• The Transactions of the Korean Institute of Power Electronics
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• v.3 no.3
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• pp.165-172
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• 1998

The electromechanical energy conversion conditioning and processing implementation in USM direct motion control system is generally divided into two power stages: the two-phase high-frequency ac power inversion stage for driving piezoelectric ceramic PZT transducer array off the USM stator and the mechanical thrust power conversion stage based on the frictional force between the piezo electric stator array and the rotary slider of the USM. However, the dynamic and steady-state mathematical modeling of the USM is extremely default from a theoretical point of view because it contains many complicated an nonlinear characteristics dependant on operation temperature. In +2$0^{\circ}C$~3$0^{\circ}C$, the operating characteristics of the USM has represented normal condition. But the other temperature, it has abnormal condition so that driving frequency, current and motor speed will be down. The recent USM has controller without temperature compensation. This study represents the fuzzy controller for speed compensation according to operating temperature by driving frequency.

• Journal of Institute of Control, Robotics and Systems
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• v.21 no.5
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• pp.393-400
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• 2015

This paper describes the development of a chest-wearable robot that can efficiently perform self walking rehabilitation without a helper. The features of the developed robot are divided into three parts. First, as a mechanical characteristic, the conventional elbow crutch is attached at the forearm. However, the proposed robot is attached to the patient's chest, enabling them to feel free to use their hands and eliminate the burden of the arms. Second, as a characteristic of the driving algorithm, pressure sensors attached to the chest automatically perceive the patient's walking intention and move the robot-leg thereafter. Also, for safety, it stops operating when an obstacle is found in front of the patient by using ultrasonic sensors and generates a beeping sound. Finally, by using the scotch yoke mechanism, supporting legs are moved up and down using a rotary servo motor without excessive torque that is generated by large ground reaction forces. We showed that the developed robot can effectively perform self walking rehabilitation through walking experiments, and its performance was verified using Electromyograph (EMG) sensors.