• 대한전기학회논문지:시스템및제어부문D
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• 제50권6호
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• pp.283-294
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• 2001

In this paper, a masterarm for teleoperation of humanoid robot is presented. This masterarm is based human kinematics, which not only mimics human posture/motion completely, but also has wider work range. In addition, by using the distributed controller architecture and electric brake for force reflection, small size and lightweight of the device can be achieved. Some size and lightweight of the device can be achieved. Some important experiments integrated with the humanoid robot, CENTAUR developed by KIST(Korea Institute of Science and Technology), are conducted to evaluate the performance of the proposed masterarm.

• 제어로봇시스템학회논문지
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• 제7권6호
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• pp.532-539
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• 2001

In robot teleoperation, much research has been carried out to control the slave robot from remote site. One of the essential devices for robot teleoperation is the masterarm, which is a path command generating device worn on human arm. In this paper, a new masterarm based on human kinematics is proposed. Its controller is based on the distributed controller architecture composed of two controller parts: a host controller and a set of satellite controllers. Each satellite controller measures the corresponding joint angle, while the host controller performs forward and inverse kinematics calculation. This distributed controller architecture can make the data updating faster, which allows to implement real-time implementation. The host controller and the satellited controllers are networked via three-wire daisy-chained SPI(Serial Peripheral Interface) protocol, so this architecture makes the electrical wiring very simple, and enhances maintenance. Analytical method for finding three additional unknown joint angles is derived using only three measured angles for each shoulder and wrist, which makes th hardware implementation very simple by minimizing the required number of satellite controllers. Finally, the simulation and experiment results are given to demonstrate the usefulness and performance of the proposed masterarm.

• 한국지능시스템학회:학술대회논문집
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• 한국퍼지및지능시스템학회 2007년도 춘계학술대회 학술발표 논문집 제17권 제1호
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• pp.135-138
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• 2007

In this paper, intelligent filtering methodology for masterarm translation signal is proposed. Fidelity and stability are contradicting factors in teleoperation. Human hand trembling filtering is one of the problems in telemanipulation field. During every operation the hand has a certain vibration that can affect the quality of teleoperation, especially in carrying FPD (Flat Panel for Display), nanomanipuation and other precise tasks. It is very important to study the kinesthetic perception of the human and to optimize the teleoperation system accordingly. To cancel out the influence of human's hand vibration the signal from the masterarm should be filtered. One of the feasible solutions is to use an intelligent filter, which is a very flexible instrument. Applying intelligent filtering methodology, we can use some heuristic methods to solve the filtering problem.

• International Journal of Fuzzy Logic and Intelligent Systems
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• 제8권2호
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• pp.100-104
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• 2008

In this paper, intelligent filtering methodology for masterarm translation signal is proposed. Fidelity and stability are contradicting factors in teleoperation. Human hand trembling filtering is one of the problems in telemanipulation field. During every operation the hand has a certain vibration that can affect the quality of teleoperation, especially in carrying FPD (Flat Panel for Display), nanomanipuation and other precise tasks. It is very important to study the kinesthetic perception of the human and to optimize the teleoperation system accordingly. To cancel out the influence of human's hand vibration the signal from the masterarm should be filtered. One of the feasible solutions is to use an intelligent filter based on fuzzy logic, which is a very flexible instrument. Applying intelligent filtering methodology, we can use some heuristic methods to solve the filtering problem.