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인현기(Hyunki In),정우석(Useok Jeong),강병현(Byunghyun Kang),이해민(Haemin Lee),구인욱(Inwook Koo),조규진(Kyu-Jin Cho) 제어로봇시스템학회 2015 제어·로봇·시스템학회 논문지 Vol.21 No.6
Hand function is one of the essential functions required to perform the activities of daily living, and wearable robots that assist or recover hand functions have been consistently developed. Previously, wearable robots commonly employed conventional robotic technology such as linkage which consists of rigid links and pin joints. Recently, as the interest in soft robotics has increased, many attempts to develop a wearable robot with a soft structure have been made and are in progress in order to reduce size and weight. This paper presents the concept of a soft wearable robot composed of a soft structure by comparing it with conventional wearable robots. After that, currently developed soft wearable robots and related issues are introduced.
Design of a Passive Brake Mechanism for Tendon Driven Devices
강성구,조규진,인현기 한국정밀공학회 2012 International Journal of Precision Engineering and Vol.13 No.8
Tendon driven mechanism is one of the most popular mechanism for transmitting force and power from a distance. The energy efficiency of a tendon driven system can be improved if it can maintain actuation force while it is not moving without mechanical work. This could be achieved by a brake; a brake without an additional actuator is preferred for the compactness of the whole system. We present a novel passive brake mechanism, a capstan brake, which consists of a capstan and two one-way clutches. The friction between the capstan and the cable amplifies a small resisting force (originated from an inactive motor) to gain enough brake force. Because no additional actuator is involved, generation of the brake force does not consume energy. Also, the one-way clutches enable the capstan to rotate in the winding direction. Therefore, the brake force is exerted only when it is needed, and the performance of the whole device does not decrease owing to the use of the capstan brake. The performance of the proposed brake mechanism has been evaluated through several tests. The results show that the amount of the maximum brake force for the test condition is more than 55 N (and can be further increased by increasing the number of windings), and that the force loss from the brake is negligible.