• Composites Research
• /
• v.33 no.2
• /
• pp.50-54
• /
• 2020

Soft robotics and wearable devices require large motions and flexibility. In this regard, there is a demand for developing stretchable strain sensors which can be attached to the soft robots and wearable devices. In this work, we fabricated stretchable and electrically conductive composite fibers by combining polyurethane (PU) and silver nanoflowers (AgNFs). The PU/AgNF composite fibers showed the change of the resistance as a function of the applied strain, demonstrating the potential for stretchable strain sensors in soft robotics and wearable devices. The mechanical and electrical characteristics of the composite fibers were measured and analyzed to use the composite fibers for stretchable strain sensors.

• The Journal of Korea Robotics Society
• /
• v.18 no.4
• /
• pp.359-366
• /
• 2023

In order to fully utilize the functions of the hand which is the end effector of the upper limb, other parts of the upper limb have to perform their own roles. Among them, the pronation and supination of the forearm, which allows the hand to rotate along the longitudinal direction of the forearm, play an important role in activities of daily living. In this paper, a soft wearable robot that assists the pronation and supination of the forearm for individuals with weakened or lost upper limb function is proposed. The wearable robot consists of an anchoring part with polymer (wrist strap, elbow strap), a tendon with a belt and wire, and an actuation module. It was developed based on the requirements with respect to friction of anchoring part, forearm compression, and friction of the tendon. It was confirmed that these requirements were satisfied through literature review and experiments. Since all components exist within the forearm when worn, it is expected to be easy to combine with the already developed soft wearable robots for the hand, wrist, elbow, and shoulder.

• ICROS
• /
• v.4 no.6
• /
• pp.7-12
• /
• 1998

• 제어로봇시스템학회:학술대회논문집
• /
• 2003.10a
• /
• pp.2378-2381
• /
• 2003

In recent years, fuzzy logic has received greater emphasis in the field of power electronics and motion control by virtue of its adaptive capability. A new fuzzy logic based soft-start scheme for induction motor drives close to load detection has been discussed here using microcontroller based thyristorised voltage controller. Rule based soft-start algorithm is fully realised through a software approach only. The soft-start strategy is based on the change of input impedance during starting period. The prototype has been tested under various loading conditions and found to be reliable.

• Journal of the Korean Society of Manufacturing Process Engineers
• /
• v.14 no.6
• /
• pp.142-148
• /
• 2015

3D printing technology is a promising technique for fabricating complex 3D architectures based on the CAD/CAM system, and it has been extensively investigated to manufacture structures in the fields of mechanical engineering, space technology, automobiles, and biomedical and electrical applications. Recent advances in the 3D printing of soft structures have received attention for the application of the construction of flexible sensors of soft robotics or the recreation of tissue/organ-specific microenvironments. In this review paper, we would like to focus on delivering state-of-the-art fabrication of soft structures with 3D printing technology and its various applications.

• Proceedings of the Korean Society of Precision Engineering Conference
• /
• 2000.11a
• /
• pp.670-673
• /
• 2000

This paper attempt analysis and computer simulation of dynamics of a set of dual multi-joint fingers with soft-deformable tips which are grasping. Firstly, a set of differential equation describing dynamics of the fingers and object together with geometric constraint of tight area-contacts is formulated by Euler-Lagrange's formalism. Secondly, problems of controlling both the internal force and the rotation angle of the grasped object under the constraints of area-contacts of tight area-contacts are discussed. The effect of geometric constraints of area-contacts on motion of the overall system is analyzed and a method of computer simulation for overall system of differential-algebraic equations is presented. Finally, simulation results are shown and the effects of geometric constraints of area-contact is discussed.

• International Journal of Aeronautical and Space Sciences
• /
• v.14 no.3
• /
• pp.237-246
• /
• 2013

It is of great significance to utilize a landing mechanism to explore an asteroid. A landing mechanism named ALISE (Asteroid Landing and In Situ Exploring) for asteroid with soft surface is presented. The landing dynamic in the first turning stage, which represents the landing performance of the landing mechanism, is built by a Lagrange equation. Three key parameters can be found influencing the landing performance: the retro-rocket thrust T, damping element damping $c_1$, and cardan element damping $c_2$. In this paper, the retro-rocket thrust T is solved with considering that the landing mechanism has no overturning in extreme landing conditions. The damping element damping c1 is solved by a simplified dynamic model. After solving the parameters T and $c_1$, the cardan element damping $c_2$ is calculated using the landing dynamic model, which is built by Lagrange equation. The validities of these three key parameters are tested by simulation. The results show a stable landing, when landing with the three estimated parameters T, $c_1$, and $c_2$. Therefore, the landing dynamic model and methods to estimate key parameters are reasonable, and are useful for guiding the design of the landing mechanism.

• 제어로봇시스템학회:학술대회논문집
• /
• 2003.10a
• /
• pp.2387-2392
• /
• 2003

In this paper, We designed the local path planning direction algorithmusing fuzzy controller applied fuzzy logic. Algorithm decieded a direction angle by theposition of obstacle, the distance with obstacle, the progress direction of robot, the speed of vehicles and the perception area of sensor. The robot designed with proposed algorithm carried out soft moving without any particular operation, and we could observe that it had very soft curved moving as if an expert drove.

• 제어로봇시스템학회:학술대회논문집
• /
• 2002.10a
• /
• pp.75.6-75
• /
• 2002

Current database technique offers the possibility to store giant amounts of data, worldwide networks provide the technical base for everybody to access it. However, it is usually very time-consuming or even impossible to find the most relevant information. This article describes the usage of mobile soft-ware agents to query different databases on the Internet, to rate and compress the results and to present them to the user in a consistent form, It contains a general definition of soft-ware agents, a detailed description of the approach and a discussion of its main advantages and weaknesses.

• 제어로봇시스템학회:학술대회논문집
• /
• 1990.10a
• /
• pp.52-56
• /
• 1990

An algorithm is proposed to determine the optimal contact forces of robotic hands, where the soft finger contact as well as the frictional point contact are considered. Especially, the algorithm can be efficiently applied to the case of multi-point contact by inner-link as well as fingertip. To show the validities of the algorithm, several numerical exampies are presented by employing a robotics hand with three fingers each of which has four joints.