토크센서 기반 사용자의도 파악이 가능한 보행보조기용 인휠 구동기 개발
DC Field | Value | Language |
---|---|---|
dc.contributor.author | 임승환 | - |
dc.contributor.author | 김태근 | - |
dc.contributor.author | 김동엽 | - |
dc.contributor.author | 황정훈 | - |
dc.contributor.author | 김봉석 | - |
dc.contributor.author | 박창우 | - |
dc.contributor.author | 이재민 | - |
dc.contributor.author | 홍대희 | - |
dc.date.accessioned | 2021-09-05T14:57:35Z | - |
dc.date.available | 2021-09-05T14:57:35Z | - |
dc.date.created | 2021-06-17 | - |
dc.date.issued | 2014 | - |
dc.identifier.issn | 1225-9071 | - |
dc.identifier.uri | https://scholar.korea.ac.kr/handle/2021.sw.korea/100441 | - |
dc.description.abstract | As life expectancy becomes longer, reduction of human muscular strength threatens quality of human life. Many robotic devices have thus been developed to support and help human daily life. This paper deals with a new type of in-wheel actuator that can be effectively used for the robotic devices. BLDC motor, drive board, brake, ARS (Attribute Reference System), and torque sensor are combined in the single actuator module. The torque sensor is used to recognize human intention and the in-wheel actuator drives walking aids in our system. Its feasibility was tested with the active walking aid device equipped with the in-wheel actuator. Based on it, we designed an admittance filter algorithm to react on uphill and downhill drive. By adjusting mass, damping, and spring parameters in accordance with the ARS output, it provided convenient drive to the old on uphill and downhill walks. | - |
dc.language | Korean | - |
dc.language.iso | ko | - |
dc.publisher | 한국정밀공학회 | - |
dc.title | 토크센서 기반 사용자의도 파악이 가능한 보행보조기용 인휠 구동기 개발 | - |
dc.title.alternative | Development of In-wheel Actuator for Active Walking Aids Equipped with Torque Sensor for User Intention Recognition | - |
dc.type | Article | - |
dc.contributor.affiliatedAuthor | 홍대희 | - |
dc.identifier.bibliographicCitation | 한국정밀공학회지, v.31, no.12, pp.1141 - 1146 | - |
dc.relation.isPartOf | 한국정밀공학회지 | - |
dc.citation.title | 한국정밀공학회지 | - |
dc.citation.volume | 31 | - |
dc.citation.number | 12 | - |
dc.citation.startPage | 1141 | - |
dc.citation.endPage | 1146 | - |
dc.type.rims | ART | - |
dc.identifier.kciid | ART001930755 | - |
dc.description.journalClass | 2 | - |
dc.description.journalRegisteredClass | kci | - |
dc.subject.keywordAuthor | Intension recognition (의도파악) | - |
dc.subject.keywordAuthor | Gravity compensation (중력보상) | - |
dc.subject.keywordAuthor | In-wheel actuator (인휠 구동기) | - |
dc.subject.keywordAuthor | Brake module (브레이크모듈) | - |
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