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능동형 상지 운동 로봇을 위한 로드셀 기반 사용자 동작 의도 신호 생성기법 제안
이주현(Juhyeon Lee),엄성훈(Sunghoon Eom),문전일(Jeon-Il Moon),이승열(Seungyeol Lee) 대한기계학회 2015 대한기계학회 춘추학술대회 Vol.2015 No.11
This paper suggests Load-cell sensor based recognition of user motion intention for active upper limb exercise robots reflected user motion intention. In particular, we present a method of understanding user motion intention using combination of multiple Load-cell sensors for separating user’s condition and signal pre-processing for force information delivery to robot systems.
휠-트랙 하이브리드 모바일 로봇 플랫폼의 지형 적응성 및 사용자 친화성 향상을 위한 원격 조종기 설계와 개발
김윤구(Yoon-Gu Kim),안진웅(Jinung An),곽정환(Jeong-Hwan Kwak),문전일(Jeon-Il Moon) 제어로봇시스템학회 2011 제어·로봇·시스템학회 논문지 Vol.17 No.6
Various robot platforms have been designed and developed to perform given tasks in a hazardous environment for surveillance, reconnaissance, search and rescue, etc. We considered a terrain-adaptive and transformable hybrid robot platform that is equipped with rapid navigation capability on flat floors and good performance in overcoming stairs or obstacles. The navigation mode transition is determined and implemented by adaptive driving mode control of the mobile robot. In order to maximize the usability of wheel-track hybrid robot platform, we propose a terrain-adaptive and user-friendly remote controller and verify the efficiency and performance through its navigation performance experiments in real and test-bed environments.