For the teleoperation of dual-arm robots with various tasks, the existence of a controller with a high degree of freedom is indispensable. Especially when precise work is required, additional information such as force feedback is very helpful for the operator. In transmitting such force information, a control device of exoskeleton-type with many points of contact with the human body can be one of the solutions. This paper proposes an optimal design method for the 7 degrees of freedom (DOF) exoskeleton systems. The proposed method optimizes the kinematic parameters by using kinematic performance indices related to the dexterity of the human and exoskeleton system. The manipulability ellipsoid is a representative index that can confirm the dexterity of the robot. In this study, we derived the objective function considering the human body model and then optimized it using a genetic algorithm. Unlike other HRI (Human-Robot Interaction) systems, exoskeleton robots share the end-effector as well as the base of the robot with the wearer. Therefore, it is hypothesized that the proposed performance index will be highly suitable for exoskeleton systems.
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Development of a Realistic Simulator for Driving Education of a Disaster-Responding Special Purpose Machinery Hyo-Gon Kim, Jung-Woo Park, Hyo-Jun Lee, Sung-Ho Park, Young-Ho Choi, Byeong-Kyu Lee, Jin-Ho Suh Journal of Power System Engineering.2021; 25(2): 86. CrossRef
In the case of paralysis caused by brain diseases and accidents, proper rehabilitation and supplementary systems for daily life are essential. In this study, we designed a system that can enable daily life by supporting the hand of a patient whose function has been lost to paralysis. The hand exoskeleton robot proposed in this study can be transported for the purpose of ADL (activities of daily living). It was designed to focus on the most important assistant for the thumb and index finger. The hand exoskeleton robot proposed in this study enables grasp and pinch motor skills during the human hand operation through the specific mechanism for the segment movement of the human finger simultaneously. Finally, the finger movement trace of the wearer through the vision system is measured, respectively.
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Design for Additive Manufacturing of Agricultural Strength Assisting Exoskeleton Suit Kwanhyung Park, Haeyong Yun, Yongjun Cho, Hyunggil Hong, Sunho Jang, Minsu Kang, Jaehyo Kim, Hochan Kim Journal of the Korean Society of Manufacturing Process Engineers.2022; 21(12): 69. CrossRef
Actuators for exoskeleton robots comprise various types such as electric, hydraulic, and pneumatic and it is necessary to apply the correct actuator according to the purpose. Most exoskeleton robots mainly use electric actuators, and some special-purpose robots, such as for heavy-load transport requiring large force, use hydraulic actuators. In this paper, friction of the actuation module consisting of a harmonic drive and a brushless DC motor is measured through experiments. And the friction characteristics of the actuation module are analyzed. The harmonic drive transmission system has various advantages, but it also has hysteresis and nonlinear friction characteristics. The friction compensation control of the actuation module enables precise control of the exoskeleton robot, and improves the robot’s performance. Appropriate friction model selection and design affects friction compensation performance. In this study, static and dynamic friction models are designed and analyzed based on the friction data of the actuation module.
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Method for Radial Stiffness Measurement of Strain Wave Gear Flexspline Sangwoong Lee, Daegwon Koh, Jong-Geol Kim, Murim Kim Journal of the Korean Society for Precision Engineering.2024; 41(12): 923. CrossRef
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Friction Compensation of Electric-Motor Driven Revolute Joint with Harmonic Gear Seong-Hee Cho, Young-Seog Kim, Jung-Yup Kim Journal of the Korean Society of Manufacturing Technology Engineers.2020; 29(3): 259. CrossRef
Patients with complete paralysis that only walk with the assistance of exoskeleton robots because they lost their ability to walk. However, robots do not allow the exoskeleton robot to grasp the current state before walking and change the walking pattern. A "Stability Circle Region" was proposed to determine the current state of the exoskeleton robot. The Stability Circle is an area that can determine the possibility of a fall situation before the next walk using the link parameters of the robot and the current center of gravity of the patients. This study verified the validity of "stability circle" by simulating the change in the center of mass. Simulation results can be used to determine the stability of walking depending on whether the position of the center of mass before the walking is included in the circle area.
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Design of Assistive Wearable System for Walking Seong-Dae Choi, Sang-Hun Lee Journal of the Korean Society of Manufacturing Process Engineers.2019; 18(12): 111. CrossRef
In this paper, we examine the exoskeleton robot which can support the muscular strength of the soldiers handling the front load and its applicability in the military field. In fact, in the questionnaire survey on the military applicability of exoskeleton robots, many soldiers reported that they felt immensely fatigued due to the heavy load on their back during the operation. Most of the exoskeleton robots in the military have been developed to reduce fatigue during the mobility and movement of soldiers. Research on the exoskeleton robots to support the waist has been carried out with emphasis on its role in assisting performance of repetitive work in the industrial field or the medical field. To examine the studies on conventional back support exoskeleton robots and to find out the functions required to apply a back-support exoskeleton robot to soldiers, we have classified the existing back support exoskeleton robots into power type, supported body, waterproof grades, and others based on weight, purpose, working time, etc. Apparently, the shape of the exoskeleton robot suitable for application in the military field and the required performance is presented in the present work.
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Muscle Strength Assistance of a Shape Memory Alloy Exoskeleton During Lifting and Lowering Tasks Kwang Hee Lee, Mi Yu, Young Min Kim, Lae Hoon Jeong, Tae Kyu Kwon International Journal of Precision Engineering and Manufacturing.2025; 26(4): 1013. CrossRef
Design of Exo-Suit for Shoulder Muscle Strength Support Kwang-Woo Jeon, TaeHwan Kim, SeungWoo Kim, JungJun Kim, Hyun-Joon Chung Journal of Korea Robotics Society.2023; 18(1): 110. CrossRef
Mapping of Human Contact Areas for Application Field of Wearable Robots Ran-i Eom, Yejin Lee International Journal of Costume and Fashion.2020; 20(2): 11. CrossRef
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