• 대한기계학회:학술대회논문집
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• 대한기계학회 2001년도 춘계학술대회논문집B
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• pp.277-282
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• 2001

As human-friendly robot techniques improve, the concept of the wearability of robotic arms becomes important. A master arm that detects human arm motion and provides virtual forces to the operator is an embodied concept of a wearable robotic arm. In this study, we design a 7 DOF wearable robotic arm with high joint torques. An operator wearing this robotic arm can move around freely because this robotic arm was designed to have its fixed point at the shoulder part of the operator. The proposed robotic arm uses parallel mechanisms at the shoulder part and the wrist part on the model of the human muscular structure of an upper limb. To reduce the computational load in solving the forward kinematics and to prevent singularity motions of the parallel mechanism, yawing motion of the parallel mechanisms was separated using a slip ling mechanism. The total weight of the proposed robotic arm is about 4 kg. An experimental result of force tracking test for the pneumatic control system and an application example for VR robot are described to show the validity of the robot.

• 제어로봇시스템학회논문지
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• 제6권9호
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• pp.796-802
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• 2000

A master-slave system for teleoperation is usually used to control the robor's motion on remote place such as abyss, outer space etc.. When the slave robot is a humanoid one, it can make a better performance if the configuration of the master arm is similar to that of the slave arm and of the human. The master arm proposed in this paper has a type to be put on the human arm, that is, the exoskeleton type, and has a combination of serial joint and parallel mechanism imitating the human's arm structure of muscles and bones, so called hybrid mechanism so that it can follow arm's movement effectively. But it is easy to solve the forward kinematis of the parallel structure because relating equations are implicit functions. In order to solve that, the virtual joint angle corresponding to human arm's joint is introduced and a sequential computation step is employed in calculating virtual joint angles and the posture of the end effector. Also validity is checked up through computational simulation.

• 대한전자공학회:학술대회논문집
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• 대한전자공학회 2000년도 ITC-CSCC -2
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• pp.600-603
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• 2000

In this paper, we propose the design method of distributed control system using Controller Area Network (CAN). CAN is an advanced serial communication protocol for distributed real-time control systems. It is a contention-based multi-master network whose timeliness properties come from its collision resolution algorithm which gives a high schedulable utilization and guaranteed bus access latency. With proposed method using CAN, we apply to robot controller. The effectiveness of proposed method is demonstrated by the simulation and experiment.

• 대한전기학회:학술대회논문집
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• 대한전기학회 2002년도 합동 추계학술대회 논문집 정보 및 제어부문
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• pp.138-141
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• 2002

In this paper, we developed a Master Hand which has 20 potentiometer for getting grasping data of human hands, a Slave Hand which has 20 DOF and five fingers with servo-motors, and a controller for the 7 DOF Arm with Multi-fingered hands. And, we programmed a 3D simulation S/W which controls a Robot System with Multi-fingered hands. A developed Robot System showed good performance in the grasping of an object with known position and shape.

• 한국CDE학회논문집
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• 제12권1호
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• pp.50-57
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• 2007

In recent years, many robotics researches have been focused on developing human-friendly robots, that is, humanoid biped robots. The researches of humanoid robots include various areas such as hardware development, control of biped locomotion, artificial intelligence, human interaction, etc. The present work concerns the hardware development of a mid-size humanoid robot, BONOBO, focusing on rapid development of outer body parts with integrated application if CAD/CAM/CAE/RP. Most parts are three-dimensionally designed using 3D CAD, and effectively connected with CAE analyses using both kinematic simulation and structural analysis. In order to reduce lead time and investment cost for parts developments, Rapid Prototyping (RP) and CAM are selectively utilized for manufacturing body parts. These master parts are then replicated using the vacuum casting process, from which we can obtain plastic parts repeatedly. Through this integrated approach, the first prototype of BONOBO can be successfully developed with relatively low time and investment costs.

• 전력전자학회:학술대회논문집
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• 전력전자학회 2005년도 전력전자학술대회 논문집
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• pp.595-597
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• 2005

This paper shows the development of remote control system for manipulators which consists of PHANToM Device as a master, Samsung FARA robot as a slave and TCP/IP based LAN fortheir Communication. This work includes the motion mapping between the master and the slave, Generation of virtual viscosity force preventing operator's unwilled action and 3D remote control simulators for the stable operation of the remote control system, etc. The remote control implementation has been performed and the results shows that the developed system can allow the operator to effectively control the manipulator.

• 한국정밀공학회지
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• 제29권8호
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• pp.845-852
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• 2012

The diaphragm-type stylus probe was developed for ultra-precision on-machine measurement (OMM) application. This probe is equipped with two diaphragms which are parallel and one capacitive sensor is used for detecting the vertical motion of end tip in the stylus when it is contacted to the optical freeform surface. For better performance of proposed probes, several design parameters such as axial stiffness and the lateral deformations were investigated with finite element analysis techniques. To verify the feasibility, the profiles of the master sphere ball were measured on the ultra-precision milling machine. The measurement results show that the proposed probe can calculate the radius of the circle within the accuracy of 0.1 ${\mu}m$ for the ultraprecision optical surface.

• 한국화재소방학회:학술대회논문집
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• 한국화재소방학회 2007년도 추계학술논문발표회 논문집
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• pp.213-218
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• 2007

• 한국CDE학회논문집
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• 제13권6호
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• pp.429-439
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• 2008

With a remote operated manipulator system, the situation at a remote site can be rendered through remote visualized image to the operator. Then the operator can quickly realize situations and control the slave manipulator by operating a master input device based on the information of the virtual image. In this study, the remote operator visual support system (ROVSS) was developed for viewing support of a remote operator to perform the remote task effectively. A visual support model based on virtual environment was also inserted and used to fulfill the need of this study. The framework for the system was created by Windows API based on PC and the library of 3D graphic simulation tool such as ENVISION. To realize this system, an operation test environment for a limited operating site was constructed by using experimental robot operation. A 3D virtual environment was designed to provide accurate information about the rotation of robot manipulator, the location and distance of operation tool through the real time synchronization. In order to show the efficiency of the visual support, we conducted the experiments by four methods such as the direct view, the camera view, the virtual view and camera view plus virtual view. The experimental results show that the method of camera view plus virtual view has about 30% more efficiency than the method of camera view.

• 제어로봇시스템학회논문지
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• 제22권8호
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• pp.590-596
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• 2016

Biopsy is a typical needle type intervention procedure performed under radiographic image equipment such as computed tomography (CT) and cone-beam CT. This minimal invasive procedure is a simple and effective way for identifying cancerous condition of a suspicious tissue but radiation exposure for the patients and interventional radiologists is a critical problem. In order to overcome such trouble and improve accuracy in targeting of the needle, there have been various attempts using robot technology. Those devices and systems, however, are not for full procedure automation in biopsy without consideration for tissue sampling task. A robotic end-effector of a master-slave tele-operated needle type intervention robot system has been proposed to perform entire biopsy procedure by the authors. However, motorized sampling adopted in the device has different cutting speed from that of biopsy guns used in the conventional way. This paper presents the design of a novel robotic mechanism and protocol for the automation of biopsy procedure using spring-triggered biopsy gun mechanism. An experimental prototype has been successfully fabricated and shown its feasibility of the automated biopsy sequence.