• The Journal of Korean Physical Therapy
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• v.35 no.1
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• pp.8-12
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• 2023

Purpose: Recently, many studies on robotic rehabilitation have been conducted, but such studies on patients with ankle sprains are lacking. This study aimed to investigate the effects of robot-assisted rehabilitation on the range of motion of the ankle and balance in patients with ankle sprain. METHODS: This study used the A-B-A' design and was conducted for a total of fifteen days. The subjects performed general physical therapy for five days each, during the baseline A and A' periods. In period B, robot rehabilitation was performed for five days, along with general physical therapy. The subjects were evaluated based on weight-bearing lunge test (WBLT), single leg stance (SLS), and functional reach test (FRT). RESULTS: The WBLT, STS, and FRT showed significant improvement in periods B and A' compared to period A, but there was no significant improvement in period A' compared to period B. Conclusion: This study confirmed that robot-assisted rehabilitation was an effective intervention for improving the function of patients with ankle sprain. In the future, a study with a control group comparison should be performed.

• Nuclear Engineering and Technology
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• v.56 no.5
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• pp.1913-1924
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• 2024

This paper presents the design and operation of an autonomous robot for pyroprocess automation, which requires unique approaches beyond those used in industrial applications to achieve the desired performance. Maintaining an extremely dry atmosphere is crucial to handle various materials, including chloride, and an autonomous system ensures this dry environment. The drying room dehumidifier was carefully selected and designed to generate dry air, and different types of dry air conditioning performance were evaluated, including assessing worker accessibility inside the mock-up to determine the system's feasibility. Containers used for process materials were modified to fit the gripper system of the gantry robot for automation. The loading and unloading of process materials in each equipment were automatically performed to connect the process equipment with the robotic system. The gantry robot primarily operated through macro motion to approach waypoints containing process materials, eliminating the need for precise approach motion. The robot's tapered jaw design allowed it to grasp the target object even with imperfect positioning. Robot motions were programmed using a robot simulator for initial positioning and motion planning, and real accuracy was tested in a mock-up facility using the OPC platform.

• Journal of the Korean Society for Precision Engineering
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• v.30 no.4
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• pp.368-374
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• 2013

Maintenance works for current high-rise buildings significantly depend on human labor, unlike other construction processes that are gradually being automated. Herein, this paper proposes robotic building maintenance system using motion control, in specific, reducing a system jerk which is directly subjected to improve the process performance and economic feasibility. The sensor for detecting straight and curvature section of the building facade, moreover rail-joint segment can be detected and be utilized for reducing jerk of the system. Analysis of the proposed system error caused by excessive vibration, e.g. jerk motion is introduced. To enhance the stability and safety of the system, herein, the strategy is proposed for enhancing the performance of the system based on anti-jerk motion control algorithm which comes out increasing the stability and sustainability of the integrated system, as well.

• Proceedings of the Korea Committee for Ocean Resources and Engineering Conference
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• 2001.10a
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• pp.91-96
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• 2001

This paper presents a neural net based nonlinear adaptive controller for an autonomous underwater vehicle (AUV). AUV's dynamics are highly nonlinear and their hydrodynamic coefficients vary with different operational conditions, so it is necessary for the high performance control system of an AUV to have the capacities of learning and adapting to the change of the AUV's dynamics. In this paper a linearly parameterized neural network is used to approximate the uncertainties of the AUV's dynamics, and a sliding mode control is introduced to attenuate the effects of the neural network's reconstruction errors and the disturbances of AUV's dynamics. The presented controller is consist of three parallel schemes; linear feedback control, sliding mode control and neural network. Lyapunov theory is used to guarantee the asymptotic convergence of trajectory tracking errors and the neural network's weights errors. Numerical simulations for motion control of an AUV are performed to illustrate to effectiveness of the proposed techniques.

• Journal of Construction Engineering and Project Management
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• v.6 no.2
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• pp.30-39
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• 2016

This research presents the development of a self-governing mobile robot navigation system for indoor construction applications. This self-governing robot navigation system integrated robot control units, various positioning techniques including a dead-reckoning system, a UWB platform and motion sensors, with a BIM path planner solution. Various algorithms and error correction methods have been tested for all the employed sensors and other components to improve the positioning and navigation capability of the system. The research demonstrated that the path planner utilizing a BIM model as a navigation site map could effectively extract an efficient path for the robot, and could be executed in a real-time application for construction environments. Several navigation strategies with a mobile robot were tested with various combinations of localization sensors including wheel encoders, sonar/infrared/thermal proximity sensors, motion sensors, a digital compass, and UWB. The system successfully demonstrated the ability to plan an efficient path for robot's movement and properly navigate through the planned path to reach the specified destination in a complex indoor construction site. The findings can be adopted to several potential construction or manufacturing applications such as robotic material delivery, inspection, and onsite security.

• Journal of Ocean Engineering and Technology
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• v.16 no.1
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• pp.8-15
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• 2002

This paper presents a neural net based nonlinear adaptive controller for an autonomous underwater vehicle (AUV). AUV's dynamics are highly nonlinear and their hydrodynamic coefficients vary with different operational conditions, so it is necessary for the high performance control system of an AUV to have the capacities of learning and adapting to the change of the AUV's dynamics. In this paper a linearly parameterized neural network is used to approximate the uncertainties of the AUV's dynamic, and the basis function vector of network is constructed according to th AUV's physical properties. A sliding mode control scheme is introduced to attenuate the effect of the neural network's reconstruction errors and the disturbances in AUV's dynamics. Using Lyapunov theory, the stability of the presented control system is guaranteed as well as the uniformly boundedness of tracking errors and neural network's weights estimation errors. Finally, numerical simulations for motion control of an AUV are performed to illustrate the effectiveness of the proposed techniques.

• Journal of the Korean Society for Precision Engineering
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• v.29 no.7
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• pp.730-736
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• 2012

Latest, many researchers do research on wearable robot. The purpose of the researches is very diverse, it will improve efficiency in the industry, taken to replace the many workers in the military field and taken to assist bodily functions run out by aging. However, there is no clear Differentiated strategy depending on the purpose for design and control of the wearable robot. Although a common purpose is to drive the robot by the sensor signal (intent signals), the optimization about the mechanism and control studies must be done according to the user's physical ability and purpose. In this study, the study's first phase for the development of wearable robotic gait rehabilitation, gait characteristics were analyzed elders and hemiplegia patients using a 3D gait analysis system (VICON512). As a result, asymmetric gait characteristics of the hemiplegia patients were found compared with the normal elderly.

• The Journal of Korea Robotics Society
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• v.14 no.1
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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.

• 제어로봇시스템학회:학술대회논문집
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• 2004.08a
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• pp.1909-1914
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• 2004

Passive velocity field control (PVFC) was previously developed for fully mechanical systems, in which the motion task was specified behaviorally in terms of a velocity field, and the closed-loop was passive with respect to a supply rate given by the environment input. However the PVFC was only applied to a single manipulator, the proposed control law was derived geometrically, and the geometric and robustness properties of the closed-loop system were also analyzed. In this paper, we propose a method to apply a decentralized control algorithm to cooperative 3-wheeled mobile robots whose subsystem is under nonholonomic constraints and which convey a common rigid object in a horizontal plain. Moreover it is shown that multiple robot systems ensure stability and the velocities of augmented systems convergence to a scaled multiple of each desired velocity field for cooperative mobile robot systems.

• Journal of Drive and Control
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• v.13 no.4
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• pp.52-58
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• 2016

The mechanical design for biped walking of a humanoid robot doing the Argentina Tango is presented in this paper. Biped walking has long been studied in the area of robotic locomotion. The aim of this paper is to implement an Argentina Tango dancer-like walking motion with a humanoid robot by using a trajectory generation scheme. To that end, this paper uses blending polynominals whose parameters are determined based on PSO (Particle Swarm Optimization) according to conditions that make the most of the Argentina Tango's characteristics. For the stability of biped walking, the ZMP (Zero Moment Point) control method is used. The feasibility of the proposed scheme is evaluated by simulating biped walking with the 3D Simscape robot model. The simulation results show the validity and effectiveness of the proposed method.