• Title/Summary/Keyword: tendon-drive mechanism

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Design and Control of a Novel Tendon-driven Exoskeletal Power Assistive Device (새로운 와이어 구동방식 외골격 보조기의 설계 및 제어)

  • Kong Kyoung-chul;Jeon Doyoung
    • Journal of Institute of Control, Robotics and Systems
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    • v.11 no.11
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    • pp.936-942
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    • 2005
  • Recently the exoskeletal power assistive equipment which is a kind of wearable robot has been widely developed to help the human body motion. For the elderly people and patients, however, some limits exist due to the weight and volume of the equipments. As a feasible solution, a tendon-driven exoskeletal power assistive device fur the lower body, and caster walker are proposed in this research. Since the caster walker carries the heavy items, the weight and volume of the wearable exoskeleton are minimized. The key control is used to generate the joint torque required to assist motions such as sitting, standing and walking. Experiments were performed for several motions and the EMG sensors were used to measure the magnitude of assistance. When the motion of sitting down and standing up was compared with and without wearing the proposed device, the $25\%$ assistance was acquired.

Improvement in the Control Performance of Instruments used for Minimally Invasive Surgery (최소침습술을 위한 의료용 인스트루먼트의 동작 성능 향상)

  • Park, Hyeonjun;Won, Jongseok;Park, Jaeheung
    • Journal of Institute of Control, Robotics and Systems
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    • v.19 no.12
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    • pp.1160-1166
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    • 2013
  • This paper presents feedforward controllers to improve the control performance of the motion and grasping force of a surgical instrument used in an MIS (Minimally Invasive Surgery) robot. The surgical instrument has a long distance between the drive motors and its active joints. Therefore, the gripper on the instrument is controlled by a cable drive mechanism, which generates a coupled motion between the wrist joint and the grip direction. In order to solve the problem, this paper analyzes the pulley composition of the surgical instrument and proposes feedforward controllers to eliminate the coupled motion. Furthermore, feedforward controllers to regulate the grasping force are proposed to deal with another coupling problem between the grasping force of the instrument and the motion of the instrument joints. The experimental results demonstrate the improved control performance of the motion and grasping force of the instrument.