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AX-Deminer Knee: Exoskeleton for Soldier’s Knee Joint Assistance |
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Hanseung Woo, Yongcheol Kim, Gwangtae Kim, Man Bok Hong(Agency for Defense Development, Korea) |
| - AX-Deminer Knee has been developed to assist wearer's knee joint.
- It uses series elastic actuation structure, and a crank-slide structure locates between the motor and the elastic element, where the crank is controlled by the motor.
- If the motor controls the crank-slide to have singular configuration, external force is rarely transmitted to the motor side.
- In this case, AX-Deminer Knee can operate as a passive assistive device with few battery energy consumption.
- In other cases, it can be controlled to transmit the desired torque to the wearer's joint as a series elastic actuator.
In this paper, the detailed mechanism and control method of AX-Deminer Knee are introduced. |
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High-Precision Motion Control of a Lower-Limb Wearable Robot for People with Walking Disability by Hybrid Filtered Disturbance Observer |
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Kyeong-Won Park(Republic of Korea Air Force Academy, Korea), Jungsu Choi(Yeungnam University, Korea), Kyoungchul Kong(Sogang University, Korea) |
| Control of lower-limb wearable robots has focused on high-precision. The precise gait assistance, however, is a challenging task since the system is involved with time-varying uncertainties from humans. In this paper, an algorithm that attacks severe limitations in applying the disturbance observer to walking assistance is proposed; a hybrid identification loop is adopted, to model the joint along different gait phases. From the hybrid models, a new control framework that online reshapes its forms is designed. In consideration of the digitization of controllers, the hybrid models are also allowance-filtered and nominalized. These are verified by experiments with the powered exoskeleton. |
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Transparent Torque Sensor-less Impedance Rendering for Low-cost Direct Drive Motor |
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Woosong Kang(DGIST, Korea), Chan Lee(Yeungnam University, Korea), Sehoon Oh(DGIST, Korea) |
| * This paper proposes transparent sensor-less impedance control to improve impedance rendering performance for the low-cost DD motor.
* The novel criteria impedance rendering transparency is derived to define the problem of sensor-less impedance control by using a low-cost DD motor.
* Torque ripple, the main problem, is measured and analyzed to develop the high-performance impedance controller. |
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Stewart Platform and Remote Center of Motion Mechanism based Robotic System for Non-Invasive Brain Stimulation |
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Seongbo Shim(Korea Institute of Machinery & Materials (KIMM), Korea), Hyojeong Cha, Subin Joo, Joonho Seo(Korea Institute of Machinery and Materials, Korea) |
| We proposed a new type of robotic system for non-invasive brain stimulation (NIBS) with the Stewart platform and remote center of motion (RCM) mechanism. Through the proposed robot configuration, high tracking accuracy and a suitable workspace for NIBS were achieved. In addition, the proposed revolute joint ensured patient safety and high torque efficiency. It allows the robotic system to be reliable and cost-effective. The experimental results show that the robotic system has sufficient tracking accuracy and torque efficiency for NIBS. |
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Control of Tendon-driven(Twisted-string Actuator) Robotic Joint with Adaptive Variable-radius Pulley |
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Jihyuk Park(Yeungnam University, Korea) |
| The mechanism used in this paper is based on the principle that the effective radius of the pulley increases passively when torque is applied to the pulley by the cam element and the elastic element. A belt-driven transmission with a conventional pulley of constant radius has a fixed maximum torque and speed, but the variable radius pulley in this paper changes the maximum speed and torque to enable more efficient driving. This paper explains the principle of operation of the new variable radius pulley. |
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Position Tracking Control of Rope-Driven Building Cleaning Robot |
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Taegyun Kim(Yeungnam University, Korea), Sungkeun Yoo(Seoul National University, Korea) |
| This paper presents the rope-driven building cleaning robot designed for cleaning the exterior walls of high-rise buildings. This robot can move freely in a two-degree-of-freedom plane using synthetic ropes installed on both building corners. Thrust force is generated through two propellers and adhered to the wall to perform cleaning. Since a slip occurs between the synthetic rope and the traction pulley, position control is performed by combining the feed-forward control and PI control to improve positioning accuracy. |
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