웨어러블 슈트의 소프트 액추에이터를 위한 공압 분배기 개발

구재완(Jaewan Koo),한종부(Jong-Boo Han),이석재(Seokjae Lee),곽동기(Dong-Gi Gwak),함제훈(Jehun Hahm),손동섭(Dong-Seop Sohn),서갑호(Kap-Ho Seo) 제어로봇시스템학회 2020 제어·로봇·시스템학회 논문지 Vol.26 No.7

With an aging society, research into wearable suits to support the elderly is actively being conducted. While these suits can use various driving methods, such as motors, pneumatics, and wires, many researchers prefer pneumatic-based soft actuators due to their high degree of safety and low weight. However, the use of a valve in these actuators is essential and requires high-precision control techniques and periodic replacement. To solve this problem, this paper proposes a low-cost pneumatic distributor design for pneumatic-based soft actuators. The advantage of the proposed pneumatic distributor is that it can be easily controlled by continuously adjusting the rotation speed according to the walking cycle of an elderly person. In addition, it is easy to design a pneumatic distributor suitable for the walking characteristics of the elderly, and costs can be kept low by utilizing a 3D printer for fabrication. In order to verify the final design, an experimental environment is constructed and the effectiveness of the distributer is analyzed through pneumatic measurement.

공압을 이용한 단일세포 포획에 관한 연구

정옥찬(Ok Chan Jeong),김현동(Hyun Dong Kim),김태경(Tae Kyung Kim),전종훈(Jong Hun Jeon),김경천(Kyung Chun Kim) 한국가시화정보학회 2009 한국가시화정보학회 학술발표대회 논문집 Vol.2009 No.11

This paper presents a pneumatically-driven single cell trap, which consisted of pneumatic vibrator arrays and trap chamber for trapping of single cell. The entire structure was fabricated with only polydimethylsiloxane (PDMS). A live cell was successfully trapped at the trap zone generated by four vibrators. During trapping of single cell, the intracellular calcium response of single cell induced by the mechanical stimuli during was measured in order to investigate the effectiveness of the proposed cell trap as a stress-free trapping method.

공압파쇄를 이용한 지하수량 증가에 대한 연구

김종태 ( Jong Tae Kim ),정교철 ( Gyo Cheol Jeong ),부성안 ( Seong An Booh ),김진성 ( Jin Seong Kim ),김혜빈 ( Hye Bin Kim ) 대한지질공학회 2004 지질공학 Vol.14 No.2

최근, 지하수 양수량이 적은 관정을 대상으로 양수량을 증가시키기 위한 연구가 활발하게 이루어지고 있다. 이러한 관정에 대한 효율적인 방법으로는 공압파쇄를 이용할 수 있다. 공압파쇄는 관정 내 일시적 및 단계적으로 공기압을 주입하여 암반 내 응력의 불균형을 초래시켜 균열의 폭, 길이, 수를 증가시키거나 균열 내 물질을 제거함으로써 지하수가 유입될 수 있는 공간을 확보해주는 공법이다. 즉, 일시적으로 큰 공기압을 암반 내로 주입하여 암반 원래의 투수성보다 더 높은 투수성 및 지하수양을 얻을 수 있다. 이 연구의 결과로서 P-5공에서는 파쇄 전 양수량이 26㎥/day, 수위강하량이 51.12m, 비양수량은 0.51㎡/day이며, 파쇄 후 양수량은 30㎥/day, 수위강하량이 56.58m, 비양수량은 0.53㎡/day이다. 이는 당초보다 4㎥/day이 증가되었으며 약 15%의 수량증대 효과가 나타났다. For a long time, groundwater has been used for a substitution for surface water but recently many problems have risen due to shortage of water resources and decrepitude of waterwells. Pneumatic fracturing technique is likely to be an efficient way to solve the problem of the wells, in which pressure under the ground is applied to increase the amount of ground water. When applied pressure is given artificially to unstabilize the rock stress or to remove substances between fractures the groundwater can inflow. As the air pressure applied on the base rocks is stronger, permeability is getting higher, thus producing much groundwater than ever before. The result of this study show 15% increase of pumping rate in the P-5 well. After pneumatic fracturing pumping rate changed from 26m3/day to 30m3/day, drawdown rate increase from 51.12m to 56.58m, and specific yield also increased from 0.51m3/day to 0.53m3/day.

다리를 이용한 클램핑 방식의 자벌레 이동방식 대장내시경로봇

박현준(Park Hyunjun),임상혁(Leem Sanghyuck),김병규(Kim Byungkyu) 대한기계학회 2010 大韓機械學會論文集A Vol.34 No.6

본 논문은 자벌레 이동장치의 전, 후반부에 각각 여섯 개의 다리로 이루어진 고정장치를 사용하여 인체내에서 원활하게 이동할 수 있는 대장내시경로봇을 제안하였다. 또한, 관탐사용 이동장치로 기 개발된 하나의 공압선을 이용한 자벌레 이동방식을 적용하여 공압선과 이동환경 사이의 마찰을 줄여주어 이동 성능을 높여주었다. 이동 성능을 평가하기 위하여 로봇을 직경 15㎜, 길이 110~250㎜ 의 크기로 설계 및 제작 후, 아크릴 관과 죽은 돼지의 창자에서 이동실험을 수행하였다. 실험을 통하여 로봇은 곡관의 반경이 25㎜ 이상이면 이동이 가능함을 알 수 있었고, 직관의 경우 수평관에서 33㎜/s, 수직관에서 12.1㎜/s 의 이동 속도를 보여주었다. 결론적으로 하나의 공압선을 이용하여 구동되고 양단에 다리로 구성된 고정장치를 장착한 제안된 로봇은 대장내시경 로봇으로써 신뢰성이 높은 이동성능을 보여주었다. For the reliable clamping of a robotic colonoscope inside the colon, we propose a clamping module consisting of six legs at the front and a trigger at the rear. In addition, a pneumatic-line based locomotive mechanism, which was developed previously for in-pipe inspection, is adopted to reduce the friction force between the pneumatic lines and the locomotion environment. In order to evaluate locomotion performance, a robot with a diameter of 15 ㎜ and a length of 110?250 ㎜ is used. Based on control signal from LabVIEW, it is tested in acrylic pipe and pig’s colon. The proposed robot is able to move in the curved path which has a radius of over 25 ㎜. The speed of the robot is 33 ㎜/s in a straight path and 12.1 ㎜/s on a vertical path. The proposed robot, which has one pneumatic line and two clamping modules, conclusively shows reliable locomotion performance under in vitro condition.

Research on Fractional Order Fuzzy PID Control of the Pneumatic-hydraulic Upper Limb Rehabilitation Training System Based on PSO

Hongyan Wang,Jinbo Lu 제어·로봇·시스템학회 2022 International Journal of Control, Automation, and Vol.20 No.1

In this paper, a new type of pneumatic-hydraulic upper limb rehabilitation training system is designed, and the system modeling and control method are studied. The 2DOF fuzzy fractional PID controller is proposed, which provides a new reference for improving the control accuracy of two degrees of freedom pneumatic system. Due to the increase of the regulating parameters of the fractional order controller, a multi-objective particle swarm optimization algorithm is designed to determine the parameters of the control system and optimize the determination process of the parameters. In order to verify the effectiveness of the control method, an experimental study was carried out by building a pneumatic-hydraulic upper limb rehabilitation training system platform. Compared with PID controller, the overshoot of the system controlled by fractional order fuzzy PID controller is reduced by 17.3%. The peak time is shortened about 11.7%, and the delay time of sine tracking signal is reduced about 10.6%. The results show that the control performance of two degrees of freedom fractional order fuzzy PID controller is better than other controllers.

Programmable prostate palpation simulator using property-changing pneumatic bladder

Talhan, Aishwari,Jeon, Seokhee Elsevier 2018 Computers in biology and medicine Vol.96 No.-

<P><B>Abstract</B></P> <P>The currently available prostate palpation simulators are based on either a physical mock-up or pure virtual simulation. Both cases have their inherent limitations. The former lacks flexibility in presenting abnormalities and scenarios because of the static nature of the mock-up and has usability issues because the prostate model must be replaced in different scenarios. The latter has realism issues, particularly in haptic feedback, because of the very limited performance of haptic hardware and inaccurate haptic simulation. This paper presents a highly flexible and programmable simulator with high haptic fidelity. Our new approach is based on a pneumatic-driven, property-changing, silicone prostate mock-up that can be embedded in a human torso mannequin. The mock-up has seven pneumatically controlled, multi-layered bladder cells to mimic the stiffness, size, and location changes of nodules in the prostate. The size is controlled by inflating the bladder with positive pressure in the chamber, and a hard nodule can be generated using the particle jamming technique; the fine sand in the bladder becomes stiff when it is vacuumed. The programmable valves and system identification process enable us to precisely control the size and stiffness, which results in a simulator that can realistically generate many different diseases without replacing anything. The three most common abnormalities in a prostate are selected for demonstration, and multiple progressive stages of each abnormality are carefully designed based on medical data. A human perception experiment is performed by actual medical professionals and confirms that our simulator exhibits higher realism and usability than do the conventional simulators.</P> <P><B>Highlights</B></P> <P> <UL> <LI> The paper presents a highly flexible and programmable prostate palpation DRE simulator - with high haptic fidelity. </LI> <LI> It presents the detailed hardware design and layered architecture of silicone prostate end-effector for controlling stiffness and size of the pneumatic bladder. </LI> <LI> Establishes rendering algorithms that enable the realistic imitation of multiple symptoms of all prostate diseases within a single end-effector. </LI> <LI> Two human perception experiments are performed by medical professionals and confirmed that proposed simulator exhibits higher realism and usability than do the conventional DRE simulators. </LI> </UL> </P> <P><B>Graphical abstract</B></P> <P>[DISPLAY OMISSION]</P>

공압 기반의 팽창식 비틀림 소프트 스프링 액추에이터 설계 및 성능

장재혁,김지훈,장성원,RODRIGUEHUGO 한국정밀공학회 2022 한국정밀공학회지 Vol.39 No.11

The soft robotics field, known to have actuators and systems with a simple manufacturing process, being lightweight and safe to interact with humans, is in constant expansion. Present actuators have excessive unwanted deformations, which greatly affects the system's performance by enlarging the external dimensions of the soft robot, reducing its efficiency, and causing unexpected or harmful contact with its surrounding environment. Thus, this work presented an actuator with a spring-like structure within a pneumatic chamber able to contract based on its innate design and lengthen when hyperatmospheric pressures are applied, resulting in tension and torsion. A tensile testing machine and a force-torque sensor coupled with the actuator were used to evaluate its performance for different initial lengths, pressure inputs, and number of coils. At 30 kPa, a torque of up to 5 Nm was generated, have a maximum torsional angle of 41 degrees, and expanded 700% of its original length. Results have shown that the studied pneumatic-based expanding torsional soft spring actuator can stably lengthen under pneumatic pressure, resulting in sufficient force and considerable torque, and could be considered in future applications.

공기압 구동식 6 DOF 드라이빙 시뮬레이터의 개발

김근묵(Kim, Geun-Mook),강이석(Kang, E-Sok) 한국산학기술학회 2013 한국산학기술학회논문지 Vol.14 No.12

본 연구의 목적은 실감나는 운전 환경을 제공하는 공기압 구동식 드라이빙 시뮬레이터 개발에 있다. 드라이 빙 시뮬레이터의 모션 플랫폼은 운전자에게 실제 차량의 사실적인 느낌을 주는 메카트로닉스 장비이다. 모션 플랫폼 의 비용은 드라이빙 시뮬레이터를 개발하는데 가장 큰 부분을 차지한다. 저비용으로 모션 플랫폼을 개발하기 위하여 6개의 공압 실린더로 구성된 스튜어트 플랫폼 형태를 기반으로 모션 플랫폼을 자체 제작하였다. 스튜어트 플랫폼은 조이스틱의 작동신호에 대한 응답으로 만족할 만한 추종성능을 보여주었다. 상용의 레이싱 게임 소프트웨어 중의 하 나인 rFactor를 이용하여 드라이빙 시뮬레이터의 가능성을 확인하였다. A pneumatically-driven driving simulator that provides a realistic representation of the driving environment was developed. The motion platform for the driving simulator is a mechatronic device that gives a driver the realistic feeling of an actual vehicle. The cost of the motion platform comprises the largest part of the expenses in developing a driving simulator. In this project, to develop a low-cost motion platform, the self-built motion platform based on the Stewart platform configuration that is constructed by six pneumatic cylinders was used as its actuator. The Stewart platform that moves in response to the operating signals of the joystick showed satisfactory tracking performance. We confirmed the possibility of the driving simulator using rFactor that is a commercially available racing game software.

대형트럭 공기배력유압식 제동장치 제동오일 누출 감정사례 비교고찰

하용민(Yongmin Ha) 한국자동차공학회 2006 한국자동차공학회 춘 추계 학술대회 논문집 Vol.- No.-

The expected life span of truck is about 10 years. The vehicles above or close to 10 years are exposed to the possibility of brake system failure. The brake-oil leakage in truck traveling cause fatal accident. The brake system of truck have pneumatic-hydraulic brake system amplifying braking power by a built-in compressor. We introduce, investigate and compare 3 brake-oil leakage cases of large-type truck brake system in traffic accident. These trucks are called GRANTO, Ready-mixed concrete truck and RHINO respectively. The brake-oil leakage causes are inspected as the trouble of seal-up-rubber. So thorough check and inspection on truck above 10 years are indispensable before driving. We propose investigation of 3 cases in this script to brake system design engineer and seal-up-rubber producer.

제동 전자제어장치(EOD)의 PCB 특성저하 방지방안 연구

안상덕(Sang-duk An),최원석(Won-Suk Choi),김경섭(Kyung-Seob Kim) 한국철도학회 2014 한국철도학회 학술발표대회논문집 Vol.2014 No.5

4호선 대우DV용 전동차의 제동전자제어장치(EOD)는 자차와 부수차의 공전전환기를 통해 두 개의 공기스프링 압력을 감지하고, 구동차와 부수차의 제동력을 제어하며, 자차의 회생제동과 공기제동을 Blending시킬 뿐 아니라, 전기제동우선방법(Cross Blending)으로 파트너 부수차의 공기제동을 제어한다. 뿐만 아니라, 승차감을 향상시키기 위하여 제동력의 변화율을 제어하는데, 제동Step별 출력범위를 벗어난 과전류에 의해 PCB의 저항이 열화하게 되어 절연성이 떨어진다. 본 연구에서는 PCB의 특성저하를 예방하고자 성능개선을 통하여 제동에 의한 고장을 사전에 예방함으로써 전동차 안전운행을 확보하는데 그 목적이 있다. EOD of Line 4 Daewoo detects the two air spring pressure of the vehicle and trailer vehicle through pneumatic-electric transducer, controls the braking force of the motor and trailer’s, blending regenerative and air braking of the vehicle as well as controlling the trailer’s air brake as the first methods of electrical braking.(Cross Blending) In addition, EOD controls the change rate of braking force in order to improve riding comfort during braking and degrades deterioration of the PCB resistance and controls the overcurrent out of output range according to the braking step. This study intended to prevent degraded performance characteristics of the PCB through improved braking by preventing the breakdown in advance to ensure safe operation of train that purpose.