fx, Fy, and Fz. The sensor measures a bending force (Fz) exerted on the wrist and the signal force (Fx and Fy) which can be used for the safety purpose. The robot was designed for severe stroke patients in bed, and the robot program was developed to perform a wrist bending rehabilitation exercise. In our tests including a nine-day experimental exercise, the developed force sensor-based robot operated effectively and safely.

• The Journal of Korea Robotics Society
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• v.3 no.4
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• pp.323-330
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• 2008

This work deals with a 4-DOF flexible continuum robot that employs a spring as its backbone. The mechanism consists of two modules and each module has 2 DOF. The special features of the proposed mechanism are the flexibility and the backdrivability of the whole body by using a spring backbone. Thus, even in the case of collision with human body, this device can ensure safety. The design and the kinematics for this continuum mechanism are introduced. The performance of this continuum mechanism was shown through simulation and experiment.

• 제어로봇시스템학회:학술대회논문집
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• 2000.10a
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• pp.379-379
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• 2000

The robot systems used in nuclear power plants need to be both reliable and safe. As a part of the "Validation of nuclear safety-grade equipment" project, we established reliability analysis program and performed a number of analysis using conventional reliability analysis techniques. This paper describes the procedures, techniques, and results of the analysis utilized in our project. In addition, the paper includes current status of reliability analysis techniques and the summary of foreign case studiesse studies

• Journal of the Korea Safety Management & Science
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• v.1 no.1
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• pp.91-100
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• 1999

We propose a decision model to incorporates the values assigned by a group of experts on different factors in selecting robots. Using this model, SN ratio of taguchi method for each of subjective factors as well as values of weights are used in this comprehensive method for robot selection. A numerical example is presented to illustrate the model and to show a rank reversal when compared to a model that does not eliminate extreme values and eliminates the highest and lowest experts' values allocating the weights and the subjective factors.

• Journal of the Ergonomics Society of Korea
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• v.33 no.5
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• pp.407-422
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• 2014

Objective: The purpose of the study is to develop quantitative usability evaluation criteria for senior-friendly autonomous transportation robot. Background: The Republic of Korea has become the most rapidly aging society, and is anticipated to enter the post-aged society in 2026. To raise the quality of life of a senior with limited mobility and to reduce the burden of caregivers, many high-tech assistive products with information technologies are developed nowadays. The senior-friendly autonomous transportation robot is one person robot vehicle to move a senior to the destination for hospitals, nursing homes or silver town complex. With built-in navigation system and environmental monitoring censors, it automatically seeks the path to the destination and avoids collision to obstacles and pedestrians on the way. Due to the early stage of the product, few usability studies in this field have been done, mostly on general service robots to assist seniors, power wheelchairs and delivery robots. ISO and KS standards for the service robots are focused on safety. Method: Based on the reference usability index, the early draft of the usability evaluation questionnaires was developed. After small group tests and interviews, the experts modified the initial draft to the Usability Evaluation Criteria for Senior-Friendly Autonomous Transportation Robot (UEC-SFATR). Result: UEC-SFATR consisted of 4 subscales - Safety, Controllability, Efficiency and Satisfaction. All of the 4 subscales of UEC-SFATR were passed the reliability criteria by 4 groups of seniors, divided by gender and familiarity of smart-devices. Conclusion: UEC-SFATR covers wider area of user experiences of the SFATR and is a good measurement tool to help both the users and developers of the robot. Application: This study provides guide to the future product development and product competitiveness evaluation by quantifying user experiences for the SFATR.