• 한국CDE학회논문집
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• 제14권2호
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• pp.77-86
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• 2009

During manual work in shipbuilding such as blasting, grinding, and so on, a large force is acted on the body of a worker. As a result, this work induces musculoskeletal disorders of the worker and it also induces severe social problems. To solve this problem, we are developing a work support robot for the prevention of musculoskeletal disorders in shipbuilding. In this study, a result of conceptual design of this robot is presented. A worker can perform the blasting work with a small force using this robot which can lessen the force acting on the body of the worker.

• 제어로봇시스템학회논문지
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• 제12권4호
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• pp.315-319
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• 2006

Support vector machines in biped humanoid robot are presented in this paper. The trajectory of the ZMP in biped walking robot poses an important criterion for the balance of the walking robots but complex dynamics involved make robot control difficult. We are establishing empirical relationships based on the dynamic stability of motion using SVMs. SVMs and kernel method have become very popular method for learning from examples. We applied SVM to model the practical humanoid robot. Three kinds of kernels are employed also and each result has been compared. As a result, SVM based on kernel method have been found to work well. Especially SVM with RBF kernel function provides the best results. The simulation results show that the generated ZMP from the SVM can be improve the stability of the biped walking robot and it can be effectively used to model and control practical biped walking robot.

• 한국정밀공학회지
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• 제15권8호
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• pp.156-164
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• 1998

IMS is a more advanced manufacturing system than FMS. However, IMS do not have sufficient performance for the work in the various and uncertain environment, because of the difficulty of the work and occurrence of the unexpected condition. If IMS is hard to work properly, teleoperation system can support it by using the human's consideration and judgment. The master mechanism is a basic component of the teleoperation system and the development of the useful one is important for efficiency of the work. A master mechanism of exoskeleton type can increase the work efficiency, mobility and harmony between a working robot and an operator. This paper describes an arm-harness of exoskeleton type, which is able to drive a robot according to judgment. This device is applied to a robot system for evaluating the system performance through the experiment.

• 한국전문물리치료학회지
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• 제28권3호
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• pp.215-226
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• 2021

Background: Robot-assisted gait training (RAGT) is an effective method for walking rehabilitation. Additionally, the body weight support (BWS) system reduces muscle fatigue while walking. However, no previous studies have investigated the effects of RAGT with BWS on isokinetic strength of quadriceps and hamstring muscles. Objects: The purpose of this study was to investigate the effects of torque, work, and power on the quadriceps and hamstring muscles during RAGT, using the BWS of three conditions in healthy subjects. The three different BWS conditions were BWS 50%, BWS 20%, and full weight bearing (FWB). Methods: Eleven healthy subjects (7 males and 4 females) participated in this study. The Walkbot_S was used to cause fatigue of the quadriceps and hamstring muscles and the Biodex Systems 4 Pro was used to measure the isokinetic torque, work, and power of them. After RAGT trials of each of the three conditions, the subjects performed isokinetic concentric knee flexion and extension, five at an angular velocity of 60°/s and fifteen at an angular velocity of 180°/s. One-way repeated analysis of variance was used to determine significant differences in all the variables. The least significant difference test was used for post-hoc analysis. Results: On both sides, there were significant differences in peak torque (PT) of knee extension and flexion between the three BWS conditions at an angular velocity of 60°/s and 180°/s conditions. A post-hoc comparison revealed that the PT in the BWS 50% was significantly greater than in the BWS 20% and the FWB and the PT in the BWS 20% was significantly greater than in the FWB. Conclusion: The results of this study suggest that the lower BWS during RAGT seems to lower the isokinetic torque, work, and power of the quadriceps and hamstring muscles because of the muscle fatigue increase.

• 제어로봇시스템학회논문지
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• 제21권4호
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• pp.356-360
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• 2015

In this paper, we design and implement a mobile robot with variable structure for tip-over prevention. The mobile robot is designed for the purpose of stable drive and work in outdoor terrain. The outdoor terrain is rough and uneven. In this terrain, the tip-over of the mobile robot can occur while driving and working. Therefore, the structure of the mobile robot must be designed in consideration of stable drive and work. The proposed structure is defined as an X-shape for overall balance of the mobile robot. The shape is designed by using a multi-level structure for reducing the size of the robot. To verify the effectiveness of the proposed design, we analyze the tip-over characteristics according to the height of gravitational center and the extension length of the robot. Finally, we develop a prototype of the mobile robot with variable structure, taking the results of the tip-over analysis into consideration.

• 로봇학회논문지
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• 제9권2호
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• pp.79-95
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• 2014

We are at the dawn of a new era in which the importance of robots will be evaluated on the basis of not only their functions but also their appearance. Therefore, those manufacturers who continue to develop robots that only offer convenience and do not keep up with the emerging trends might be weeded out from the robot market in the future. This study empirically tested and verified the ways in which the commercial value of wearable robots is enhanced when they are stylishly attired, using user and work environment analysis. For the purpose of this study, a styling development project for wearable robots was undertaken and applied to the actual development of these robots. Based on the results of the study, a new styling process for such robots was established. Those manufacturers who will realize the importance of styling of robots and develop robots using this process shall become the trendsetters in designing stylized robots and lead the robot industry in the future.

• 대한전기학회:학술대회논문집
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• 대한전기학회 2000년도 하계학술대회 논문집 D
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• pp.2851-2853
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• 2000

In order to simulate a robot by using existing simulation packages, many engineers must work in one place existing simulator. It is clear that engineer can't the simulator in other place. In this paper, a simulator by using a web environment is proposed in order to support location transparency to engineer. The proposed simulator running in the web browser. This simulator can be use the engineer as well as public user through web browser.

• 정보교육학회논문지
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• 제16권2호
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• pp.265-273
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• 2012

현재 컴퓨터교육은 컴퓨터의 활용보다는 컴퓨터과학을 통한 창의성 신장 교육으로 비중을 높이고 있다. 이에 따라 창의성 교육의 측면에서 로봇을 활용하는 프로그래밍 교육은 컴퓨터교육 연구의 주요 과제로 떠오르고 있다. 로봇 프로그래밍에 관련된 기존 연구를 살펴보면 주로 로봇 프로그래밍 교육의 효과 및 교육과정 개발에 대한 연구가 주를 이루고 있으며, 점차 구체적인 학습 방법에 대한 연구로 초점이 이동되고 있는 추세이다. 본 연구에서는 로봇프로그래밍 학습 방법으로서 예제의 활용에 주목하고 있다. 예제는 프로그래밍을 가르치고 배우는데 중요한 역할을 하며, 학생과 교사 모두에게 유용한 유형의 학습 자료로 인식된다. 또한, 예제는 학습자가 프로그래밍을 할 때 기본틀, 가이드라인, 힌트 제공의 역할을 수행할 수 있다. 본 연구에서는 로봇 프로그래밍 교육을 위한 NXC 예제를 개발하고, 이를 학습자들이 쉽게 활용할 수 있는 지원 시스템을 개발하였다. 이 지원 시스템은 최근 관심이 집중되고 있는 스마트 교육의 동향에 따라 모바일 웹 애플리케이션으로 개발하였다.

• 한국의류학회지
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• 제44권6호
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• pp.1178-1188
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• 2020

This study obtains preliminary data through a multifaceted examination of work undertaken by soldiers and factors that should be considered in the development of wearable robots; in addition, the study explores the development direction for such robots in this segment. This study conducted a survey on males who had military experience in order to analyze work practices. The results of the survey indicate that there has been an existing need for wearable robots for soldiers and that soldiers prefer robots equipped with functions to support specific physical activities and those that offer comfort while being worn. In addition, it was found that the method to wear robots should be developed according to the body part that considered movements performed by soldiers. It was also found that strengthening functionality over aesthetic factors is extremely important. Soldiers desired wearable robots that could assist their main activities, protect their bodies, and incorporated an excellent system in terms of wearability.

• 한국산업융합학회 논문집
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• 제25권2_2호
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• pp.263-269
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• 2022

In this study, the optimal support position determination and stability determination of the wedge wire screen were performed for the production of the wedge wire filter screen with improved mesh screen. In order to manufacture a filter screen using a wedge wire, the support rod wedge wire is first installed according to the filtering capacity, and then spot welding is performed while rotating the profile wire. In the existing manufacturing method, it was manufactured using a 3m rod wedge wire and then cut according to dimensions, but it required the manufacture of a 6m cylindrical screen. Due to the increase in wedge wire length, it is difficult to manufacture stress concentration at sagging and fixed positions. In order to shorten the time of analysis, a single wedge wire was applied instead of a plurality of wedge wires. The reliability and validity of the interpretation were presented and the results were derived. After selecting the support point at the 2m position, structural analysis was performed on the entire filter screen to confirm stability.The purpose of this study is to identify the maximum deflection of the wire for the production of a 6m wedge wire screen and secure design basic data so that it can work safely through optimal support.