Full metadata record
DC Field | Value | Language |
---|---|---|
dc.contributor.author | 이병주 | - |
dc.date.accessioned | 2022-06-28T06:51:01Z | - |
dc.date.available | 2022-06-28T06:51:01Z | - |
dc.date.issued | 1999-11 | - |
dc.identifier.citation | 제어로봇시스템학회 논문지. 1999-11 5(8):977-989 | en_US |
dc.identifier.issn | 1976-5622 | - |
dc.identifier.issn | 2233-4335 | - |
dc.identifier.uri | https://www.dbpia.co.kr/journal/articleDetail?nodeId=NODE01979356 | - |
dc.identifier.uri | https://repository.hanyang.ac.kr/handle/20.500.11754/171443 | - |
dc.description.abstract | The purpose of this study is to analyze how the human body having more muscles than its degree-of-freedom modulates an effective stiffness using redundant actuation, and to apply this concept to the design and control of advanced machines which requires adaptable spring. To investigate the adaptable stiffness phenomenon due to redundant actuation in the human body, this paper derives a general stiffness model of the Human body. In particular, for a planar 1 DOF human arm model, a planar 2 DOF human arm model, a spherical 3 DOF shoulder model, a 4 DOF human arm model, and a 7 DOF human arm model, the required nonlinear geometry ad the number of required actuator for successful modulation of the effective stiffness are analyzed along with a load distribution method for modulation of the required stiffness of such systems. Secondly, the concept of motion frequency modulation is introduced to show the usefulness of adaptive stiffness modulation. The motion frequency modulation represents a control of stiffness and / or inertia properties of systems. To show the effectiveness of the proposed algorithm, simulations are performed for 2 DOF anthropomorphic robot. | en_US |
dc.description.sponsorship | 본 논문은 한국과학재단 목적기초연구(과제번호. 961-1001-007-2) 지원으로 수행되었습니다. | en_US |
dc.language.iso | ko_KR | en_US |
dc.publisher | 제어로봇시스템학회, 1999. | en_US |
dc.subject | radundant actuation | en_US |
dc.subject | human body | en_US |
dc.subject | active spring | en_US |
dc.subject | adaptable stiffness | en_US |
dc.subject | frequency modulation | en_US |
dc.subject | anthropomorphic robot | en_US |
dc.title | 여유구동을 지니는 인체의 능동스프링 현상에 대한 해석과 운동주파수 제어방식으로의 적용 | en_US |
dc.title.alternative | Analysis on Active Spring Effect in Human-Body Having Redundant Actuation with Application to Motion Frequency | en_US |
dc.type | Article | en_US |
dc.relation.journal | 제어·자동화·시스템공학논문지 | - |
dc.contributor.googleauthor | Yi, Byung-Ju | - |
dc.relation.code | 2012101127 | - |
dc.sector.campus | E | - |
dc.sector.daehak | COLLEGE OF ENGINEERING SCIENCES[E] | - |
dc.sector.department | SCHOOL OF ELECTRICAL ENGINEERING | - |
dc.identifier.pid | bj | - |
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