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외력기반 사용자 동작의도 반영형 상지 운동로봇 모션제어 알고리즘 검증
엄성훈(Sunghoon Eom),이승열(Seungyeol Lee),문전일(Joen Il Moon) 대한기계학회 2015 대한기계학회 춘추학술대회 Vol.2015 No.11
This paper describes the motion control algorithm to manipulate an upper limb exercise robot that can be reflected user motion intention represented with human power. In particular, the motion control algorithm contains an admittance controller to mediate relation between human power and desired robotic trajectory. The proposed algorithm is verified with a laboratory developed 6 DOF upper limb exercise robot.
Feasibility Study on Dimensional Standard for Material Extrusion Type 3D Printed Structures
엄성훈(Sunghoon Eom),박정재(Jungjae Park),진종한(Jonghan Jin),손용(Yong Son) Korean Society for Precision Engineering 2020 한국정밀공학회지 Vol.37 No.4
Material extrusion (ME) type 3D printing has been widely utilized through various types of systems depending on the fabrication methods, materials, and precision to fabricate complex workpieces that cannot be made with conventional methods. This study provides basic considerations in response to the current demands on performance evaluation of ME type 3D printing related to dimensions as well as the realization of the guidelines to be established in the near future. As a simple specimen for these purposes, 2D and 3D hole-plates were designed and fabricated by using a ME type entry-level 3D printer. For evaluation of dimensions on the specimen, both specimens were measured by a calibrated tool-maker’s microscope which is to length standard. The measurement parameters were the center position of the holes, the diameter of the holes, and the circularity error of the holes.
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.