임무유형별 착용로봇 특성화 방안 연구

차도완,이경택,계중읍 한국로봇학회 2023 로봇학회 논문지 Vol.18 No.4

In this report, a specialization plan for wearable robots by mission profile was investigated and analyzed to derive an application plan. The final goal of this study was to derive the operating requirements of wearable robots according to specialized plans, and to conduct a specialized study on wearable robots by mission profile through investigation/analysis of specialized plans for each mission profile. In the study, 1) Research on technology trends related to military wearable robots such as patents and papers, 2) Research/analysis of mission profiles to characterize wearable robots, 3) Analysis of wearable robot specialization plans according to mission profiles, and 4) Requirements for wearable robot operation were derived. In the first time of the study, a survey on technology trends related to wearable robots for soldiers such as patents and papers was completed, and a military consultative body was conducted to derive measures to characterize wearable robots. In addition, a survey was conducted on mission profiles, and the second time study derived Key Performance Parameters (KPP) for operational performance, core performance, and system performance based on scenarios by mission profile. However, it is revealed that the KPP derived from the research results was not covered in this paper because it was judged that more in-depth research was needed prior to disclosure. In order to prepare for future battlefield situations and increase the usability of wearable robots, this study was conducted to characterize wearable robots by considering the characteristics of soldiers’ equipment according to mission profiles and to characterize wearable robots by mission profile.

Human-Robot Cooperative Control Based on pHRI (Physical Human-Robot Interaction) of Exoskeleton Robot for a Human Upper Extremity

이희돈,한창수,이병규,김완수,길명수,한정수 한국정밀공학회 2012 International Journal of Precision Engineering and Vol.13 No.6

This paper proposes a human-robot cooperative control of exoskeleton robot assisting muscle strength of a human upper extremity when lifting or transporting heavy objects. When a human wears a robot, the motions of the human and robot generate interaction, which is called HRI (Human-Robot Interaction). To generate reference motion from the interaction force, a pHRI model was developed using virtual mechanical impedance, and an experimental method to determine the impedance parameters of the pHRI model was proposed. The controller was developed in such a way that the desired motion will be controlled using dynamic model-based compensation. To verify the proposed control method, it was applied to an exoskeleton robot with 6-DOF for both arms. Motion-following-performance experiment and muscle-strengthassisting-effect experiment were conducted using this robot. Experimental results, the wearer of the exoskeleton robot can handle a small force was the heavy object.

웨어러블 로봇의 기술 현황 조사 및 개발 방향 제안 연구

김혜숙,구다솜,남윤자,조규진,김선영 한국의류산업학회 2019 한국의류산업학회지 Vol.21 No.5

Technology status was investigated by analyzing patents and development cases of wearable robots. Development direction of wearable robot for wearability was also suggested by understanding the problems of wearability from development cases through the FGI technique. The number of patents per technical field was the most in the field of strength support, but AI in the technology field was different in each country; Korea was found to be poor in the category of daily living assistance. The number of patents by technology category was the most in the category of muscular strength assistance. However, the values of AI in the technology category were different in each country; Korea was found to be poor in the category of daily living assistance. Development cases were focused on rehabilitation, so development is not fulfilled uniformly by use purpose. By wearing body parts, robots with single function type were mainly developed. Rigid material robots were mainly developed. It was confirmed that wearable robot technology is not developed evenly in the category of application because it is in the early stage of the technical proposal and centered on main performance improvement. We derived twelve wearable conditions for wearable robots: Shape and Size Appropriateness, Movement Appropriateness, Composition Appropriateness, Physiological Appropriateness, Performance Satisfaction, Ease of Operation, Safety, Durability, Ease of Dressing, Ease of Cleaning, Portability and Ease of Storage and Appearance Satisfaction. Finally, the development direction of a wearable robot for each wearable condition was suggested.

Skin injury occurrence estimation model for the wearable robot use and its experimental validation

Chang-Hwan Lee,Kwan-Woong Gwak 제어로봇시스템학회 2021 제어로봇시스템학회 국제학술대회 논문집 Vol.2021 No.10

The wearable robot"s support delivered to the human wearer induces various types of force and pressure interactions. Continued and repeated interaction of shear stress and normal pressure with human skin under the cuff eventually leads to pain and skin injury. In fact, redness and abrasions corresponding to pressure ulcers(PU) have been reported in real wearable robot use cases. In addition, the authors confirmed cases of similar outbreak of pressure ulcer through interviews with wearable robot users, physicians, and robot makers. However, studies on PU breakout mechanisms related to the use of wearable robots are very rare. Therefore, we developed the skin injury breakout time estimation model in the wearable robot use environment through the comprehensive analysis of PU breakout mechanism in general biomedical circumstances. Three major causes of PU and their relationship with breakout time were identified, and two unmeasurable causes of PU were converted into the measurable skin normal pressure by applying the friction coefficient and FEM analysis of human muscular skeletal tissue. Through this conversion process, it was possible to establish a pressure ulcer breakout time estimation model based on the measurable skin normal pressure. The proposed PU breakout time estimation model was validated through experiments with human subject.

3D프린팅 웨어러블 로봇 디자인 개발 연구 - 물리적 휴먼 로봇 인터페이스를 중심으로 -

권칠용(주저자) ( Kwon Chilyong(주저자) ),권칠용(교신저자) ( Kwon Chilyong(교신저자) ) 디자인융복합학회(구.한국인포디자인학회) 2021 디자인융복합연구 Vol.20 No.2

웨어러블 로봇의 물리적 휴먼-로봇 인터페이스(p-HRI)는 인체와 일체화된 연결성이 확보될 수 있도록 구성되어야 한다. 그러나 기존 웨어러블 로봇의 p-HRI 적용 사례를 살펴보면 기성화 된 p-HRI를 적용하여 체형-맞춤이 부적합한 경우가 대부분이다. 이에 본 연구는 웨어러블 로봇의 일체화된 연결성을 제공할 수 있는 3D프린팅 기반의 물리적 휴먼-로봇 인터페이스(3D 프린팅 p-HRI)를 개발하여 제안하고자 한다. 따라서 본 연구에서는 보행기능 장애를 가지는 고령자를 위한 웨어러블 로봇을 연구대상으로 선정하였다. 3D프린팅 p-HRI 디자인에서는 3D 스캐닝, 3D 서피스 추출, 바디 서피스와 로봇 모델 커플링, p-HRI 형상 디자인의 절차로 허리, 대퇴, 하퇴, 발 고정부 p-HRI에 대한 디자인 개발을 진행하였다. 1차 평가에서는 고령자 1인을 대상으로 개발된 3D프린팅 p-HRI를 평가하였으며, 디자인 개선을 진행하였다. 2차 평가에서는 고령자 2인을 대상으로 개선된 3D프린팅 p-HRI를 평가하였으며, 효용성을 확인하였다. 본 연구의 의의는 기존의 기성화 된 p-HRI의 체형-맞춤 부적합의 문제를 개선할 수 있는 새로운 대안으로 1대1 맞춤 방식의 3D프린팅 기반 p-HRI 개발하여 제시했다는 점에 있다. The wearable robot's physical human-robot interface(p-HRI) must be configured to ensure integrated connectivity with the human body. However, conventional wearable robots are in most cases inadequate for body shape-fit by applying ready-made p-HRI. Therefore, in this study, a 3D printing-based physical human-robot interface (3D printing p-HRI) was developed and proposed. In this study, a wearable robot for the elderly with walking dysfunction was selected as the subject of the study. In the p-HRI design, the design of the waist, thigh, lower leg, and foot fixing parts was developed as a procedure of 3D scanning, 3D surface extraction, coupling of body surface and robot model, and shape design. In the first evaluation, the developed 3D printing p-HRI was evaluated for one elderly person, and the design was improved. In the second evaluation, the improved 3D printing p-HRI was evaluated for two elderly people, and the effectiveness was confirmed. The significance of this study is that it has developed and proposed p-HRI based on 3D printing of a one-to-one customized method as a new alternative that can improve the problem of the existing p-HRI.

환자와 로봇의 모델 불확도를 고려한 상지재활로봇의 채터링 없는 슬라이딩 모드 제어

압둘 마난 칸(Abdul Manan Khan),윤덕원(Deok-Won Yun),한창수(Changsoo Han) 제어로봇시스템학회 2015 제어·로봇·시스템학회 논문지 Vol.21 No.5

Need to develop human body’s posture supervised robots, gave the push to researchers to think over dexterous design of exoskeleton robots. It requires to develop quantitative techniques to assess human motor function and generate the command to assist in compliance with complex human motion. Upper limb rehabilitation robots, are one of those robots. These robots are used for the rehabilitation of patients having movement disorder due to spinal or brain injuries. One aspect that must be fulfilled by these robots, is to cope with uncertainties due to different patients, without significantly degrading the performance. In this paper, we propose chattering free sliding mode control technique for this purpose. This control technique is not only able to handle matched uncertainties due to different patients but also for unmatched as well. Using this technique, patients feel active assistance as they deviate from the desired trajectory. Proposed methodology is implemented on seven degrees of freedom (DOF) upper limb rehabilitation robot. In this robot, shoulder and elbow joints are powered by electric motors while rest of the joints are kept passive. Due to these active joints, robot is able to move in sagittal plane only while abduction and adduction motion in shoulder joint is kept passive. Exoskeleton performance is evaluated experimentally by a neurologically intact subjects while varying the mass properties. Results show effectiveness of proposed control methodology for the given scenario even having 20 % uncertain parameters in system modeling.

고령층 근로자들을 위한 팔꿈치 착용형 로봇의 개발

이석훈(Seok-Hoon Lee),이시행(Si-Haeng Lee),김정엽(Jung-Yup Kim) 대한기계학회 2015 大韓機械學會論文集A Vol.39 No.6

본 논문은 고령화되는 현대 사회에서 고령층 근로자들의 팔꿈치 근력 보조를 위한 웨어러블 로봇의 개발에 대해서 서술하였다. 기존에 연구 개발된 다양한 웨어러블 로봇들은 착용자가 사용하기에 가격, 휴대성 측면 뿐만 아니라 느린 착용자 의도 파악에 단점들이 있어왔다. 본 논문에서는 이러한 문제들을 최소화하기 위해 다음과 같은 특징을 강조하였다. 첫째, 양팔 작업 시 가장 많은 모멘트를 받는 팔꿈치 관절에만 구동기를 부착하여 무게와 부피 및 가격을 줄이고 실용성을 높였다. 둘째, 웨어러블 로봇의 작동을 추종 모드와 근력 증강 모드로 나누고, 본 연구에서 개발한 상박 근력 측정 장치로부터 착용자의 의지를 실시간 파악하여 모드가 자동적으로 전환 될 수 있도록 하였다. 이로부터 빠른 착용자 의도 파악과 동작 전환이 가능하도록 하였다. 개발된 로봇을 이용하여 무 부하 시 착용자의 모션 추종 성능을 측정하고, 부하 시 EMG (Electromyography) 센서로부터 상박의 근력을 측정함으로써 착용자의 근력 보조 성능을 실험적으로 입증하였다. 결과적으로, 초당 120 도의 모션 추종 성능과 60% 이상의 근력 보조 성능을 얻을 수 있었다. This paper describes the development of a wearable robot to assist the elbow muscle for use by elderly workers in aging societies. Various previously developed wearable robots have drawbacks in terms of their price, portability, and slow recognition of the wearer"s intention. In this paper, emphasis is placed on the following features to minimize these drawbacks. The first feature is that an actuator is attached only at the elbow joint that withstands the highest moment during arm motion to reduce the weight, volume, and price of the robot and increase its practicality. The second is that operation of the wearable robot is divided into two modes, a tracking mode and a muscle strengthening mode, and the robot can automatically switch between these modes by analyzing the wearer"s intention through the brachial muscle strength measuring device developed in this study. The assistive performance of the developed wearable robot is experimentally verified by motion tracking experiments without an external load and muscle strengthening experiments with an external load. During the muscle strengthening experiments, the power of the muscle of the upper arm is measured by a commercial electromyography (EMG) sensor. Motion tracking performance at a speed of 120°/s and muscle assistance of over 60 % were obtained using our robot.

Investigation of Friction Characteristics of a Tendon Driven Wearable Robotic Hand

HyunKi In,Donsuk Lee,Kyu-Jin Cho 제어로봇시스템학회 2010 제어로봇시스템학회 국제학술대회 논문집 Vol.2010 No.10

Wearable robots can assist people with disabilities to perform their daily tasks. However, the size, weight and wearability are important factors in the design because it is worn by the person controlling it. Various disabilities can be assisted with wearable robot technology, from the lower to upper body. The hand is an important part of the body for the disabled to perform their daily tasks. However, compared to the arms or legs, the degree of freedom is much higher, which makes it difficult to fabricate a compact wearable robot. We propose a frameless structure and modified differential mechanism to make the wearable robot compact. For the evaluation and control, it is necessary to analyze the friction force because the mechanism we proposed delivers power through more tube than the previous tendon tube transmission. Different from the previous friction model, we consider the friction at the edge of tube ends. This paper contains the design concept of the developed wearable robotic hand and its friction characteristics.

노약자의 팔꿈치 거동 지원을 위한 착용형 로봇 개발

장혜연(Hye Yoen Jang),한창수(Chang Soo Han),김태식(Tae Sik Kim),장재호(Jae Ho Jang),한정수(Jung Soo Han) Korean Society for Precision Engineering 2008 한국정밀공학회지 Vol.25 No.3

The purpose of this study is to develop the algorithm which can control muscle power assist robot especially for elderly. Recently, wearable robots for power assistance are developed by many researchers, and its application fields are also variable such as for medical or military equipment. However, there are many technical barriers to develop the wearable robot. This study suggest a control method improving performance of a wearable robot system by using a EMG signal of major muscles and a force sensor signal as command signal of system. The result of the robot Prototype efficiency experiment, the case of Maximum Isometric motion it suggest 100% power of muscle, the man need only 66% of MVIC(Maximum Voluntary Isometric Contraction) to lift 5㎏ dumbbell without robot assist. However the man needs only 52% of MVIC to lift 5㎏ dumbbell with robot assist. Therefore 20% muscle power increased with robot assist. Also, we designed light weight robot mechanism that extract the command signal verified and drive the wanted motions.

Wearable EMG-based HCI for Assistive Robots

Inhyuk Moon,Jun-Uk Chu,Myung-Joon Lee,Mu-Seong Mun 한국과학기술원 인간친화 복지 로봇 시스템 연구센터 2006 International Journal of Assistive Robotics and Me Vol.7 No.3

  Electromyogram (EMG) signal generated by voluntary contraction of muscles is often used in assitstive devices because of its distinct output characteristics compared to other bio-signals. This paper proposes a wearable EMG-based human-computer interface (HCI) for assistive robots such as a wheelchair robot and a myoelectric hand robot. The EMG signals for the HCI are measured from levator scapulae muscles concerned in shoulder elevation gestures and forearm muscles concerned in hand gestures. The experimental results show the proposed wearable EMG-based HCI is feasible for assistive robots.